CN206099252U - High tension power line deicing robot - Google Patents
High tension power line deicing robot Download PDFInfo
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- CN206099252U CN206099252U CN201621160546.4U CN201621160546U CN206099252U CN 206099252 U CN206099252 U CN 206099252U CN 201621160546 U CN201621160546 U CN 201621160546U CN 206099252 U CN206099252 U CN 206099252U
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- motor
- deicing
- pulley
- mechanical arm
- obstacle detouring
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Abstract
The utility model discloses a high tension transmission line deicing robot, including front box body and back box, be connected with travel mechanism between front box body and the back box, the bottom rear end of front box body and back box is connected with respectively grabs rope mechanism, front box body's both sides are connected with that first hinder the arm and the second hinders the arm more, front box body's front end symmetry is equipped with third motor and four Motors, third motor and four Motors are connected with deicing mechanism respectively, be equipped with controller, IMU inertial navigation module and GPS module in the front box body, last infrared alignment sensor and the ultrasonic sensor of being connected with of front box body. The utility model discloses having on -line " walking " function and can hinder more automatically, having improved the efficiency of deicing, the security is high, and is with low costs, through automatic deicing work of crossing between each line tower of barrier completion.
Description
Technical field
This utility model relates generally to a kind of high voltage transmission line deicing robot.
Background technology
At present, China region is wide, there is a huge power transmission network therewith, but winter sleet natural disaster happens occasionally
Frequently result in electric network fault.Existing removing ice of power transmission line method includes artificial deicing method, excess current de-icing method, high frequency pumping ice-melt
Method and deicing robot method, wherein, artificial deicing method need a large amount of manpowers to be normally only applied to working environment is good, 100 kilometers of left sides
The deicing of right powerline ice-covering.Artificial deicing needs to expend a large amount of manpowers, and than relatively hazardous, efficiency is not also high；Overcurrent
Ice-melting method be by change the load current of trend distribution increase circuit and so that conductor overheating reaches anti-icing ice-melt purpose, it is this
The less 110kV of method pair cross-section and following circuit it is feasible to higher voltage grade circuit due to section greatly and by power system capacity and
The method of operation is limited without obvious effect；High frequency pumping ice-melting method is on ice coating wire plus high frequency pumping, becomes can ice and damage
Electrolyte and directly generate heat, can also cause the kelvin effect of wire, make electric current only in conductive surface circulation, cause bigger etc.
Effect resistance loss heating, using the two common heat deicing for producing, but can produce frequency electromagnetic waves under high frequency pumping and do
Communication harmonic is disturbed, the relatively thin wire of icing can produce corona discharge phenomenon, weaken the propagation of high frequency waves, prevent power from reaching and cover
Bing compare Hou areas；Deicing robot method is a popular direction of present research, and it is entered using the robot hung on power transmission line
Row deicing, current adoptable mechanical deicing's mode has impact, impact, milling, crushing, rotopeening, shovel to scrape, vibrate.
At present there is problems with existing deicing robot：
(1) the larger heavier-weight of automated de-icing system volume, the set-up time is long, is difficult large-scale application；
(2) vile weather in line ice coating installs more difficult, and the time is longer, from in-site installation to end time about
When being 15min. and larger deicing line levels difference, it may appear that climbing speed is slow, the difficult phenomenon of deicing；
(3) there is the phenomenon skidded in driving pulley；
(4) wire is damaged seriously in life-time service；
(5) can only must carry out when carrying out another grade of deicing artificial in a span deicing when deicing
Covert or gear shift；
(6) in the realization of obstacle crossing function, hence it is evident that shortcoming.
De-icing of power transmission lines machine people is different with general industry robot, and it is suspended on flexible transmission wire, is being run
The attitude moment of Cheng Zhong robots occurs to change, and presents the three-dimensional compound movement state of many body system；In view of motion
During other uncertain factors such as the frictional force being subject to and the resistance that is subject in obstacle detouring, climbing, descending, deicing shadow
Ring, to realize that the control of deicing robot inner directed behavior is larger with navigation difficulty, it is still necessary to which how solution realizes robot in flexibility
Steadily creeping on power transmission cable, there is an obstacle climbing ability flexible enough, the stockbridge damper kept away on more high-tension line, wire clamp, insulator,
The obstacles such as transmission tower, and ensure that robot pose is steady in obstacle detouring, and keep the safe spacing with wire and transmission tower metal parts
Problem.
