CN104882820B - Device carried by aircraft for removing high-altitude line ribbon objects - Google Patents
Device carried by aircraft for removing high-altitude line ribbon objects Download PDFInfo
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- CN104882820B CN104882820B CN201510282552.0A CN201510282552A CN104882820B CN 104882820 B CN104882820 B CN 104882820B CN 201510282552 A CN201510282552 A CN 201510282552A CN 104882820 B CN104882820 B CN 104882820B
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- 238000010438 heat treatment Methods 0.000 claims abstract description 30
- 230000035939 shock Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 11
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 7
- 239000004917 carbon fiber Substances 0.000 claims description 7
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 239000003779 heat-resistant material Substances 0.000 claims description 3
- 238000005485 electric heating Methods 0.000 claims 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims 1
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 239000000835 fiber Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
本发明提供一种由飞行器搭载的清除高空线路飘带物的装置，其与飞行器相配合，包括长杆、第一引导槽、第二引导槽、电子电压调节器、电导线和电热丝；其中，长杆的一端设有用于固定飞行器的安装台，另一端自其端面沿背离安装台方向分别延伸出第一引导槽及第二引导槽；电子电压调节器固定于长杆上，包括电压源；电热丝的两端分别固定于第一引导槽及第二引导槽上，并通过电导线分别与电子电压调节器的两端相连。实施本发明，与飞行器配合，其易操作、易推广且没有火源安全隐患，提高了工作效率和安全性。
The present invention provides a device for removing streamers on high-altitude lines carried by an aircraft, which is matched with the aircraft and includes a long rod, a first guide groove, a second guide groove, an electronic voltage regulator, electric wires and heating wires; wherein, One end of the long pole is provided with a mounting platform for fixing the aircraft, and the other end extends from the end surface of the pole in a direction away from the mounting platform from a first guiding groove and a second guiding groove; the electronic voltage regulator is fixed on the long pole, including a voltage source; The two ends of the heating wire are respectively fixed on the first guide groove and the second guide groove, and are respectively connected with the two ends of the electronic voltage regulator through electric wires. When the present invention is implemented and matched with an aircraft, it is easy to operate, easy to popularize, and has no safety hazard of a fire source, thereby improving work efficiency and safety.
Description
技术领域technical field
本发明涉及电网高空线路飘带物清除技术领域，尤其涉及一种由飞行器搭载的清除高空线路飘带物的装置。The invention relates to the technical field of clearing high-altitude line streamers in power grids, in particular to a device for clearing high-altitude line streamers carried by an aircraft.
背景技术Background technique
近年来，随着电力设备的快速增长与生产人员不足的矛盾日益突出，输电线路巡视质量始终无法得到有效提升，并随着公园逐步开放使用，放风筝的市民越来越多，时有发生风筝、广告横幅等飘带物缠绕在输电线路的情况，使得上述矛盾进一步升级。为了确保电网的安全运行，因此在输电线路飘挂飘带物时，应根据现场情况及时处理，采取有效的方法进行拆除。In recent years, with the contradiction between the rapid growth of power equipment and the shortage of production personnel, the inspection quality of power transmission lines has not been effectively improved. , advertising banners and other streamers entangled in the power transmission line, making the above contradictions further escalated. In order to ensure the safe operation of the power grid, when there are floating objects on the transmission line, it should be dealt with in a timely manner according to the situation on the spot, and effective methods should be taken to remove them.
现有技术中，通过使用飞行器携带操作杆清除飘带物来解决这一棘手问题，其利用喷油点火装置带电拆除飘带物，具有降低劳动强度，提高工作效率等方面优点，对保障电网高效、稳定运行，电力工业自动化起着至关重要的作用，但缺点在于：操作人员的操作水平要求较高；燃烧漂浮物过程中存在火源安全隐患；不易推广。In the prior art, this thorny problem is solved by using the aircraft to carry the operating rod to remove the streamers. It uses the fuel injection ignition device to remove the streamers, which has the advantages of reducing labor intensity and improving work efficiency. Operation, power industry automation plays a vital role, but the disadvantages are: the operator's operating level is relatively high; there are fire safety hazards in the process of burning floating objects; it is not easy to promote.
