CN103475069A - Charging docking device of inspection robot - Google Patents

Charging docking device of inspection robot Download PDF

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Publication number
CN103475069A
CN103475069A CN2013104662660A CN201310466266A CN103475069A CN 103475069 A CN103475069 A CN 103475069A CN 2013104662660 A CN2013104662660 A CN 2013104662660A CN 201310466266 A CN201310466266 A CN 201310466266A CN 103475069 A CN103475069 A CN 103475069A
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CN
China
Prior art keywords
socket
charging
robot
docking
charging head
Prior art date
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Granted
Application number
CN2013104662660A
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Chinese (zh)
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CN103475069B (en
Inventor
吴功平
付兴伟
何缘
周鹏
刘明
曹琪
杨景波
景辉
杨松
于建友
石磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAISHAN POWER SUPPLY Co OF JILIN ELECTRIC POWER Co Ltd
State Grid Corp of China SGCC
Wuhan University WHU
Original Assignee
BAISHAN POWER SUPPLY Co OF JILIN ELECTRIC POWER Co Ltd
State Grid Corp of China SGCC
Wuhan University WHU
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Application filed by BAISHAN POWER SUPPLY Co OF JILIN ELECTRIC POWER Co Ltd, State Grid Corp of China SGCC, Wuhan University WHU filed Critical BAISHAN POWER SUPPLY Co OF JILIN ELECTRIC POWER Co Ltd
Priority to CN201310466266.0A priority Critical patent/CN103475069B/en
Publication of CN103475069A publication Critical patent/CN103475069A/en
Application granted granted Critical
Publication of CN103475069B publication Critical patent/CN103475069B/en
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Abstract

The invention provides a charging docking device of an inspection robot. The charging docking device of the inspection robot comprises a charging stand and a charging head connected with the charging stand in a matched mode. The charging stand is installed on a suspension clamp on an overhead transmission line; the charging head is installed on a mechanical arm of the inspection robot. When the mechanical arm is moved along the transmission line to ensure that the charging head and the inspection robot are docked, because a socket body in the charging stand has four freedom degrees of rotation in the three-dimensional space and movement along the transmission line, the inspection robot can adapt to centering deviation caused by downward deformation of the transmission line borne the gravity of the robot because of installing errors in the docking process of the inspection robot and the charging head; meanwhile, because the charging head is designed to be a wedged body and the socket is provided with a V-shaped groove matched with the charging head, the defect that an inserting needle is aligned with an inserting hole difficultly is overcome, docking of the inspection robot and the charging head is facilitated, and the charging docking device of the inspection robot is simple in docking, efficient, safe, reliable and low in cost.