Utility model content
In order to improve the intelligent and automatization level of robot, realize the online autonomous of robot, avoidance and remove
Ice, this utility model provides a kind of high voltage transmission line deicing robot.
The technical scheme that this utility model is adopted is：
A kind of deicing high-voltage power transmission line robot, including front casing and rear box, between the front casing and rear box
The bottom rear end for being connected with walking mechanism, the front casing and rear box is connected to Zhua Sheng mechanisms, the Zhua Sheng mechanisms with
Front casing is connected with the rotating mechanism in rear cabinet body, and in front and back the Liang Gezhuasheng mechanisms of casing are engaged and complete to unclamp, firmly grasp etc. dynamic
Make；The both sides of the front casing are connected with the first obstacle detouring mechanical arm and the second obstacle detouring mechanical arm, the first obstacle detouring mechanical arm with
The first motor in front casing is connected, and the second obstacle detouring mechanical arm is connected with the second motor in front casing, during obstacle detouring, adopts
" bikini obstacle detouring " mode, i.e., by the way of obstacle detouring mechanical arm is engaged with the Liang Gezhuasheng mechanisms of casing in front and back；Described
The front end of one obstacle detouring mechanical arm and the second obstacle detouring mechanical arm is respectively equipped with obstacle detouring mechanical arm forelimb；The obstacle detouring mechanical arm forelimb
Lower surface is zigzag；The front end of the front casing is arranged with the 3rd motor and the 4th motor, the 3rd motor and the 4th
Motor is connected to deicing mechanism；Controller, first motor, the second motor, the 3rd motor are provided with the front casing
It is connected with controller respectively with the 4th motor.
Further, the rotating mechanism includes rotary electric machine, worm screw, turbine and gear, and the rotary electric machine drives snail
Bar is rotated, and the worm screw engages with turbine, and the gear is fixed on one heart on the turbine；
The Zhua Sheng mechanisms include guide rod frame, first connecting rod mechanism, second connecting rod mechanism, first pulley, second pulley
With the 3rd pulley, one end of the first connecting rod mechanism is connected with guide rail framework left side, and the other end is connected with first pulley, described
One end of second connecting rod mechanism is connected with guide rail framework right side, and the other end is connected with second pulley, the centre of the guide rail framework
It is hingedly connected with the 3rd pulley；Three pulley surfaces are separately installed with sliding feeling sensor；The bottom of the guide rod frame is inclined
The heart connects gear.
Further, the walking mechanism includes laterally zygomorphic two groups of crank connecting links, and the forward and backward casing is respectively equipped with
Motor, the motor is connected with gear reduction unit；The two ends of the crank connecting link respectively with forward and backward casing in tooth
Wheel decelerator is connected；The rotation direction of two groups of crank connecting links is conversely, drive forward and backward casing according to the side of " stretch-contract-stretching "
Formula moves in circles advance.
Further, the deicing mechanism includes the first plate-like milling cutter and the second plate-like milling cutter, the first plate-like milling cutter
Top be connected with the 5th motor, be connected with about two parallel connecting rods between the 5th motor and the 3rd motor；It is described
The 6th motor is connected with the top of second plate-like milling cutter, be connected between the 6th motor and the 4th motor about two it is parallel
Connecting rod；The first plate-like milling cutter and the second plate-like milling cutter are respectively by six cutting tips, four pads and two anti-cuttings
Plate is combined, and the middle part of first wire rod quality and the second plate-like milling cutter is separately installed with pressure transducer.
Further, infrared alignment sensor and ultrasonic sensor, the infrared positioning are connected with the front casing
Sensor and ultrasonic sensor are connected respectively with controller.
Further, the controller is based in ARM Cortex-M4 using the Kenitis6 series of Freescale company
32 single-chip microcomputers of core.
Further, the front box house is provided with IMU inertial navigation modules and GPS module, the IMU inertial navigations mould
Block and GPS module are connected respectively with controller.