发明内容Contents of the invention
本发明实施例所要解决的技术问题在于，提供一种由飞行器搭载的清除高空线路飘带物的装置，与飞行器配合，其易操作、易推广且没有火源安全隐患，提高了工作效率和安全性。The technical problem to be solved by the embodiments of the present invention is to provide a device for clearing streamers on high-altitude lines carried by an aircraft, which is easy to operate, easy to popularize and has no safety hazards of fire sources, which improves work efficiency and safety in cooperation with the aircraft .
为了解决上述技术问题，本发明实施例提供了一种由飞行器搭载的清除高空线路飘带物的装置，其与飞行器相配合，所述装置包括长杆、第一引导槽、第二引导槽、电子电压调节器、电导线和电热丝；其中，In order to solve the above technical problems, the embodiment of the present invention provides a device for removing streamers on high-altitude lines carried by an aircraft, which is matched with the aircraft. The device includes a long rod, a first guide groove, a second guide groove, an electronic Voltage regulators, electrical leads and heating wires; of which,
所述长杆的一端设有用于固定所述飞行器的安装台，另一端自其端面沿背离所述安装台方向分别延伸出所述第一引导槽及所述第二引导槽；One end of the long rod is provided with a mounting platform for fixing the aircraft, and the other end extends from the end surface of the rod in a direction away from the mounting platform from the first guide groove and the second guide groove respectively;
所述电子电压调节器固定于所述长杆上，其包括电压源；The electronic voltage regulator is fixed on the long pole, which includes a voltage source;
所述电热丝的两端分别固定于所述第一引导槽及所述第二引导槽上，并通过电导线分别与所述电子电压调节器的两端相连；The two ends of the heating wire are respectively fixed on the first guide groove and the second guide groove, and are respectively connected to the two ends of the electronic voltage regulator through electric wires;
其中，所述安装台在朝向所述飞行器一侧端面上安装有所述电子电压调节器。Wherein, the electronic voltage regulator is installed on the end face of the mounting platform facing the aircraft.
其中，所述第一引导槽上设有用于固定所述电热丝一端的第一固定部，且所述第二引导槽上设有用于固定所述电热丝另一端的第二固定部；其中，所述第一固定部和所述第二固定部均由耐热材料制作而成。Wherein, the first guide groove is provided with a first fixing part for fixing one end of the heating wire, and the second guide groove is provided with a second fixing part for fixing the other end of the heating wire; wherein, Both the first fixing part and the second fixing part are made of heat-resistant material.
其中，所述装置还包括减震管夹，所述减震管夹设置于所述长杆其背离所述安装台的一端，其包括减震板和设置于所述减震板上的管夹。Wherein, the device also includes a shock-absorbing pipe clamp, and the shock-absorbing pipe clamp is arranged on the end of the long rod away from the installation platform, which includes a shock-absorbing plate and a pipe clamp arranged on the shock-absorbing plate .
其中，当所述管夹与所述长杆相固定时，所述减震板背离所述安装台的一端沿所述长杆轴向延伸出所述长杆且位于所述第一引导槽与所述第二引导槽形成的平面朝向所述飞行器一侧；其中，所述减震板背离所述安装台一端的径向直径大于所述长杆的径向直径。Wherein, when the pipe clamp is fixed to the long rod, the end of the shock absorbing plate away from the installation platform extends out of the long rod along the axial direction of the long rod and is located between the first guide groove and the long rod. The plane formed by the second guide groove faces the side of the aircraft; wherein, the radial diameter of the end of the shock absorbing plate facing away from the installation platform is larger than the radial diameter of the long rod.