Description

A kind of charging docking facilities of crusing robot
  
Technical field
The present invention relates to a kind of charging docking facilities of charging docking facilities, particularly a kind of crusing robot.
Background technology
Crusing robot is on ultra-high-tension power transmission line during operation, the general internal battery that adopts is powered, but during the crusing robot operation, energy consumption is large, need the frequent storage battery of changing during long-play, ultra-high-tension power transmission line often needs to cross over the lake, mountains and rivers, the jungle desert, and the on-the-spot storage battery of changing is wasted time and energy, give to patrol and examine and caused great inconvenience, therefore online power taking just seems very necessary.Solar energy, as a kind of energy of safe green, has been widely used in different field, and photovoltaic power generation technology is now very ripe, is convenient to utilize.Therefore, set up solar energy automatic charging base station (comprising solar panel, energy storage battery, charging monitoring system) on shaft tower, convert solar energy into electrical energy and be stored in energy storage battery, when the electric weight of the storage battery of crusing robot is not enough, energy storage battery in the charging base station just can provide the electric energy supply to crusing robot, thereby realizes the online power taking of crusing robot.Yet how to realize that crusing robot has just become to determine with the charging docking of solar energy automatic charging base station the key issue whether this online way to take power is feasible.
The charging of household products docking at present adopts the mode of contact pin jack, this docking mode positioning accuracy request is high, and robot travels having on flexible overhead transmission line, the deviations that unavoidable existence can not be estimated, therefore the mode of traditional contact pin jack obviously is not suitable for the charging docking of crusing robot.In addition, the charging of clean robot docking is by the robot dress, responding to detecting element on the market, and load onto supporting sensing element on the cradle of needs docking, the induction detecting element is passed to the induced signal detected the control system of robot, the control system driving path of control is again docked, this mode control system complexity, docking efficiency is low, also obviously can not meet the docking requirement of crusing robot.
Summary of the invention
The present invention solves the existing technical problem of prior art; The deviations that provides a kind of downward deformation that can self adaptation produced by robot gravity due to alignment error, the transmission line of charging head and cradle and wearing and tearing to bring, make the charging docking facilities of a kind of crusing robot that they can the fast and reliable docking.
It is to solve the existing technical problem of prior art that the present invention also has a purpose; Provide a kind of crusing robot only need to just can complete docking along the transmission line mobile mechanical arm when docking, the charging docking facilities of a kind of crusing robot that docking is simple, efficiency is high.
It is to solve the existing technical problem of prior art that the present invention has a purpose again; A kind of charging docking facilities of safe and reliable, a kind of crusing robot that cost is low is provided.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of charging docking facilities of crusing robot, is characterized in that, comprising:
One cradle: described cradle comprises bracing frame and is arranged on the socket on bracing frame by supporting component, and described socket is provided with the socket electrode sheet, also is provided with on support frame as described above with socket and connects the positioning component that makes the socket axial location;
One charging head: comprise a sphenoid and be arranged on the electrode slice be used in conjunction with the socket electrode sheet on sphenoid.
Charging docking facilities at above-mentioned a kind of crusing robot, described socket is that a front has the cube that V-shaped groove, the back side have blind hole, described socket electrode sheet is placed in respectively on two groove faces of V-shaped groove, and the socket electrode sheet is connected with solar recharging base station body by cable; Magnet steel is positioned at the intersection of two groove faces.
At the charging docking facilities of above-mentioned a kind of crusing robot, described positioning component comprises an interior sliding sleeve of blind hole that is arranged on socket, and oscillating bearing is positioned at sliding sleeve, and axial location is carried out with clip in the oscillating bearing outside; One end of axle has external screw thread, is threaded connection and is fixed on bracing frame, and clip and oscillating bearing are enclosed within the other end of axle successively, and the end of the other end of described axle is provided with screens can not skid off outside axle oscillating bearing.
Charging docking facilities at above-mentioned a kind of crusing robot, described supporting component comprises at least 4 cylindrically coiled springs, 4 cylindrically coiled springs are distributed in the both sides of socket in twos, one end of spring is fixed on socket, the other end is fixed on bracing frame, and socket is suspended in bracing frame by cylindrically coiled spring.
At the charging docking facilities of above-mentioned a kind of crusing robot, the electrode slice of charging head is positioned at the both sides of sphenoid, and this charging head also comprises a front end Hall element that is arranged on sphenoid.
At the charging docking facilities of above-mentioned a kind of crusing robot, charging head is arranged on the mechanical arm of crusing robot, and electrode slice is connected with the power-supply system of robot by wire, and Hall element (12) is connected with the supervisory control system of robot by wire; Bracing frame is fixed on the suspension clamp on transmission line; The socket electrode sheet is connected with solar recharging base station body by cable.