Compared with prior art, the beneficial effects of the utility model are：
（1）This utility model has " walking " function and energy crossing obstacle automatically on line, substantially increases the efficiency of deicing, entirely
Process eliminates the participation of people, improves safety, and has saved cost, and by automatic mistake the deicing work completed between each transmission tower is hindered
Make；
（2）Using three point contact electric wire mode, it is ensured that robot be in the air can firm grip electric wire, good stability；
（3）Using parallelogram linkage, reducing mechanism degree of freedom, reduce required motor quantity, by mechanism
Innovation reduces circuit control difficulty；
（4）Using plate-like milling cutter, with reference to milling and crushing, the accumulated ice of covering can be more effectively removed, deicing efficiency is high.
（5）This utility model have efficiently, energy-conservation, safety, high degree of automation, low cost the characteristics of, can thoroughly remove
Ice and can automatic detection, across obstacle, it is adaptable to various power transmission lines, to external world environment there is good adaptability, Neng Gou
In the environment of climate variability, possess wide market value.
Description of the drawings
Fig. 1 is overall construction drawing of the present utility model；
Fig. 2 is upward view of the present utility model；
Fig. 3 is top view of the present utility model；
The structure chart of Tu4Shi Zhuasheng mechanisms；
Wherein, 1. before casing, 2. rear box, 3. walking mechanism, 4. Zhua Sheng mechanisms, 5. the first obstacle detouring mechanical arm, 6. deicing
Mechanism, 7. the first plate-like milling cutter, 8. the second obstacle detouring mechanical arm, 9. pressure transducer, 10. controller, 11. infrared orientation sensings
Device, 12. connecting rods, 13. obstacle detouring mechanical arm forelimbs, 14. the 3rd motors, 15. the 5th motors, 16. crank connecting links, 17. guide rod frames,
18. first pulleys, 19. worm screws, 20. worm gears, 21. first motors, 22. second motors, 23. second plate-like milling cutters, 24. the 4th is electric
Machine, 25. the 6th motors, 26. second pulleys, 27. first connecting rod mechanisms, 28. second connecting rod mechanisms, 29. the 3rd pulleys.
Specific embodiment
This utility model is further illustrated below in conjunction with the accompanying drawings.
As Figure 1-4, a kind of deicing high-voltage power transmission line robot, including front casing 1 and rear box 2, the front case
The bottom rear end that walking mechanism 3, the front casing 1 and rear box 2 are connected between body 1 and rear box 2 is connected to and grabs rope
Mechanism 4, the Zhua Sheng mechanisms 4 are connected with the rotating mechanism in front casing and rear cabinet body, in front and back the phase of Liang Gezhuasheng mechanisms 4 of casing
Cooperation such as completes to unclamp, firmly grasps at the action；The rotating mechanism includes rotary electric machine, worm screw 19, turbine 20 and gear, the rotation
Motor drives worm screw 19 to rotate, and the worm screw 19 engages with turbine 20, and the gear is fixed on one heart on the turbine.Before described
The both sides of casing 1 are connected with the first obstacle detouring mechanical arm 5 and the second obstacle detouring mechanical arm 8, the first obstacle detouring mechanical arm 5 and front casing
The first motor 21 in 1, the second obstacle detouring mechanical arm 8 is connected with the second motor 22 in front casing 1；The obstacle detouring mechanical arm
The lower surface of forelimb 13 is zigzag；The front end of the front casing 1 is arranged with the 3rd motor 14 and the 4th motor 24, and described
Three motors 14 and the 4th motor 24 are connected with deicing mechanism 6；It is provided with controller 10 in the front casing 1, first motor 21,
Second motor 22, the 3rd motor 14 and the 4th motor 24 are connected respectively with controller 10, drive multichannel motor complete by controller
Into traveling, obstacle detouring and deicing action.Using the hybrid power power supply supply of gasoline engine generator and accumulator on the deicing robot
System, petrol engine directly drives deicing mechanism work by machinery, not only can mitigate the burden of accumulator battery, also
Online charging can be carried out to accumulator battery to ensure the persistency of its electric energy output, while the heat that electromotor sends when working
Robot itself icing can also be effectively prevented.The controller 10 is based on using the Kenitis6 series of Freescale company
32 single-chip microcomputers of ARM Cortex-M4 kernels.The front box house is provided with IMU inertial navigation modules and GPS module, described
IMU inertial navigation modules and GPS module are connected respectively with controller 10, and robot can constantly be perceived and adjust attitude, may be used also
In emergency circumstances to make a response falling etc..