其中，所述安装台通过金属连接柱与所述飞行器相固定。Wherein, the installation platform is fixed to the aircraft through a metal connecting column.
其中，所述长杆为中空碳纤维管，且所述电导线穿过所述长杆的中空管道与所述电热丝两端相连。Wherein, the long rod is a hollow carbon fiber tube, and the electric wire passes through the hollow pipe of the long rod and is connected to both ends of the heating wire.
其中，所述电导线与所述电热丝两端均通过螺丝相固定。Wherein, both ends of the electric wire and the heating wire are fixed by screws.
其中，所述第一引导槽与所述第二引导槽之间形成的夹角大于30度且小于60度。Wherein, the angle formed between the first guide groove and the second guide groove is greater than 30 degrees and less than 60 degrees.
其中，所述第一引导槽与所述第二引导槽均由碳纤维制作而成。Wherein, both the first guide groove and the second guide groove are made of carbon fiber.
实施本发明实施例，具有如下有益效果：Implementing the embodiment of the present invention has the following beneficial effects:
1、在本发明实施例中，由于装置通过电子电压调节器调节电压大小来实现电热丝的温度升降，达到清除高空输电线路上的飘带物目的，因此有效的防止火源安全隐患，具有易操作性和易推广性；1. In the embodiment of the present invention, because the device adjusts the voltage through the electronic voltage regulator to realize the temperature rise and fall of the heating wire, and achieves the purpose of clearing the ribbons on the high-altitude transmission line, so it can effectively prevent the safety hazard of the fire source and is easy to operate. and ease of promotion;
2、在本发明实施例中，由于装置的长杆、第一引导槽及第二引导槽均由碳纤维制作而成，具有材料轻、硬度强等特点，因此能够有效提升飞行器整体续航时间及巡航速度；2. In the embodiment of the present invention, since the long rod, the first guide groove and the second guide groove of the device are all made of carbon fiber, which has the characteristics of light material and strong hardness, it can effectively improve the overall flight time and cruise of the aircraft speed;
3、在本发明实施例中，由于装置通过减震管夹降低在清除高空输电线路上飘带物时飞行器的飞行力度，因此能够有效提升飞行器整体续航时间及巡航速度。3. In the embodiment of the present invention, since the device reduces the flight strength of the aircraft when clearing the floating objects on the high-altitude power transmission line through the shock absorbing pipe clamp, the overall flight time and cruising speed of the aircraft can be effectively improved.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，根据这些附图获得其他的附图仍属于本发明的范畴。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, obtaining other drawings based on these drawings still belongs to the scope of the present invention without any creative effort.
图1为本发明实施例提供的由飞行器搭载的清除高空线路飘带物的装置与飞行器安装配置图；Fig. 1 is provided by the embodiment of the present invention and is carried by the device and aircraft installation configuration diagram of clearing high-altitude line streamer;
图2为本发明实施例提供的由飞行器搭载的清除高空线路飘带物的装置立体结构示意图；Fig. 2 is a schematic diagram of the three-dimensional structure of a device for clearing high-altitude line streamers carried by an aircraft provided by an embodiment of the present invention;
图3为本发明实施例提供的由飞行器搭载的清除高空线路飘带物的装置朝向安装台方向一端的立体结构示意图；Fig. 3 is a three-dimensional structural schematic diagram of an end of the device for clearing high-altitude line streamers carried by an aircraft in the direction of the installation platform provided by the embodiment of the present invention;
图4为本发明实施例提供的由飞行器搭载的清除高空线路飘带物的装置朝向电热丝方向一端的立体结构示意图；Fig. 4 is a three-dimensional structural schematic diagram of an end of the device for clearing high-altitude line streamers carried by the aircraft in the direction of the heating wire provided by the embodiment of the present invention;
图5为本发明实施例提供的由飞行器搭载的清除高空线路飘带物的装置中电子电压调节器与电热丝的电路连接示意图；Fig. 5 is a schematic diagram of the circuit connection between the electronic voltage regulator and the heating wire in the device for clearing high-altitude line streamers carried by the aircraft provided by the embodiment of the present invention;
图中：1-长杆，11-安装台，111-金属连接柱，2-第一引导槽，21-第一固定部，3-第二引导槽，31-第二固定部，4-电子电压调节器，5-电导线，6-电热丝，7-减震管夹，71-减震板，72-管夹，M-飞行器。In the figure: 1-long rod, 11-installation platform, 111-metal connecting column, 2-first guide groove, 21-first fixing part, 3-second guiding groove, 31-second fixing part, 4-electronic Voltage regulator, 5-electric wire, 6-heating wire, 7-shock-absorbing tube clamp, 71-shock-absorbing plate, 72-tube clamp, M-aircraft.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.
