CN109301751A - A kind of damper hotline maintenance robot - Google Patents
A kind of damper hotline maintenance robot Download PDFInfo
- Publication number
- CN109301751A CN109301751A CN201811262791.XA CN201811262791A CN109301751A CN 109301751 A CN109301751 A CN 109301751A CN 201811262791 A CN201811262791 A CN 201811262791A CN 109301751 A CN109301751 A CN 109301751A
- Authority
- CN
- China
- Prior art keywords
- maintenance
- ice
- damper
- calcium
- mobile carrier
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
-
- C—CHEMISTRY; METALLURGY
- C05—FERTILISERS; MANUFACTURE THEREOF
- C05B—PHOSPHATIC FERTILISERS
- C05B7/00—Fertilisers based essentially on alkali or ammonium orthophosphates
-
- C—CHEMISTRY; METALLURGY
- C05—FERTILISERS; MANUFACTURE THEREOF
- C05G—MIXTURES OF FERTILISERS COVERED INDIVIDUALLY BY DIFFERENT SUBCLASSES OF CLASS C05; MIXTURES OF ONE OR MORE FERTILISERS WITH MATERIALS NOT HAVING A SPECIFIC FERTILISING ACTIVITY, e.g. PESTICIDES, SOIL-CONDITIONERS, WETTING AGENTS; FERTILISERS CHARACTERISED BY THEIR FORM
- C05G3/00—Mixtures of one or more fertilisers with additives not having a specially fertilising activity
-
- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09K—MATERIALS FOR MISCELLANEOUS APPLICATIONS, NOT PROVIDED FOR ELSEWHERE
- C09K3/00—Materials not provided for elsewhere
- C09K3/18—Materials not provided for elsewhere for application to surfaces to minimize adherence of ice, mist or water thereto; Thawing or antifreeze materials for application to surfaces
- C09K3/185—Thawing materials
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
Landscapes
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Materials Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Materials Applied To Surfaces To Minimize Adherence Of Mist Or Water (AREA)
Abstract
The present invention provides a kind of damper hotline maintenance robot, it is related to damper repair apparatus technical field, it includes mobile carrier, storage bin on the mobile carrier is set, suspension mechanism on the storage bin is set, spraying mechanism on the mobile carrier is set, maintenance agencies on mobile carrier for being overhauled to damper are set, the ice spader structure at the spraying mechanism rear portion is set, and is arranged on the mobile carrier for controlling the control mechanism of the mobile carrier, suspension mechanism, spraying mechanism, ice spader structure and maintenance agencies；Damper on transmission line of electricity can not only be overhauled, and fast melt, and ice-melt significant effect can be carried out to the ice cube on transmission line of electricity in winter, and small to carbon steel and plant injury, and the ice cube after thawing can quickly be removed, to will not influence subsequent service work.
Description
Technical field
The present invention relates to damper repair apparatus technical fields, and in particular to a kind of damper hotline maintenance robot.
Background technique
With the development of State Grid's cause, the area coverage and density of power supply grid are all being continuously increased, route
Safety is inseparable with our daily life and work.High-tension overhead line bar position is higher, and span is larger, when conducting wire by
To when wind-force effect, it may occur that vibration.When conductor vibration, the operating condition at conducting wire suspension is the most unfavorable.Due to repeatedly vibrating,
Conducting wire is because fatigue rupture can occur for periodically bending, therefore conventional mode is that damper is arranged on it, but due to long-term
The phenomenon that corroding in the natural environment, inevitably will appear damage, especially after entering winter, China's most area occurs
Sleet, freezing weather, power transformating and supplying facility are damaged in various degree, and unit trip, broken string and the thing of falling tower occur in some areas
Therefore some areas is caused to have a power failure；Therefore it needs one kind that can also can satisfy efficient deicing in winter and carries out damper maintenance
Robot for overhauling.
A kind of Environmental protection de-icing agent is disclosed in the patent document of Publication No. CN107033844A and its is removed in aircraft surfaces
Application in ice discloses a kind of Environmental protection de-icing agent, which contains tunning and potassium carbonate, relative to 100 parts by weight
Tunning, the content of potassium carbonate is 10-50 parts by weight；The tunning is to be prepared by a method comprising the following steps
Obtained tunning: (1) microorganism fungus kind that produces 1,2-PD is inoculated into culture medium, the material before being fermented；
(2) material before fermentation is carried out Anaerobic culturel to the concentration of 1,2-PD is 200-350g/L, obtains tunning.Environmental protection
Deicer mixes the tunning that the microorganism fungus kind for producing 1,2-PD obtains under anaerobic culture conditions with potassium carbonate, obtains
The Environmental protection de-icing agent arrived.But deicer freezing point made from the invention be -35.1 to -38.5 between, it is under cryogenic or short
Time Internal melt rate is slow, and ice-melt effect is poor, can not overhaul to damper.
Notification number is that the patent of CN205791407U discloses a kind of overhead transmission line deicing device, including deicing device
Ontology and Cutting tool installation manner plate, the top of the rack is equipped with crossbeam by complex spring, and is respectively mounted at left and right sides of crossbeam
There is directive wheel, the motor is mounted on the inside of deicing device ontology, and the Cutting tool installation manner plate is mounted on deicing device ontology
Right side, and the top of Cutting tool installation manner plate is equipped with ice-melt knife by hydraulic telescopic device.The device is used to be filled using adding thermal resistance
Work as cutter, melt ice cube after heating, route cannot be covered comprehensively, ice-melt is not thorough, and cutter is easy damaged or scratches line
Road causes hidden danger, while can not realize the maintenance to damper, can not carry out to the conductive line surfaces after ice-melt clear
Reason.
Summary of the invention
In view of this, the present invention provides a kind of damper hotline maintenance robot, it can not only be to anti-on transmission line of electricity
Vibration hammer is overhauled, and can carry out fast melt, and ice-melt significant effect to the ice cube on transmission line of electricity in winter, to carbon
Steel and plant injury are small, and can quickly remove the ice cube after thawing, to will not influence subsequent service work.