Therefore, the present invention has following advantage: 1. the socket in cradle has 4 degrees of freedom of at three dimensions, rotating and moving along the transmission line direction arbitrarily, thus the deviations in adaptation and charging head docking operation; 2. charging head is designed to sphenoid, and socket has the V-shaped groove agreed with mutually with charging head, has overcome traditional contact pin and has docked difficult shortcoming with jack, is convenient to the docking with charging head, and docking is simple; 3. while docking, socket can play the effect of buffering by the slip on sliding sleeve, thereby, after 4. charging heads are steadily docked in realization and socket separates, cylindrically coiled spring can make socket reset to initial position; 5. the charging head front end is equipped with a Hall element, and magnet steel is housed on cradle, and the signal that robot detects according to Hall element is identified the docking success or not, has guaranteed the reliability of docking operation.
The accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of cradle in the present invention.
Fig. 2 is the plan structure schematic diagram of Fig. 1.
Fig. 3 is the left TV structure schematic diagram of Fig. 1.
Fig. 4 is A-A sectional structure schematic diagram in Fig. 1.
Fig. 5 is the main TV structure schematic diagram of charging head in the present invention.
Fig. 6 is the plan structure schematic diagram of Fig. 5.
Fig. 7 is the left TV structure schematic diagram of Fig. 5.
Fig. 8 is overall schematic of the present invention.
Fig. 9 is the overall structure schematic diagram of inspection robot and solar energy automatic charging base station.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.In figure, socket 1, socket electrode sheet 2, magnet steel 3, sliding sleeve 4, oscillating bearing 5, axle 6, clip 7, cylindrically coiled spring 8, bracing frame 9, sphenoid 10, electrode slice 11 and Hall element 12, overhead transmission line 13, vertical line folder 14, cable 15, crusing robot 16, solar panel 17, solar recharging base station body 18, shaft tower 19.
Embodiment:
One, paper concrete structure of the present invention once: the present invention mainly comprises:
This device comprises cradle and the charging head connected with cradle.Cradle is arranged on the suspension clamp 14 on overhead transmission line 13, and is connected with the solar recharging base station body 17 on being contained in shaft tower 23 by cable 15.When the inspection robot 16 travelled along overhead transmission line needs charging, robot 16 moves the charging head be arranged on its mechanical arm and is docked with cradle along transmission line 13, after charging electricity, robot moves the charging head be arranged on its mechanical arm to be separated with cradle.The described inspection robot travelled along overhead transmission line can select the patent No. to be: 200410061316.8, and name is called: a kind of robot travelled along aerial high-voltage power transmission line, the robot put down in writing in the invention that the applying date is 2004.12.10 day.
Charging head is comprised of sphenoid 10, electrode slice 11 and Hall element 12.Electrode slice 11 is positioned at the both sides of sphenoid 10, and Hall element 12 is positioned at the front end of sphenoid 10.Whole charging head is arranged on mechanical arm, and electrode slice is connected with the power-supply system of robot by wire, and Hall element is connected with the supervisory control system of robot by wire.
Cradle is comprised of socket 1, socket electrode sheet 2, magnet steel 3, sliding sleeve 4, oscillating bearing 5, axle 6, clip 7, cylindrically coiled spring 8, bracing frame 9.Socket 1 is that a front has the cube that V-shaped groove, the back side have blind hole; Two groove faces of V-shaped groove are equipped with respectively socket electrode sheet 2, and socket electrode sheet 2 is connected with the control system of solar recharging base station body 17 by cable 15; Magnet steel 3 is positioned at the intersection of two groove faces; Sliding sleeve 4 is positioned at the blind hole of socket 1, and sliding sleeve 4 can slide in blind hole, and the space that has buffering to slide while guaranteeing docking, prevent that firm docking from causing the damage of charging device; Oscillating bearing 5 is positioned at sliding sleeve.Socket 1 is suspended on the bracing frame the inside by 4 cylindrically coiled springs 8, and 4 cylindrically coiled springs 8 are distributed in the left and right sides of socket 1 in twos, and an end of spring 8 is fixed on socket 1, and the other end is fixed on bracing frame 9, plays a part to reset and cushion.Bracing frame 9 is fixed on the suspension clamp 14 on transmission line 13; One end of axle 6 has external screw thread, is threaded connection and is fixed on bracing frame 9; Oscillating bearing 5 is fixed on the other end of axle 6, is arranged in the sliding sleeve 4 of socket 1 blind hole, thereby makes socket 1 have 4 degrees of freedom of at three dimensions, rotating arbitrarily and sliding along the direction of axle.
Two, introduce workflow of the present invention below, during work, crusing robot 16 docks with the charging of solar energy automatic charging base station, by the charging head on mobile mechanical arm, charging head is docked with the socket 1 in cradle.Charging head and cradle exist alignment error, transmission line to be subject to robot gravity can produce downward deformation, thus the alignment deviation while bringing docking.When docking, because socket 1 has 4 degrees of freedom of at three dimensions, rotating arbitrarily and sliding along the direction of axle, charging head can promote socket 1 and rotate (or mobile) until the V-shaped groove of charging head and socket 1 agrees with fully.When the V-shaped groove of charging head and socket 1 agrees with, the Hall element 12 on charging head top can detect the signal of socket V-shaped groove the inside magnet steel 3, thereby signal is passed to the control system of robot, and robot stops mobile mechanical arm, and docking completes.After charging completes, robot 16 mobile mechanical arms exit charging head from the V-shaped groove of socket 1, and cylindrically coiled spring 8 makes socket 1 reset to initial position.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has more been used the terms such as socket 1, socket electrode sheet 2, magnet steel 3, sliding sleeve 4, oscillating bearing 5, axle 6, clip 7, cylindrically coiled spring 8, bracing frame 9, sphenoid 10, electrode slice 11 and Hall element 12, overhead transmission line 13, vertical line folder 14, cable 15, crusing robot 16, solar panel 17, solar recharging base station body 18, shaft tower 19, do not get rid of the possibility of using other term.Using these terms is only in order to describe more easily and explain essence of the present invention; They are construed to any additional restriction is all contrary with spirit of the present invention.