如图1至图5所示，为本发明实施例中，提出的一种由飞行器搭载的清除高空线路飘带物的装置，其与飞行器M相配合，装置包括长杆1、第一引导槽2、第二引导槽3、电子电压调节器4、电导线5和电热丝6；其中，As shown in Figures 1 to 5, in the embodiment of the present invention, a device for clearing high-altitude line streamers carried by an aircraft is proposed, which cooperates with an aircraft M, and the device includes a long rod 1 and a first guide groove 2 , the second guide groove 3, the electronic voltage regulator 4, the electric wire 5 and the heating wire 6; wherein,
长杆1的一端设有用于固定飞行器M的安装台11，另一端自其端面沿背离安装台11方向分别延伸出第一引导槽2及第二引导槽3；One end of the long rod 1 is provided with a mounting platform 11 for fixing the aircraft M, and the other end extends from the end surface thereof in a direction away from the mounting platform 11 to respectively extend a first guiding groove 2 and a second guiding groove 3;
电子电压调节器4固定于长杆1上，其包括电压源；The electronic voltage regulator 4 is fixed on the long pole 1, and it includes a voltage source;
电热丝6的两端分别固定于第一引导槽2及第二引导槽3上，并通过电导线5分别与电子电压调节器4的两端相连。Both ends of the heating wire 6 are respectively fixed on the first guide groove 2 and the second guide groove 3 , and are respectively connected to the two ends of the electronic voltage regulator 4 through electric wires 5 .
应当说明的是，本发明实施例中的由飞行器搭载的清除高空线路飘带物的装置能够利用电子电压调节器4来控制电压源电压大小，从而改变通过电热丝6电流，实现电热丝6温度调节，使得高温的电热丝6能够烧断缠绕在高空输电线路上的飘带物，达到清除高空输电线路上的飘带物目的，因此有效的防止火源安全隐患，具有易操作性和易推广性。It should be noted that in the embodiment of the present invention, the device for removing floating objects on high-altitude lines carried by the aircraft can use the electronic voltage regulator 4 to control the voltage of the voltage source, thereby changing the current passing through the heating wire 6 and realizing the temperature adjustment of the heating wire 6 , so that the high-temperature heating wire 6 can burn off the streamers wound on the high-altitude transmission line, so as to achieve the purpose of removing the streamers on the high-altitude transmission line, so it can effectively prevent fire source safety hazards, and is easy to operate and popularize.
应当说明的是，长杆1、第一引导槽2及第二引导槽3可由碳纤维制作而成，具有材料轻、硬度强等特点，因此能够有效提升飞行器整体续航时间及巡航速度。It should be noted that the long rod 1 , the first guide groove 2 and the second guide groove 3 can be made of carbon fiber, which has the characteristics of light material and strong hardness, so it can effectively improve the overall flight time and cruising speed of the aircraft.