In order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of damper hotline maintenance robot, including mobile carrier, are arranged in the storage bin on the mobile carrier, and setting exists
Suspension mechanism on the storage bin, is arranged in the spraying mechanism on the mobile carrier, be arranged on mobile carrier for pair
The maintenance agencies that damper is overhauled are arranged in the ice spader structure at the spraying mechanism rear portion, and are arranged in the movement
For controlling the control mechanism of the mobile carrier, suspension mechanism, spraying mechanism, ice spader structure and maintenance agencies on carrier；
The mobile carrier includes the walking module of setting on the transmission line, and the Current Mutual Inductance in the walking module is arranged in
Device, and the first electrostatic screen net being arranged in the walking module；
Storing support rod is arranged in the storage bin lower end, and the first holder, first holder is arranged in storing support rod lower end
Storing support arm is arranged in lower end, and the second holder of storing support arm end is arranged in, and second holder is arranged described
In walking module.
The walking module includes the first traveling wheel, and the support rod of the first walking rotation shaft end is arranged in, and setting exists
The compression telescopic rod in the post upper portion is arranged in the movable motor for compressing telescopic rod end, is arranged in the row
Walk the second traveling wheel on motor output shaft；
The maintenance agencies include the maintenance support arm being arranged in the walking module, are arranged on the maintenance support arm
Telescopic arm is overhauled, the maintenance telescopic rod of the maintenance telescopic arm end is set, the of the maintenance telescopic rod end is set
One sandwiches, and the described first holding telescopic rod for sandwiching side is arranged in, and second double team for holding telescopic rod end tightly is arranged in,
The described first maintenance steering motor sandwiched is set, and the maintenance being arranged on the maintenance steering motor output shaft is flexible
Column, is arranged in the disassembly driving motor of the maintenance telescopic arm end, and setting is dismantled in the disassembly driving motor output shaft
The magnetic block in the disassembly nut set, and the camera being arranged in the walking module is arranged in nut set；
The ice spader structure includes the shovel ice support rod being arranged on the support rod, and the shovel ice support boom end is arranged in
Ice telescopic rod is shoveled, the elastic component of the shovel ice telescopic rod end is set, the camber perching knife on the elastic component is set.
The spraying mechanism includes the spraying rod being arranged on the support rod, and the camber of the spraying boom end is arranged in
Spray frame, multiple spray nozzles on camber spraying frame be set, setting multiple spray nozzle rear portions and with the storage
The booster pump on the conveying pipeline is arranged in the conveying pipeline that feed bin is connected, and the electricity being arranged on the conveying pipeline
Magnet valve.
The suspension mechanism includes the suspension storehouse being arranged on storage bin, and the accumulator in the suspension storehouse is arranged in, if
The suspension air bag in the suspension Cang Shangduankaikouchu is set, the inflation solenoid valve on the accumulator is set, is arranged described
Venting solenoid valve on the side wall of suspension storehouse.
The control mechanism includes the second electrostatic screen net being arranged on the support rod, is arranged in second electrostatic
PLC in gauze screen, the battery being connected with the PLC.
Setting helium or argon gas in the accumulator.
The elastic component includes the sleeve that the shovel ice telescopic rod end is arranged in, and the slide bar in the sleeve is arranged in,
The spring of the slide bar bottom is set, and the slide bar end is connected with the camber perching knife.
Ice melting agent is set in the storage bin, and the ice melting agent is prepared by the ingredient of following parts by weight: modified organic acid
15-20 parts of calcium, 36-42 parts of 1,2- propylene glycol, 12-17 parts of potassium acetate, 5-8 parts of surfactant, 8-10 parts of sodium acrylate, nitric acid
2-3 parts of ammonium calcium, 52-58 parts of water.
Preferably, the modified calcium of organic acid the preparation method comprises the following steps:
S1: will be added calcium oxide in bamboo vinegar, stir 10-15min at room temperature with the revolving speed of 300-400r/min, obtain organic
Sour calcium；
S2: will sequentially add montmorillonite and coupling agent in phosphoric acid solution that mass fraction is 6-8%, and 55-60 DEG C of heating water bath, if
Setting revolving speed is that 200-300r/min stirs 5-10min, and sodium polyphosphate is then added, keeps temperature and revolving speed constant, continues to stir
30-45min is mixed, modified montmorillonoid is obtained；
S3: obtaining that the obtained modified montmorillonoid of step S2 and carbon nanotube are added in calcium of organic acid to step S1, at room temperature with
After the revolving speed stirring 10-15min of 200-300r/min, it is 40kHz in frequency, shakes 1- in the ultrasonic wave that power is 500W
1.5h is filtered, dry, grinding, obtains modified calcium of organic acid.
Preferably, in the modified calcium of organic acid each ingredient amount ratio, bamboo vinegar: phosphoric acid solution: calcium oxide: cover de-
Soil: coupling agent: sodium polyphosphate: carbon nanotube 100-105g:35-40g:10-12g:6-10g:1-1.2g:0.3-0.6g:
1.5-2.2g。
Preferably, the coupling agent is Silane coupling agent KH550 or KH560.
Preferably, the partial size of the montmorillonite is 70-80nm.
Preferably, the partial size of the modified calcium of organic acid is 20-100nm.
Preferably, the surfactant is ethoxylated dodecyl alcohol or alkyl phenol polyoxyethylene ether.
The present invention, which is directed to, cannot carry out inspection to damper in the prior art, and can not carry out rapid-maintenance, especially
When in winter, can then become inspection to the inspection of damper becomes more difficult, it is therefore desirable to which a kind of robot for overhauling can not only
It is enough to carry out deicing inspection in winter, and damper can be checked, if observing, damper is damaged, can be straight
It connects and is dismantled, and behind the complete one end of inspection, the present apparatus is removed, new damper is arranged on, certainly also
The mode that can be rotated by the way that multiple maintenance agencies are arranged by way of rotary shaft, extends repair time and length, in addition mentions
The ice melting agent suitable for the deicing device is supplied, freezing point is low, and short time Internal melt rate is fast, ice-melt significant effect, and to carbon steel
It is small with plant injury, while the ice spader structure provided can be purged ice cube remaining on cable or impurity, avoid its shadow
Ring subsequent livewire work.