Zhua Sheng mechanisms 4 include guide rod frame 17, first connecting rod mechanism 27, second connecting rod mechanism 28, first pulley 18, second
The pulley 29 of pulley 26 and the 3rd, one end of the first connecting rod mechanism 27 is connected with the left side of guide rail framework 17, the other end and first
Pulley 18 is connected, and one end of the second connecting rod mechanism 28 is connected with the right side of guide rail framework 17, the other end and the phase of second pulley 26
Even, the centre of the guide rail framework 17 is hingedly connected with the 3rd pulley 29；The first pulley 18, second pulley 26 and the 3rd are slided
The surface of wheel 29 is separately installed with sliding feeling sensor.Motor in drive mechanism in forward and backward casing drives 19 turns of worm screw
Dynamic, worm screw 19 drives again turbine 20 to rotate, and rotation is delivered to gear by turbine 20, and the lower eccentric of guide rod frame 17 is connected to tooth
On wheel, by pinion rotation drive guide rod frame 17 upwards, move downward, difference can be connected by first connecting rod mechanism 27 and second
Linkage 28 drives flank first pulley 18 and second pulley 26 to open, close.So as to realize three pulleys promptly, unclamp.
Under normally travel state, three pulleys in promptly state, when running into obstacle before and after Liang Zuzhuasheng mechanisms unclamp successively, pass through
Barrier.
Walking mechanism 3 includes laterally zygomorphic two groups of crank connecting links 16, and the forward and backward casing is respectively equipped with motor,
The motor is connected with gear reduction unit；The two ends of the crank connecting link 16 respectively with forward and backward casing in The gear deceleration
Device is connected；The rotation direction of two groups of crank connecting links is conversely, drive forward and backward casing to circulate according to the mode of " stretch-contract-stretching "
It is reciprocal to advance.During motion, the Zhua Sheng mechanisms 4 of front casing 1 first firmly grasp, i.e., fixed front casing 1, the Zhua Sheng mechanisms 4 of subsequent rear box 2
Unclamp, motor drives gear reduction unit to rotate, so as to drive crank connecting link 16 to fold, Zhua Sheng mechanisms 4 of rear box 2 afterwards
Promptly electric wire, that is, fix rear box 2, and then front casing 1 unclamps, and motor drives crank connecting link 16 to rotate inside, so that
Obtain crank connecting link 16 to launch, robot completes once to travel forward.
The obstacle that deicing robot runs into is mainly the stockbridge damper on high-voltage line, during obstacle detouring, using " bikini obstacle detouring " side
Formula, i.e., the side being engaged with the Liang Gezhuasheng mechanisms 4 of casing in front and back using the first obstacle detouring mechanical arm 5 and the second obstacle detouring mechanical arm 8
Formula, obstacle detouring mechanical arm forelimb 13 first catches electric wire across obstacle, and then the Zhua Sheng mechanisms 4 on front casing 1 unclamp, now rear box
2 Zhua Sheng mechanisms 4 firmly grasp, and the crank connecting link 16 in traveling mechanism opens, and front casing 1 is moved forward, is gradually surmounted obstacles；Finally,
Current casing 1 surmounts obstacles, and when electric wire is firmly grasped by Zhua Sheng mechanisms 4, rear box 2 starts obstacle detouring.It is also equipped with the front side of front casing 1 red
Outside fix sensor 11, for the location point that detection selection machine pawl should be captured.The Liang Gezhuasheng mechanisms 4 of casing and machine in front and back
Tool arm forelimb 13 is altogether 3 points, and two-point contact electric wire has been remained during obstacle detouring, this ensures that robot
Balance, without departing from electric wire.