可以理解的是，长杆1采用中空碳纤维管，电导线5可穿过长杆1的中空管道分别在第一引导槽2及第二引导槽3上通过螺丝与电热丝6两端相连，这样就可降低电导线5裸露在外损坏的危险性，延长了电导线5的使用寿命。It can be understood that the long rod 1 adopts a hollow carbon fiber tube, and the electric wire 5 can pass through the hollow pipe of the long rod 1 to be connected to the two ends of the heating wire 6 by screws on the first guide groove 2 and the second guide groove 3 respectively, so that Just can reduce the danger that electric lead 5 is exposed to damage, prolong the service life of electric lead 5.
为了实现清除高空输电线路上的飘带物效果最佳，因此在装置中可设置第一引导槽2与第二引导槽3之间形成的夹角大于30度且小于60度。In order to achieve the best effect of clearing the floating objects on the high-altitude power transmission line, the angle formed between the first guide groove 2 and the second guide groove 3 can be set in the device to be greater than 30 degrees and less than 60 degrees.
由于电热丝6安装于第一引导槽2及第二引导槽3上，因此第一引导槽2上设有用于固定电热丝6一端的第一固定部21，且第二引导槽3上设有用于固定电热丝6另一端的第二固定部31。同时，为了避免电热丝6温度过高对第一引导槽2及第二引导槽3产生破坏，损耗装置的使用寿命，因此第一固定部21和第二固定部31均由耐热材料制作而成。Since the heating wire 6 is installed on the first guide groove 2 and the second guide groove 3, the first guide groove 2 is provided with a first fixing part 21 for fixing one end of the heating wire 6, and the second guide groove 3 is provided with a The second fixing portion 31 at the other end of the heating wire 6 is fixed. Simultaneously, in order to avoid that the temperature of the heating wire 6 is too high to cause damage to the first guide groove 2 and the second guide groove 3, and to reduce the service life of the device, the first fixing part 21 and the second fixing part 31 are all made of heat-resistant materials. become.
为了进一步降低在清除高空输电线路上漂流物时飞行器M的飞行力度，能够有效提升飞行器M整体续航时间及巡航速度，因此装置还包括减震管夹7，减震管夹7设置于长杆1其背离安装台11的一端，其包括减震板71和设置于减震板71上的管夹72。In order to further reduce the flying strength of the aircraft M when clearing drifts on the high-altitude power transmission line, and effectively improve the overall endurance time and cruising speed of the aircraft M, the device also includes a shock absorbing pipe clamp 7, which is arranged on the long rod 1 Its end away from the installation platform 11 includes a shock absorbing plate 71 and a pipe clamp 72 disposed on the shock absorbing plate 71 .
为了避免操作过程中，可能由于第一引导槽2及第二引导槽3触碰到外物(如高压输电线路)时出现弯折，从而达到保护整个装置稳定性的目的，因此在将管夹72与长杆1相固定时，减震板71背离安装台11的一端沿长杆1轴向延伸出长杆1且位于第一引导槽2与第二引导槽3形成的平面朝向飞行器M一侧；其中，减震板71背离安装台11一端的径向直径大于长杆1的径向直径，这样使得第一引导槽2及第二引导槽3朝向长杆1的端部都在减震板71的保护范围内。In order to avoid bending during the operation process, the first guide groove 2 and the second guide groove 3 may be bent when they touch foreign objects (such as high-voltage transmission lines), so as to achieve the purpose of protecting the stability of the entire device. When 72 is fixed to the long rod 1, the end of the shock absorbing plate 71 away from the installation platform 11 extends out of the long rod 1 along the axial direction of the long rod 1 and is located in the plane formed by the first guide groove 2 and the second guide groove 3 toward the aircraft M. side; wherein, the radial diameter of the end of the damping plate 71 away from the mounting table 11 is larger than the radial diameter of the long rod 1, so that the end of the first guide groove 2 and the second guide groove 3 towards the long rod 1 is in shock absorption within the protection range of the board 71.