In addition, the mobile carrier used includes the walking module of setting on the transmission line, the shifting of the present apparatus can be realized
It is dynamic, and the current transformer being arranged in walking module can guarantee being driven by electricity for the present apparatus, and the first electrostatic sheild being arranged
Covering net can ensure to compress telescopic rod and movable motor traveling comfort thereon, and walking module includes the first traveling wheel and the
Two traveling wheels, cooperating can fix the present apparatus on the transmission line, realize walking on the transmission line, and be arranged
Movable motor be that stepper motor can be realized the positive and negative advance of traveling, in addition, in order to realize that the function of inspection can be in support rod
Upper setting camera or range sensor, can be realized inspection function, can also compress telescopic rod according on the second traveling wheel certainly
Distance change realize inspection function.
In addition, storing support rod is arranged in its lower end of storage bin used, and the first holder is set in storing support rod lower end,
And storing support arm is set on the first holder, the second holder then is set in the end of storing support arm, and by the second holder
It is arranged on the support rod of walking module, to realize fixation, also achieves the adjustment of angle, the first holder of use and second
Holder is two axle The Cloud Terraces, in order to avoid electrostatic screen net can be arranged in its outer wall in influence caused by strong electrical field.
In addition, the spraying mechanism used includes the spraying rod being arranged on support rod, the camber spray on spraying rod is set
Frame is applied, multiple spray nozzles can be set on it, be delivered to ice melting agent on spray nozzle from storage bin by conveying pipeline, to spray
Ice-melt is realized out, also two spraying mechanisms can be set before and after camber sprays frame certainly, be can be realized back and forth freely, setting is hanged
Suspension storehouse is arranged in float means on storage bin, and accumulator is arranged wherein, and helium or argon gas can be arranged wherein, certainly also
Settable hydrogen, but security protection is carried out, and the suspension air bag being arranged can be inflated thereto, to realize suspension, and set
The venting solenoid valve set can be realized to deflate and reduce the effect of buoyancy, the control of setting when needing to recycle or ice melting agent reduces
Second electrostatic screen net is set on the present support rod of mechanism, then PLC is set wherein, and battery is arranged, it is preferred to use
Plug-in can be arranged in the PLC of the mode of rechargeable lithium battery, use wherein, certainly can also be using the side remotely controlled
Formula realizes the accurate of control by way of with the interconnection of smart phone, portable notebook computer or tablet computer signal
Property.
In addition, the maintenance agencies used include the maintenance support arm being arranged in walking module, and in maintenance support arm
Lower end setting maintenance telescopic arm realizes the front-rear position adjustment of maintenance telescopic rod, and the maintenance telescopic rod of setting can be realized its end
The upper and lower position of double team adjusts, and then second for realizing the clamping to damper, and being arranged on the first double team sandwiches, Neng Goutong
The clamping for holding telescopic rod realization tightly to damper is crossed, and in order to realize dismounting function, setting maintenance turns to electric on the first double team
Machine so that the maintenance telescopic mast on maintenance steering motor output shaft is able to carry out rotation, and passes through Telescopic realization pair
At quasi- dismounting nut, and by rotation disassembly nut set, removed, and sandwich the holding side sandwiched with second by first
Formula enables damper to be detached from from conducting wire, then can be realized the installing of damper in turn, and the camera being arranged can
Cooperate with control mechanism, preferably realizes that disassembling function, the strong magnet of setting can guarantee that nut is not fallen out.
In addition, the ice spader structure used includes the shovel ice support rod being arranged on support rod, general default setting at cross bar,
Certainly the structure of non-cross bar preferably also can be used, and preferably use electric expansion rod structure in shovel ice support rod, certainly also
Pneumatically or hydraulically telescopic rod can be used, elastic component is set in the end of telescopic rod, can directly be rubber block, the camber perching knife of use
It for plastic part or soft metal product, avoids that cable is caused to scratch, in addition, the elastic component used includes that setting is flexible in shovel ice
Then slide bar is arranged in sleeve, and the spring being in contact with sleeve bottom surface is arranged in slide bar bottom for the sleeve of boom end, certainly
Rubber pad also can be used.
The ice melting agent that the present invention uses is using 1,2-PD as main component, with water solubility well, and it
Aqueous solution itself can achieve very low freezing point, while the stability of 1,2-PD is fine, and corrosivity very little has as one kind
Machine small molecule, in nature can be with natural degradation, and to soil, water body etc. pollutes very little.Modified organic acid prepared by the present invention
Calcium also has preferable ice-melt effect, matches with 1,2-PD, and synergistic effect improves ice-melt efficiency, ice-melt better effect.Vinegar
Sour potassium is a kind of organic freezing point depressant, combines with 1,2-PD and modified calcium of organic acid, significantly reduces the freezing point of system.
Sodium acrylate has scale inhibition and the flocculated effect of water purification, plays clean-up effect to the water quality after thawing, prevent dirt as dispersing agent
Contaminate soil.Calcium ammonium nitrate can cooperate with the freezing point for reducing water with 1,2-PD, enhance ice-melt effect, while ice melting agent flows into soil
In earth, nitrogen required for plant can be added, is conducive to the growth of plant.The partial size of modified calcium of organic acid is preferably 20-
100nm, dispersion effect is good, and add surfactant ethoxylated dodecyl alcohol or alkyl phenol polyoxyethylene ether raising group point it
Between emulsifying capacity, mix them can more efficiently each other.