Deicing mechanism 6 includes the first plate-like milling cutter 7 and the second plate-like milling cutter 23, and the top of the first plate-like milling cutter 7 connects
The 5th motor 15 is connected to, between the 5th motor 15 and the 3rd motor 14 about two parallel connecting rods 12 are connected with；It is described
The top of the second plate-like milling cutter 23 is connected with the 6th motor 25, and between the 6th motor 25 and the 4th motor 24 two are connected with
Upper and lower parallel connecting rod 12；The first plate-like milling cutter 7 and the second plate-like milling cutter 23 are respectively by six cutting tips, four pads
Combine with two anti-cutting plates.In ice detachment, the first obstacle detouring machinery is controlled by the first motor 21 and the second motor 22
Arm and the second obstacle detouring mechanical arm are accurately positioned up and down, it is ensured that deicer is capable of achieving the integral elevating and two relative to robot
Open and close movement between individual plate-like milling cutter.First plate-like milling cutter 7 and the second disk are driven by the 5th motor 15 and the 6th motor 25
Shape milling cutter 23 rotates excision ice cube.To protect cable, in the first plate-like milling cutter 7 and the middle part of the second plate-like milling cutter 23
Pressure transducer 9 is respectively mounted, for perceiving sensor of the facing cutter for the pressure value size of electric wire.When by a certain pressure
During effect, fibre plate impedance changes, so as to reach the purpose of measurement pressure.
The deicing robot has many places to innovate in frame for movement, ingenious combined parallel quadrilateral connecting rod mechanism, turbine snail
Linkage, gear mechanism etc., realize that machine is rationally arranged in space layout as little as possible, while auxiliary is with the control of reasonable
System processed, motor system and detecting system so that the feasibility of deicing robot reaches very big lifting.
It is not new to this practicality although the above-mentioned accompanying drawing that combines is described to specific embodiment of the present utility model
The restriction of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Various modifications or deform still in protection model of the present utility model that field technique personnel make by need not paying creative work
Within enclosing.
Claims (7)
1. a kind of deicing high-voltage power transmission line robot, it is characterised in that including front casing and rear box, the front casing and after
The bottom rear end that walking mechanism, the front casing and rear box are connected between casing is connected to Zhua Sheng mechanisms, described to grab
Rope mechanism is connected with the rotating mechanism in front casing and rear cabinet body；The both sides of the front casing be connected with the first obstacle detouring mechanical arm and
Second obstacle detouring mechanical arm, the both sides in the front casing are provided with the first motor and the second motor, the first obstacle detouring mechanical arm with
First motor, the second obstacle detouring mechanical arm is connected with the second motor；The first obstacle detouring mechanical arm and the second obstacle detouring mechanical arm
Front end be provided with obstacle detouring mechanical arm forelimb, the lower surface of the obstacle detouring mechanical arm forelimb is zigzag；The front end of the front casing
The 3rd motor and the 4th motor are arranged with, the 3rd motor and the 4th motor are connected to deicing mechanism；The front case
Controller is provided with vivo；First motor, the second motor, the 3rd motor and the 4th motor are connected respectively with controller.
2. a kind of deicing high-voltage power transmission line robot according to claim 1, it is characterised in that the rotating mechanism bag
Rotary electric machine, worm screw, turbine and gear are included, the rotary electric machine drives worm screw to rotate, and the worm screw engages with turbine, the tooth
Wheel is fixed on one heart on the turbine；
The Zhua Sheng mechanisms include guide rod frame, first connecting rod mechanism, second connecting rod mechanism, first pulley, second pulley and the
Three pulleys, described one end of first connecting rod mechanism is connected with the left side of guide rail framework, and the other end is connected with first pulley, and described
One end of two linkages is connected with the right side of guide rail framework, and the other end is connected with second pulley, the centre of the guide rail framework
It is hingedly connected with the 3rd pulley；The surface of the first pulley, second pulley and the 3rd pulley is separately installed with sliding feeling sensor；
The lower eccentric connection gear of the guide rod frame.
3. a kind of deicing high-voltage power transmission line robot according to claim 1, it is characterised in that the walking mechanism bag
Laterally zygomorphic two groups of crank connecting links are included, the forward and backward casing is respectively equipped with motor, and the motor is connected with gear
Decelerator；The two ends of the crank connecting link are connected respectively with gear reduction unit.
4. a kind of deicing high-voltage power transmission line robot according to claim 1, it is characterised in that the deicing mechanism bag
The first plate-like milling cutter and the second plate-like milling cutter are included, the 5th motor is connected with the top of the first plate-like milling cutter, the described 5th is electric
About two parallel connecting rods are connected between machine and the 3rd motor；It is electric the 6th to be connected with the top of the second plate-like milling cutter
Machine, between the 6th motor and the 4th motor about two parallel connecting rods are connected with；The first plate-like milling cutter and second
Plate-like milling cutter is combined respectively by six cutting tips, four pads and two anti-cutting plates, first wire rod quality and
The middle part of two plate-like milling cutters is separately installed with pressure transducer.