当然，减震板71延伸出长杆1的一端也可以位于第一引导槽2与第二引导槽3形成的平面背离飞行器M一侧，也可以有两个减震板71，两个减震板71延伸出长杆1的一端分别位于第一引导槽2与第二引导槽3形成的平面背离飞行器M一侧及朝向飞行器M一侧。Certainly, one end of the shock absorbing plate 71 extending out of the long rod 1 can also be positioned at the plane formed by the first guide groove 2 and the second guide groove 3 to face away from the side of the aircraft M, or there can be two shock absorbing plates 71, two shock absorbing One end of the plate 71 extending out of the long rod 1 is respectively located on the plane formed by the first guide groove 2 and the second guide groove 3 on the side facing away from the aircraft M and on the side facing the aircraft M.
更进一步的，安装台11通过金属连接柱111与飞行器相固定，为了保护电子电压调节器4，避免飞行器M飞行中碰撞损坏，因此安装台11在朝向飞行器M一侧端面上安装有电子电压调节器4。Furthermore, the mounting table 11 is fixed to the aircraft through a metal connecting column 111. In order to protect the electronic voltage regulator 4 and avoid collision damage of the aircraft M during flight, the mounting table 11 is equipped with an electronic voltage regulator on the end face facing the aircraft M. device 4.
本发明实施例中由飞行器搭载的清除高空线路飘带物的装置的工作原理为：操控飞行器M至高空输电线路飘带物附近位置并对准，进一步提供PWM信号给电子电压调节器4控制电压源输出电压大小，从而改变通过电热丝6电流，实现电热丝6的温度调节，利用电热丝6的高温烧断缠绕在高空输电线路上的飘带物。In the embodiment of the present invention, the working principle of the device for clearing the floating objects on the high-altitude line carried by the aircraft is as follows: control the aircraft M to the position near the floating objects on the high-altitude transmission line and align, and further provide a PWM signal to the electronic voltage regulator 4 to control the output of the voltage source The magnitude of the voltage, thereby changing the current passing through the heating wire 6, realizing the temperature regulation of the heating wire 6, and using the high temperature of the heating wire 6 to blow off the ribbons wound on the high-altitude transmission line.
实施本发明实施例，具有如下有益效果：Implementing the embodiment of the present invention has the following beneficial effects:
1、在本发明实施例中，由于装置通过电子电压调节器调节电压大小来实现电热丝的温度升降，达到清除高空输电线路上的飘带物目的，因此有效的防止火源安全隐患，具有易操作性和易推广性；1. In the embodiment of the present invention, because the device adjusts the voltage through the electronic voltage regulator to realize the temperature rise and fall of the heating wire, and achieves the purpose of clearing the ribbons on the high-altitude transmission line, so it can effectively prevent the safety hazard of the fire source and is easy to operate. and ease of promotion;
2、在本发明实施例中，由于装置的长杆、第一引导槽及第二引导槽均由碳纤维制作而成，具有材料轻、硬度强等特点，因此能够有效提升飞行器整体续航时间及巡航速度；2. In the embodiment of the present invention, since the long rod, the first guide groove and the second guide groove of the device are all made of carbon fiber, which has the characteristics of light material and strong hardness, it can effectively improve the overall flight time and cruise of the aircraft speed;
3、在本发明实施例中，由于装置通过减震管夹降低在清除高空输电线路上漂流物时飞行器的飞行力度，因此能够有效提升飞行器整体续航时间及巡航速度。3. In the embodiment of the present invention, since the device reduces the flight strength of the aircraft when clearing drifts on the high-altitude power transmission line through the shock absorbing pipe clamp, it can effectively improve the overall flight time and cruising speed of the aircraft.
以上所揭露的仅为本发明一种较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosure is only a preferred embodiment of the present invention, which certainly cannot limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.
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| CN107732770B (en) * | 2017-10-27 | 2023-09-01 | 广东电网有限责任公司揭阳供电局 | A cutting device for removing foreign matter from transmission lines |
| WO2022048112A1 (en) * | 2020-09-03 | 2022-03-10 | 湖南大学 | Aerial operation robot for power transmission line maintenance and automatic stability augmentation control method therefor |
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