Bamboo vinegar is to collect the gas that bamboo wood generates in pyrolytic during being made charcoal with bamboo wood, and by this gas
The body liquid substance that cooling obtains at normal temperature.Bamboo vinegar contains nearly 300 kinds of natural polymer organic compounds, there is organic acid
Class, alcohols, ketone, aldehydes, esters and micro alkaline components etc..Bamboo vinegar and calcium oxide are mixed with organic acid by the present invention
Calcium has lower freezing point, preferable ice-melt effect.The partial size of montmorillonite is 70-80nm, and montmorillonite is first changed with phosphoric acid solution
Property, increase specific surface area and chemical activity, silane coupling agent enhances compatibility, then is further modified with sodium polyphosphate, improves
Montmorillonite dispersibility；The preferred specific surface area of carbon nanotube is >=233m2/ g, internal diameter 3-5nm, outer diameter 8-15nm, 50 μm of length, tool
There are excellent mechanical property and chemical property, there is open porous structure, the present invention is by modified montmorillonite and carbon nanotube
It is further modified calcium of organic acid, enhances its hydrophobicity, accelerates ice melting agent ice-melt speed.
Ice melting agent of the invention organizes split-phase with calcium of organic acid, potassium acetate etc. is modified using 1,2-PD as main component
In conjunction with freezing point can reach -45 DEG C, and ice-melt rate is high under low temperature, and short time Internal melt speed is fast, ice-melt significant effect；Have
Scale inhibition and the flocculated effect of water purification, play clean-up effect to the water quality after thawing, prevent contaminated soil；Also containing needed for plant
Nitrogen, phosphorus, potassium element can promote the growth of plant.
Detailed description of the invention
The present invention is described in further detail with reference to the accompanying drawing.
Fig. 1 is overall structure of the present invention；
Fig. 2 is the structural schematic diagram at spraying mechanism of the present invention；
Fig. 3 is the structural schematic diagram at suspension mechanism of the present invention；
Fig. 4 is the side structure schematic diagram at mobile carrier of the present invention；
Fig. 5 is the structural schematic diagram at maintenance agencies of the present invention.
Fig. 6 is the structural schematic diagram at ice spader structure of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, with reference to the accompanying drawing 1-5 to the present invention
The technical solution of embodiment is clearly and completely described.Obviously, described embodiment is that a part of the invention is implemented
Example, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art institute obtained
There are other embodiments, shall fall within the protection scope of the present invention.
Embodiment 1
The storage bin 13 on the mobile carrier is arranged in a kind of damper hotline maintenance robot, including mobile carrier, setting
Suspension mechanism on the storage bin 13, is arranged in the spraying mechanism on the mobile carrier, and setting is used on mobile carrier
In the maintenance agencies overhauled to damper, the ice spader structure 38 at the spraying mechanism rear portion is set, and is arranged in institute
It states on mobile carrier for controlling the control of the mobile carrier, suspension mechanism, spraying mechanism, ice spader structure 38 and maintenance agencies
Mechanism；
The mobile carrier includes the walking module of setting on the transmission line, and the Current Mutual Inductance in the walking module is arranged in
Device 25, and the first electrostatic screen net 4 being arranged in the walking module；
Storing support rod 12 is arranged in 13 lower end of storage bin, and the first holder 11 is arranged in 12 lower end of storing support rod, described
Storing support arm 10 is arranged in first holder, 11 lower end, is arranged in the second holder 9 of 10 end of storing support arm, and described second
Holder 9 is arranged in the walking module；
The maintenance agencies include the maintenance support arm 27 being arranged in the walking module, are arranged in the maintenance support arm 27
On maintenance telescopic arm 28, the maintenance telescopic rod 29 of maintenance 28 end of telescopic arm is set, and setting is flexible in the maintenance
The first of 29 end of bar sandwiches 30, and the described first holding telescopic rod 33 for sandwiching 30 sides is arranged in, and setting is stretched in the holding
The second of 33 end of contracting bar sandwiches 36, and the maintenance steering motor 32 on first double team 30 is arranged in, is arranged in the maintenance
The disassembly driving motor 34 of maintenance 33 end of telescopic mast is arranged in maintenance telescopic mast 33 on 32 output shaft of steering motor,
It is arranged on 34 output shaft of disassembly driving motor and dismantles nut set 35, the strong magnetic in the disassembly nut set 35 is set
Block, and the camera 37 being arranged in the walking module；
The ice spader structure 38 includes the shovel ice support rod 381 being arranged on the support rod, is arranged in the shovel ice support rod
The shovel ice telescopic rod 382 of 381 ends is arranged in the elastic component of shovel 382 end of ice telescopic rod, is arranged on the elastic component
Camber perching knife 386.
The elastic component includes the sleeve 384 that shovel 382 end of ice telescopic rod is arranged in, and is arranged in the sleeve 384
The spring 383 of 385 bottom of slide bar, 385 end of slide bar and 386 phase of camber perching knife is arranged in interior slide bar 385
Connection.
The walking module includes the first traveling wheel 1, and the support rod 26 at the 1 shaft end of the first traveling wheel is arranged in, if
The compression telescopic rod 5 in 26 upper end of support rod is set, the movable motor 3 for compressing 5 end of telescopic rod, setting are set
The second traveling wheel 2 on 3 output shaft of movable motor.
The spraying mechanism includes the spraying rod 22 being arranged on the support rod 26, is arranged in 22 end of spraying rod
Camber spray frame 23, multiple spray nozzles 24 on camber spraying frame 23 are set, are arranged in multiple spray nozzles 24
The booster pump 21 on the conveying pipeline 19 is arranged in rear portion and the conveying pipeline 19 being connected with the storage bin 13, and
Solenoid valve 20 on the conveying pipeline 21 is set.
The suspension mechanism includes the suspension storehouse 15 being arranged on storage bin 13, and the storage pressure in the suspension storehouse 15 is arranged in
Tank 18 is arranged in the suspension air bag 17 at 15 upper end opening of suspension storehouse, the inflation electromagnetism on the accumulator 18 is arranged in
The venting solenoid valve 14 on 15 side wall of suspension storehouse is arranged in valve 16.