Claims (6)

1. the charging docking facilities of a crusing robot, is characterized in that, comprising:
One cradle: described cradle comprises bracing frame (9) and is arranged on the socket (1) on bracing frame (9) by supporting component, described socket (1) is provided with socket electrode sheet (2), also is provided with on support frame as described above (9) with socket (1) and connects the positioning component that makes socket (1) axial location;
One charging head: comprise a sphenoid (10) and be arranged on the electrode slice (11) that sphenoid (10) is upper and socket electrode sheet (2) is used in conjunction with.
2. the charging docking facilities of a kind of crusing robot according to claim 1, it is characterized in that, described socket (1) is that a front has the cube that V-shaped groove, the back side have blind hole, described socket electrode sheet (2) is placed in respectively on two groove faces of V-shaped groove, and socket electrode sheet (2) is connected with solar recharging base station body (18) by cable (15); Magnet steel (3) is positioned at the intersection of two groove faces.
3. the charging docking facilities of a kind of crusing robot according to claim 2, it is characterized in that, described positioning component comprises an interior sliding sleeve (4) of blind hole that is arranged on socket (1), oscillating bearing (5) is positioned at sliding sleeve (4), and axial location is carried out with clip (7) in oscillating bearing (5) outside; One end of axle (6) has external screw thread, be threaded connection and be fixed on bracing frame (9), clip (7) and oscillating bearing (5) are enclosed within the other end of axle (6) successively, and the end of the other end of described axle (6) is provided with screens can not skid off outside axle (6) oscillating bearing (5).
4. the charging docking facilities of a kind of crusing robot according to claim 1, it is characterized in that, described supporting component comprises at least 4 cylindrically coiled springs (8), 4 cylindrically coiled springs (8) are distributed in the both sides of socket (1) in twos, one end of spring (8) is fixed on socket (1), it is upper that the other end is fixed on bracing frame (9), and socket (1) is suspended in bracing frame (9) by cylindrically coiled spring (8).
5. the charging docking facilities of a kind of crusing robot according to claim 2, it is characterized in that, the electrode slice of charging head (11) is positioned at the both sides of sphenoid (10), and this charging head also comprises a front end Hall element (12) that is arranged on sphenoid (10).
6. the charging docking facilities of a kind of crusing robot according to claim 5, it is characterized in that, charging head is arranged on crusing robot (16) mechanical arm, electrode slice (11) is connected with the power-supply system of robot (16) by wire, and Hall element (12) is connected with the supervisory control system of robot by wire; Bracing frame (9) is fixed on the suspension clamp (14) on transmission line (13); Socket electrode sheet (2) is connected with solar recharging base station body (18) by cable (15).
CN201310466266.0A 2013-10-09 2013-10-09 A kind of charging docking facilities of crusing robot Active CN103475069B (en)

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103738725A (en) * 2013-12-27 2014-04-23 中安重工自动化装备有限公司 Light-emitting diode (LED) bulb quick reversing device and method for conducting reversing by applying same
CN103825338A (en) * 2014-03-17 2014-05-28 武汉大学 Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot
CN104269777A (en) * 2014-10-18 2015-01-07 国家电网公司 Patrol robot system for overhead high-voltage transmission line
CN105539190A (en) * 2016-01-29 2016-05-04 南京航空航天大学 Three-freedom-degree automatic charging device for electric automobile and control method of three-freedom-degree automatic charging device
CN105607666A (en) * 2016-01-29 2016-05-25 南京航空航天大学 Three-freedom electric automobile charging interface scanning positioning method
CN105656151A (en) * 2016-03-29 2016-06-08 亿嘉和科技股份有限公司 Telescopic charging device
CN105811311A (en) * 2016-05-18 2016-07-27 三峡大学 Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower
CN106385069A (en) * 2016-09-30 2017-02-08 宁波介量机器人技术有限公司 Automatic butting charging device
CN106532945A (en) * 2016-11-30 2017-03-22 河海大学常州校区 Robot power station inspection system and method
CN106532946A (en) * 2016-11-30 2017-03-22 河海大学常州校区 Robot power station tour-inspection system and method
CN106514713A (en) * 2016-10-21 2017-03-22 国网山东省电力公司电力科学研究院 Plug-and-play connector of detection device of substation patrol robot and control method
CN106655383A (en) * 2016-12-27 2017-05-10 重庆千宏科技有限公司 Charging pile
CN107658604A (en) * 2017-10-12 2018-02-02 广州市君望机器人自动化有限公司 Multiple degrees of freedom charging structure and electric robot
CN108063414A (en) * 2018-01-30 2018-05-22 李宏伟 A kind of high-voltage line deicer for residing permanently electric wire tower
CN108431713A (en) * 2015-12-30 2018-08-21 意大利电信股份公司 Docking system for charging to mobile robot and method
CN108711775A (en) * 2018-05-08 2018-10-26 中科开创(广州)智能科技发展有限公司 A kind of charging unit and charging method for overhead transmission line circuit scanning test robot
CN110816838A (en) * 2019-09-12 2020-02-21 中航光电科技股份有限公司 Novel automatic separation system for hanger interfaces
CN111873835A (en) * 2020-07-30 2020-11-03 孝感峰创智能科技有限公司 Dampproofing formula morning and evening tides formula lane robot is with filling electric pile