5. a kind of deicing high-voltage power transmission line robot according to claim 1, it is characterised in that connect on the front casing
Be connected to infrared alignment sensor and ultrasonic sensor, the infrared alignment sensor and ultrasonic sensor respectively with controller
It is connected.
6. a kind of deicing high-voltage power transmission line robot according to claim 1, it is characterised in that the controller is adopted
32 single-chip microcomputers of the Kenitis6 series of Freescale company based on ARM Cortex-M4 kernels.
7. a kind of deicing high-voltage power transmission line robot according to claim 1, it is characterised in that the front box house
IMU inertial navigation modules and GPS module are provided with, the IMU inertial navigation modules and GPS module are connected respectively with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621160546.4U CN206099252U (en) | 2016-11-01 | 2016-11-01 | High tension power line deicing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621160546.4U CN206099252U (en) | 2016-11-01 | 2016-11-01 | High tension power line deicing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206099252U true CN206099252U (en) | 2017-04-12 |
Family
ID=58485859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621160546.4U Expired - Fee Related CN206099252U (en) | 2016-11-01 | 2016-11-01 | High tension power line deicing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206099252U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107959261A (en) * | 2018-01-23 | 2018-04-24 | 自贡市三人实业有限公司 | A kind of intelligent transmission line patrol block removing robot |
| CN109473934A (en) * | 2018-04-19 | 2019-03-15 | 国网浙江省电力有限公司金华供电公司 | A transmission line deicing system and method |
| CN111431122A (en) * | 2020-04-09 | 2020-07-17 | 吴宇 | High tension transmission line removes ice maker |
| CN112821558A (en) * | 2021-01-20 | 2021-05-18 | 武汉元生创新科技有限公司 | Power transmission line deformation monitoring device, system and method based on IMU combined inertial navigation |
| CN113922314A (en) * | 2021-10-29 | 2022-01-11 | 重庆电力高等专科学校 | Special high-efficient defroster of cable |
| CN113964774A (en) * | 2021-11-27 | 2022-01-21 | 东北电力大学 | A vibrating cable deicing device |
| CN115102126A (en) * | 2022-07-21 | 2022-09-23 | 内蒙古工业大学 | Novel cable deicing robot |
-
2016
- 2016-11-01 CN CN201621160546.4U patent/CN206099252U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107959261A (en) * | 2018-01-23 | 2018-04-24 | 自贡市三人实业有限公司 | A kind of intelligent transmission line patrol block removing robot |
| CN107959261B (en) * | 2018-01-23 | 2023-05-23 | 四川福瑞德电力设备科技有限公司 | Intelligent line inspection obstacle removing robot for power transmission line |
| CN109473934A (en) * | 2018-04-19 | 2019-03-15 | 国网浙江省电力有限公司金华供电公司 | A transmission line deicing system and method |
| CN111431122A (en) * | 2020-04-09 | 2020-07-17 | 吴宇 | High tension transmission line removes ice maker |
| CN111431122B (en) * | 2020-04-09 | 2020-11-13 | 国网黑龙江省电力有限公司双鸭山供电公司 | High tension transmission line removes ice maker |
| CN112821558A (en) * | 2021-01-20 | 2021-05-18 | 武汉元生创新科技有限公司 | Power transmission line deformation monitoring device, system and method based on IMU combined inertial navigation |
| CN113922314A (en) * | 2021-10-29 | 2022-01-11 | 重庆电力高等专科学校 | Special high-efficient defroster of cable |
| CN113922314B (en) * | 2021-10-29 | 2023-02-07 | 重庆电力高等专科学校 | Special high-efficient defroster of cable |
| CN113964774A (en) * | 2021-11-27 | 2022-01-21 | 东北电力大学 | A vibrating cable deicing device |
| CN115102126A (en) * | 2022-07-21 | 2022-09-23 | 内蒙古工业大学 | Novel cable deicing robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20171101 |
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| CF01 | Termination of patent right due to non-payment of annual fee |