The control mechanism includes the second electrostatic screen net 8 being arranged on the support rod 26, is arranged described second
PLC7 in electrostatic screen net 8, the battery 6 being connected with the PLC7.
Helium is set in the accumulator 18.
The ice melting agent is conventional ice melting agent, that is, industrial salt or potassium acetate, or be embodiment 2-5 any one；
The parts by weight (part) of each ingredient in the ice melting agent of 1 embodiment 2-5 of table
| Embodiment 2 | Embodiment 3 | Embodiment 4 | Embodiment 5 | |
| Modified calcium of organic acid | 15 | 17 | 19 | 20 |
| 1,2- propylene glycol | 36 | 38 | 40 | 42 |
| Potassium acetate | 12 | 14 | 16 | 17 |
| Surfactant | 5 | 6 | 7 | 8 |
| Sodium acrylate | 8 | 8.5 | 9 | 10 |
| Calcium ammonium nitrate | 2 | 2.5 | 2.8 | 3 |
| Water | 52 | 55 | 56 | 58 |
The dosage (g) of each ingredient in the modification calcium of organic acid of 2 embodiment 2,4,6,8 of table
| Embodiment 2 | Embodiment 4 | Embodiment 6 | Embodiment 8 | |
| Bamboo vinegar | 100 | 102 | 103 | 105 |
| Phosphoric acid solution | 35 | 37 | 38 | 40 |
| Calcium oxide | 10 | 11 | 11 | 12 |
| Montmorillonite | 6 | 7 | 9 | 10 |
| Coupling agent | 1 | 1.1 | 1.1 | 1.2 |
| Sodium polyphosphate | 0.3 | 0.4 | 0.5 | 0.6 |
| Carbon nanotube | 1.5 | 1.8 | 2 | 2.2 |
Embodiment 2
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent, ingredient and its parts by weight as shown in Table 1 be made, modified calcium of organic acid ingredient as shown in Table 2 and its
Dosage is made.
Wherein, the coupling agent is Silane coupling agent KH550.The surfactant is ethoxylated dodecyl alcohol.
The modified calcium of organic acid the preparation method comprises the following steps:
S1: will be added calcium oxide in bamboo vinegar, stir 15min at room temperature with the revolving speed of 300r/min, obtain calcium of organic acid；
S2: montmorillonite and coupling agent are sequentially added in the phosphoric acid solution for being 6% by mass fraction, 55-60 DEG C of heating water bath, is arranged
Revolving speed is that 200r/min stirs 10min, and sodium polyphosphate is then added, keeps temperature and revolving speed constant, continues to stir 45min,
Obtain modified montmorillonoid；
S3: obtaining that the obtained modified montmorillonoid of step S2 and carbon nanotube are added in calcium of organic acid to step S1, at room temperature with
After the revolving speed stirring 15min of 200r/min, it is 40kHz in frequency, shakes 1h in the ultrasonic wave that power is 500W, filter, it is dry,
Grinding obtains modified calcium of organic acid.
The ice melting agent the preparation method comprises the following steps: modified calcium of organic acid, 1,2- propylene glycol, potassium acetate and water to be placed in magnetic force and stir
It mixes in device under the conditions of 50-60 DEG C, after stirring 10min with the revolving speed of 400r/min, surfactant, sodium acrylate and nitric acid is added
Ammonium calcium keeps temperature-resistant, after stirring 45min with the revolving speed of 200r/min；50 μm of aperture is once filtered, by what is obtained
First-time filtrate is 40kHz in frequency, shakes 2h in the ultrasonic wave that power is 500W, is then allowed to stand 12h, and 30 μm of aperture carries out two
Secondary filtering, obtained secondary filtrate is ice melting agent.
Embodiment 3
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent, ingredient and its parts by weight as shown in Table 1 be made, the dosage of each ingredient in the modified calcium of organic acid, with real
Apply example 2.
Wherein, the coupling agent is silane coupling agent KH560.The surfactant is alkyl phenol polyoxyethylene ether.Institute
The preparation method of modified calcium of organic acid is stated with embodiment 2.The preparation method of the ice melting agent is the same as embodiment 2.
Embodiment 4
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent, ingredient and its parts by weight as shown in Table 1 be made, modified calcium of organic acid ingredient as shown in Table 2 and its
Dosage is made.
Wherein, the coupling agent is Silane coupling agent KH550.The surfactant is ethoxylated dodecyl alcohol.
The modified calcium of organic acid the preparation method comprises the following steps:
S1: will be added calcium oxide in bamboo vinegar, stir 12min at room temperature with the revolving speed of 350r/min, obtain calcium of organic acid；
S2: montmorillonite and coupling agent are sequentially added in the phosphoric acid solution for being 7% by mass fraction, 55-60 DEG C of heating water bath, is arranged
Revolving speed is that 250r/min stirs 8min, and sodium polyphosphate is then added, keeps temperature and revolving speed constant, continues to stir 40min, obtain
To modified montmorillonoid；
S3: obtaining that the obtained modified montmorillonoid of step S2 and carbon nanotube are added in calcium of organic acid to step S1, at room temperature with
After the revolving speed stirring 12min of 250r/min, it is 40kHz in frequency, shakes 1.5h in the ultrasonic wave that power is 500W, filter, do
Dry, grinding obtains modified calcium of organic acid.
The preparation method of the ice melting agent is the same as embodiment 2.
Embodiment 5
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent, ingredient and its parts by weight as shown in Table 1 be made, the dosage of each ingredient in the modified calcium of organic acid, with real
Apply example 4.
Wherein, the coupling agent is silane coupling agent KH560.The surfactant is ethoxylated dodecyl alcohol.Institute
The preparation method of modified calcium of organic acid is stated with implementation 4.The preparation method of the ice melting agent is the same as embodiment 2.
Embodiment 6
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent in each ingredient and its parts by weight with embodiment 5, modified calcium of organic acid ingredient as shown in Table 2 and its content
It is made.
Wherein, the coupling agent is Silane coupling agent KH550.The surfactant is alkyl phenol polyoxyethylene ether.