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CN202495798U (en) * 2012-04-01 2012-10-17 山东鲁能智能技术有限公司 Automatic charging mechanism for transformer substation inspection robot
CN102904307A (en) * 2012-10-18 2013-01-30 武汉大学 Charging butt joint and separation device for inspection robot and solar charging base station

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US20110196535A1 (en) * 2010-02-10 2011-08-11 Electric Power Research Institute, Inc. Line inspection robot and system
CN202495798U (en) * 2012-04-01 2012-10-17 山东鲁能智能技术有限公司 Automatic charging mechanism for transformer substation inspection robot
CN102904307A (en) * 2012-10-18 2013-01-30 武汉大学 Charging butt joint and separation device for inspection robot and solar charging base station

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103738725A (en) * 2013-12-27 2014-04-23 中安重工自动化装备有限公司 Light-emitting diode (LED) bulb quick reversing device and method for conducting reversing by applying same
CN103825338A (en) * 2014-03-17 2014-05-28 武汉大学 Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot
CN103825338B (en) * 2014-03-17 2015-09-02 武汉大学 High-voltage line inspection robot independently locates control device and the method for docking charging
CN104269777A (en) * 2014-10-18 2015-01-07 国家电网公司 Patrol robot system for overhead high-voltage transmission line
CN108431713A (en) * 2015-12-30 2018-08-21 意大利电信股份公司 Docking system for charging to mobile robot and method
CN105539190A (en) * 2016-01-29 2016-05-04 南京航空航天大学 Three-freedom-degree automatic charging device for electric automobile and control method of three-freedom-degree automatic charging device
CN105607666A (en) * 2016-01-29 2016-05-25 南京航空航天大学 Three-freedom electric automobile charging interface scanning positioning method
CN105539190B (en) * 2016-01-29 2017-12-15 南京航空航天大学 A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method
CN105656151A (en) * 2016-03-29 2016-06-08 亿嘉和科技股份有限公司 Telescopic charging device
CN105811311A (en) * 2016-05-18 2016-07-27 三峡大学 Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower
CN106385069A (en) * 2016-09-30 2017-02-08 宁波介量机器人技术有限公司 Automatic butting charging device
CN106385069B (en) * 2016-09-30 2019-01-08 宁波介量机器人技术有限公司 A kind of automatic butt charging unit
CN106514713A (en) * 2016-10-21 2017-03-22 国网山东省电力公司电力科学研究院 Plug-and-play connector of detection device of substation patrol robot and control method
CN106532946A (en) * 2016-11-30 2017-03-22 河海大学常州校区 Robot power station tour-inspection system and method
CN106532945A (en) * 2016-11-30 2017-03-22 河海大学常州校区 Robot power station inspection system and method
CN106532946B (en) * 2016-11-30 2019-07-19 河海大学常州校区 A kind of robot power station cruising inspection system and method
CN106532945B (en) * 2016-11-30 2019-07-19 河海大学常州校区 A kind of robot power station cruising inspection system and method
CN106655383A (en) * 2016-12-27 2017-05-10 重庆千宏科技有限公司 Charging pile
CN107658604A (en) * 2017-10-12 2018-02-02 广州市君望机器人自动化有限公司 Multiple degrees of freedom charging structure and electric robot
CN108063414B (en) * 2018-01-30 2021-09-24 李宏伟 High-voltage wire deicing device capable of being stored in wire tower for long time
CN108063414A (en) * 2018-01-30 2018-05-22 李宏伟 A kind of high-voltage line deicer for residing permanently electric wire tower
CN108711775B (en) * 2018-05-08 2019-05-17 中科开创(广州)智能科技发展有限公司 A kind of charging unit and charging method for overhead transmission line circuit scanning test robot
CN108711775A (en) * 2018-05-08 2018-10-26 中科开创(广州)智能科技发展有限公司 A kind of charging unit and charging method for overhead transmission line circuit scanning test robot
CN110816838A (en) * 2019-09-12 2020-02-21 中航光电科技股份有限公司 Novel automatic separation system for hanger interfaces
CN111873835A (en) * 2020-07-30 2020-11-03 孝感峰创智能科技有限公司 Dampproofing formula morning and evening tides formula lane robot is with filling electric pile

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