The modified calcium of organic acid the preparation method comprises the following steps:
S1: will be added calcium oxide in bamboo vinegar, stir 10min at room temperature with the revolving speed of 400r/min, obtain calcium of organic acid；
S2: montmorillonite and coupling agent are sequentially added in the phosphoric acid solution for being 8% by mass fraction, 55-60 DEG C of heating water bath, is arranged
Revolving speed is that 300r/min stirs 5min, and sodium polyphosphate is then added, keeps temperature and revolving speed constant, continues to stir 30min, obtain
To modified montmorillonoid；
S3: obtaining that the obtained modified montmorillonoid of step S2 and carbon nanotube are added in calcium of organic acid to step S1, at room temperature with
After the revolving speed stirring 10min of 300r/min, it is 40kHz in frequency, shakes 1h in the ultrasonic wave that power is 500W, filter, it is dry,
Grinding obtains modified calcium of organic acid.
The preparation method of the ice melting agent is the same as embodiment 2.
Embodiment 7
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent in each ingredient and its parts by weight with embodiment 4, the dosage of each ingredient, same embodiment in the modified calcium of organic acid
6。
Wherein, the coupling agent is silane coupling agent KH560.The surfactant is alkyl phenol polyoxyethylene ether.
The preparation method of the modified calcium of organic acid is the same as embodiment 6.The preparation method of the ice melting agent is the same as embodiment 2.
Embodiment 8
The present embodiment provides a kind of damper hotline maintenance robots, the difference from embodiment 1 is that: it provides in embodiment 1
Ice melting agent in each ingredient and its parts by weight with embodiment 3, the ingredient of the modified calcium of organic acid as shown in Table 2 is made.
Wherein, the coupling agent is silane coupling agent KH560.The surfactant is alkyl phenol polyoxyethylene ether.
The preparation method of the modified calcium of organic acid is the same as embodiment 6.The preparation method of the ice melting agent is the same as embodiment 2.
In addition, the partial size of the montmorillonite is 70-80nm, and the partial size of the modified calcium of organic acid is in embodiment 2-8
20-100nm, the preferred specific surface area of carbon nanotube are >=233m2/ g, internal diameter 3-5nm, outer diameter 8-15nm, 50 μm of length.
Comparative example 1
Each ingredient and its parts by weight are with embodiment 4 in a kind of ice melting agent, preparation method also with embodiment 4, but with embodiment 4
Unlike, in this comparative example, lack potassium acetate.
Comparative example 2
Each ingredient and its parts by weight are with embodiment 4 in a kind of ice melting agent, preparation method also with embodiment 4, but with embodiment 4
Unlike, in this comparative example, lack sodium acrylate.
Comparative example 3
Each ingredient and its parts by weight are with embodiment 4 in a kind of ice melting agent, preparation method also with embodiment 4, but with embodiment 4
Unlike, in this comparative example, calcium of organic acid is not modified, i.e. the preparation method of calcium of organic acid is will to be added in bamboo vinegar
Calcium oxide stirs 12min at room temperature with the revolving speed of 350r/min, obtains calcium of organic acid.
Comparative example 4
Each ingredient and its parts by weight are with embodiment 4 in a kind of ice melting agent, preparation method also with embodiment 4, but with embodiment 4
Unlike, in this comparative example, calcium of organic acid is modified, lacks phosphoric acid solution, coupling agent and sodium polyphosphate, i.e., not
Montmorillonite is modified.
The modified calcium of organic acid the preparation method comprises the following steps:
S1: will be added calcium oxide in bamboo vinegar, stir 12min at room temperature with the revolving speed of 350r/min, obtain calcium of organic acid；
S2: it obtains that montmorillonite and carbon nanotube are added in calcium of organic acid to step S1, specific surface area of carbon nanotube is >=233m2/
G, internal diameter 3-5nm, outer diameter 8-15nm, after stirring 12min at room temperature with the revolving speed of 250r/min, are in frequency by 50 μm of length
40kHz, power filter, dry, grinding obtains modified calcium of organic acid to shake 1.5h in the ultrasonic wave of 500W.
Performance test
Ice-melt rate test
500 milliliters of distilled water are injected in ice pan, are placed in refrigerator-freezer, glaciation in 12 hours is freezed under the conditions of -25 DEG C.By ice
Cabinet lid is opened, and temperature is adjusted and arrives -15 DEG C, and each ice pan is displayed.10 grams of ice melting agents are uniformly sprayed onto ice pan in one minute
On face.The water melted was collected at 5,10,20,30 minutes respectively, and is weighed, test result is referring to table 3.
3 embodiment 2-8 of table and comparative example 1-4 ice melting agent melt the weight (g) of water
| 5min | 10min | 20min | 30min | |
| Embodiment 2 | 7.35 | 16.87 | 27.95 | 35.77 |
| Embodiment 3 | 7.33 | 16.86 | 27.90 | 35.78 |
| Embodiment 4 | 7.96 | 17.22 | 28.53 | 38.49 |
| Embodiment 5 | 7.84 | 17.13 | 28.41 | 38.33 |
| Embodiment 6 | 7.88 | 17.17 | 28.47 | 38.40 |
| Embodiment 7 | 7.57 | 17.01 | 28.32 | 38.26 |
| Embodiment 8 | 7.49 | 16.94 | 28.18 | 38.15 |
| Comparative example 1 | 3.39 | 7.57 | 16.58 | 25.77 |
| Comparative example 2 | 3.55 | 8.46 | 17.89 | 26.34 |
| Comparative example 3 | 2.11 | 6.15 | 14.38 | 22.59 |
| Comparative example 4 | 2.87 | 6.98 | 15.22 | 23.87 |
The test of other performances, referring to GB/T 23851-2017, test result is referring to table 4.
4 embodiment 1-8 of table and comparative example 1-4 ice melting agent the performance test results
In conjunction with table 3 and table 4,2-8 ice-melt rate of the embodiment of the present invention is tested, under the conditions of -15 DEG C, is spread when ice melting agent
When generating ice-melt effect in ice face, the ice crack sound of whip can be heard, formed very much " pittings ", melted around ice melting agent
The position of ice agent ultimately forms the ice face in gully in length and breadth, has excellent ice-melt effect at low ambient temperatures, and ice-melt rate is fast.Ice
Point is at -40 DEG C hereinafter, the aggrieved very little of corrosion and vegetable seeds to carbon steel, excellent combination property.Comparative example 1 omits acetic acid
Potassium, the ice-melt rate decline of ice melting agent is obvious, freezing point significantly rises, and comparative example 2 lacks sodium acrylate, the corrosion and plant to steel
The injury of species is maximum；Calcium of organic acid is not modified by comparative example 3, and the ice-melt rate of ice melting agent is decreased obviously, in freezing point
It rises obvious；Comparative example 4 is not modified montmorillonite, and short time Internal melt effect is poor, the comprehensive performance of ice melting agent under
Drop.Illustrate that inventive formulation and technique suitability are good, be between each raw material it is complementary, lack any raw material, material
Performance will be decreased obviously.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of damper hotline maintenance robot, it is characterised in that: including mobile carrier, be arranged on the mobile carrier
The suspension mechanism on the storage bin is arranged in storage bin, and the spraying mechanism on the mobile carrier is arranged in, and is arranged in movement
Maintenance agencies on carrier for being overhauled to damper, are arranged in the ice spader structure at the spraying mechanism rear portion, Yi Jishe
It sets on the mobile carrier for controlling the mobile carrier, suspension mechanism, spraying mechanism, ice spader structure and maintenance agencies
Control mechanism；
The mobile carrier includes the walking module of setting on the transmission line, and the Current Mutual Inductance in the walking module is arranged in
Device, and the first electrostatic screen net being arranged in the walking module；
Storing support rod is arranged in the storage bin lower end, and the first holder, first holder is arranged in storing support rod lower end
Storing support arm is arranged in lower end, and the second holder of storing support arm end is arranged in, and second holder is arranged described
In walking module；
The maintenance agencies include the maintenance support arm being arranged in the walking module, are arranged on the maintenance support arm
Telescopic arm is overhauled, the maintenance telescopic rod of the maintenance telescopic arm end is set, the of the maintenance telescopic rod end is set
One sandwiches, and the described first holding telescopic rod for sandwiching side is arranged in, and second double team for holding telescopic rod end tightly is arranged in,
The described first maintenance steering motor sandwiched is set, and the maintenance being arranged on the maintenance steering motor output shaft is flexible
Column, is arranged in the disassembly driving motor of the maintenance telescopic arm end, and setting is dismantled in the disassembly driving motor output shaft
The magnetic block in the disassembly nut set, and the camera being arranged in the walking module is arranged in nut set；
The ice spader structure includes the shovel ice support rod being arranged on the support rod, and the shovel ice support boom end is arranged in
Ice telescopic rod is shoveled, the elastic component of the shovel ice telescopic rod end is set, the camber perching knife on the elastic component is set.
2. damper hotline maintenance as described in claim 1 robot, it is characterised in that: the walking module includes the first row
Wheel is walked, the support rod of the first walking rotation shaft end is set, the compression telescopic rod in the post upper portion is set, if
It sets in the movable motor for compressing telescopic rod end, the second traveling wheel on the movable motor output shaft is set.
3. damper hotline maintenance as claimed in claim 2 robot, it is characterised in that: the spraying mechanism includes that setting exists
The camber spraying frame of the spraying boom end is arranged in spraying rod on the support rod, and setting is on camber spraying frame
Multiple spray nozzles, the conveying pipeline that multiple spray nozzle rear portions are set and are connected with the storage bin, be arranged described
Booster pump on conveying pipeline, and the solenoid valve being arranged on the conveying pipeline.
4. damper hotline maintenance as claimed in claim 3 robot, it is characterised in that: the suspension mechanism includes that setting exists
The accumulator in the suspension storehouse is arranged in suspension storehouse on storage bin, and the suspension of the suspension Cang Shangduankaikouchu is arranged in
The inflation solenoid valve on the accumulator is arranged in air bag, and the venting solenoid valve on the side wall of the suspension storehouse is arranged in.
5. damper hotline maintenance as claimed in claim 4 robot, it is characterised in that: the control mechanism includes that setting exists
The second electrostatic screen net on the support rod, is arranged in the PLC in the second electrostatic screen net, is connected with the PLC
Battery.
6. damper hotline maintenance as claimed in claim 5 robot, it is characterised in that: the elastic component includes being arranged in institute
The sleeve for stating shovel ice telescopic rod end, is arranged in the slide bar in the sleeve, the spring of the slide bar bottom, the cunning is arranged in
Boom end is connected with the camber perching knife.
7. damper hotline maintenance as claimed in claim 6 robot, it is characterised in that: ice-melt is arranged in the storage bin
Agent, the ice melting agent are prepared by the ingredient of following parts by weight: calcium of organic acid 15-20 parts modified, 36-42 parts of 1,2-PD,
12-17 parts of potassium acetate, 5-8 parts of surfactant, 8-10 parts of sodium acrylate, 2-3 parts of calcium ammonium nitrate, 52-58 parts of water.
8. damper hotline maintenance as claimed in claim 7 robot, it is characterised in that: the preparation of the modified calcium of organic acid
Method are as follows:
S1: will be added calcium oxide in bamboo vinegar, stir 10-15min at room temperature with the revolving speed of 300-400r/min, obtain organic
Sour calcium；
S2: will sequentially add montmorillonite and coupling agent in phosphoric acid solution that mass fraction is 6-8%, and 55-60 DEG C of heating water bath, if
Setting revolving speed is that 200-300r/min stirs 5-10min, and sodium polyphosphate is then added, keeps temperature and revolving speed constant, continues to stir
30-45min is mixed, modified montmorillonoid is obtained；
S3: obtaining that the obtained modified montmorillonoid of step S2 and carbon nanotube are added in calcium of organic acid to step S1, at room temperature with
After the revolving speed stirring 10-15min of 200-300r/min, it is 40kHz in frequency, shakes 1- in the ultrasonic wave that power is 500W
1.5h is filtered, dry, grinding, obtains modified calcium of organic acid.
9. damper hotline maintenance as claimed in claim 8 robot, it is characterised in that: in the modified calcium of organic acid respectively at
The amount ratio divided, bamboo vinegar: phosphoric acid solution: calcium oxide: montmorillonite: coupling agent: sodium polyphosphate: carbon nanotube 100-
105g:35-40g:10-12g:6-10g:1-1.2g:0.3-0.6g:1.5-2.2g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811262791.XA CN109301751B (en) | 2018-10-27 | 2018-10-27 | Electrified maintenance robot for damper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811262791.XA CN109301751B (en) | 2018-10-27 | 2018-10-27 | Electrified maintenance robot for damper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109301751A true CN109301751A (en) | 2019-02-01 |
| CN109301751B CN109301751B (en) | 2020-09-01 |
Family
ID=65158810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811262791.XA Active CN109301751B (en) | 2018-10-27 | 2018-10-27 | Electrified maintenance robot for damper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109301751B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111389648A (en) * | 2020-04-13 | 2020-07-10 | 象山罗雅电子科技有限公司 | Emergency fireproof protective coating spraying equipment for power grid |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105112018A (en) * | 2015-09-29 | 2015-12-02 | 江苏锦宇环境工程有限公司 | Preparation method of bamboo vinegar based organic acid-calcium self-snowmelt bituminous pavement additive |
| CN205681075U (en) * | 2016-03-22 | 2016-11-09 | 薛鑫刚 | A kind of cable deicing device for clearing away obstacle |
| CN205809630U (en) * | 2016-07-04 | 2016-12-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane deicing system |
| CN106356760A (en) * | 2016-09-18 | 2017-01-25 | 武汉大学 | End-of-arm tooling and methods for mounting and dismounting high-voltage wire dampers by robot |
| CN106479439A (en) * | 2016-10-13 | 2017-03-08 | 湖北省超能超高压电力科技开发有限公司 | A kind of ice melting agent for transformer station and preparation method thereof |
| CN108110713A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | A kind of deicing of high voltage wire robot crane device |
| CN108551147A (en) * | 2018-06-28 | 2018-09-18 | 国网河南省电力公司邓州市供电公司 | A kind of deicer for power transmission line taking energy based on CT |
-
2018
- 2018-10-27 CN CN201811262791.XA patent/CN109301751B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105112018A (en) * | 2015-09-29 | 2015-12-02 | 江苏锦宇环境工程有限公司 | Preparation method of bamboo vinegar based organic acid-calcium self-snowmelt bituminous pavement additive |
| CN205681075U (en) * | 2016-03-22 | 2016-11-09 | 薛鑫刚 | A kind of cable deicing device for clearing away obstacle |
| CN205809630U (en) * | 2016-07-04 | 2016-12-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane deicing system |
| CN106356760A (en) * | 2016-09-18 | 2017-01-25 | 武汉大学 | End-of-arm tooling and methods for mounting and dismounting high-voltage wire dampers by robot |
| CN106479439A (en) * | 2016-10-13 | 2017-03-08 | 湖北省超能超高压电力科技开发有限公司 | A kind of ice melting agent for transformer station and preparation method thereof |
| CN108110713A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | A kind of deicing of high voltage wire robot crane device |
| CN108551147A (en) * | 2018-06-28 | 2018-09-18 | 国网河南省电力公司邓州市供电公司 | A kind of deicer for power transmission line taking energy based on CT |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111389648A (en) * | 2020-04-13 | 2020-07-10 | 象山罗雅电子科技有限公司 | Emergency fireproof protective coating spraying equipment for power grid |
| CN111389648B (en) * | 2020-04-13 | 2020-11-13 | 国网山东省电力公司临邑县供电公司 | Emergency fireproof protective coating spraying equipment for power grid |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109301751B (en) | 2020-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109327005A (en) | A kind of field removing ice of power transmission line and waterproofing agent flusher | |
| CN109167319B (en) | Power distribution network line deicing device | |
| CN109301751A (en) | A kind of damper hotline maintenance robot | |
| CN109449819B (en) | Insulator surface on-line monitoring device | |
| CN109217173A (en) | A kind of vibration damper on power transmission line hotline maintenance robot | |
| CN109286151A (en) | A kind of long distance transmission line periodic cleaning device | |
| CN204277998U (en) | Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system | |
| CN109103810B (en) | Online insulator replacing device | |
| CN202210638U (en) | Deicing device for transformer substation | |
| CN109193538A (en) | A kind of overhead transmission line periodic cleaning equipment | |
| CN106304939A (en) | Free walking type agricultural weeding machine | |
| CN108963871B (en) | Comprehensive maintenance device for power line | |
| CN109149491A (en) | A kind of ice-melting device for transmission line | |
| CN201160210Y (en) | Oscillation deicing device for steel tower | |
| CN208228184U (en) | A kind of afforestation weeder | |
| CN208924663U (en) | A kind of forestry grass mower | |
| CN208030058U (en) | A kind of forest preventing disease and pest detection device | |
| CN201209932Y (en) | Ultrasonic humidifier | |
| MX2008015370A (en) | Line-cleaning ball-moss-clearing machine. | |
| CN211139679U (en) | Rice fertilization equipment based on unmanned aerial vehicle | |
| CN206078075U (en) | Avoid fertilizer to melt device uneven and that but homogenization is fertilizied | |
| CN205883871U (en) | Novel clean weeder in gardens | |
| CN220150427U (en) | Desert sand-pressing forestation rain collecting device | |
| CN215311145U (en) | Rotary dust removal device in pit | |
| CN205884509U (en) | Novel agricultural remote control weeds device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |