CN105790151B - A kind of positioning stockbridge damper resets Working mechanism - Google Patents
A kind of positioning stockbridge damper resets Working mechanism Download PDFInfo
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- CN105790151B CN105790151B CN201410816950.1A CN201410816950A CN105790151B CN 105790151 B CN105790151 B CN 105790151B CN 201410816950 A CN201410816950 A CN 201410816950A CN 105790151 B CN105790151 B CN 105790151B
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Abstract
本发明涉及输电线路作业机构，具体地说是一种跑位防震锤复位作业机构。包括举升机构、作业机构及托举机构，其中举升机构与机器人本体连接，所述作业机构和托举机构设置于举升机构上，所述作业机构和托举机构通过举升机构靠近跑位防震锤，所述托举机构将跑位防震锤托起，并通过作业机构对跑位防震锤进行复位作业。本发明具有结构简单，作业简单可靠，对输电线路的损伤小等特点。
The invention relates to an operation mechanism of a power transmission line, in particular to a reset operation mechanism of an anti-vibration hammer. It includes a lifting mechanism, an operating mechanism and a lifting mechanism, wherein the lifting mechanism is connected to the robot body, the operating mechanism and the lifting mechanism are arranged on the lifting mechanism, and the operating mechanism and the lifting mechanism run close to each other through the lifting mechanism. Position anti-vibration hammer, the lifting mechanism holds up the anti-vibration hammer for movement, and resets the anti-vibration hammer for movement through the operating mechanism. The invention has the characteristics of simple structure, simple and reliable operation, and little damage to transmission lines.
Description
技术领域technical field
本发明涉及输电线路作业机构，具体地说是一种跑位防震锤复位作业机构。The invention relates to an operation mechanism of a power transmission line, in particular to a reset operation mechanism of an anti-vibration hammer.
背景技术Background technique
在现有技术的滑脱防震锤修复机构中，大部分采用撞击牵引机构，而且机构结构较为复杂，拖动专用工具盒撞击取回防震锤需要人工完成(如专利号为03269795.3的中国实用新型专利“防震锤复位器”。滑脱防震锤拖回机构能够代替工作人员将偏离正确位置的防震锤放回原位，但是其结构复杂，机构动作不灵活，工作效率低，当防震锤与地线之间作用力较大时则不能将防震锤拖回(如专利号为200720028608.0的中国实用新型专利“地线防振锤检修专用工具”)。防震锤取回装置包括移动机器人本体和拖回机构，结构相对简单，但由于采用拖回牵引的作业方式，作业过程中将会对输电线路造成损伤，并且当防震锤与地线之间作用力较大时只能放弃作业，不能将防震锤拖回(如专利号为201020652813.6的中国实用新型专利“架空输电线路防振锤机械式取回装置”)。In the repair mechanism of the slipped anti-vibration hammer in the prior art, most of them adopt the impact traction mechanism, and the structure of the mechanism is relatively complicated, and it needs to be manually completed by dragging the special tool box to impact and retrieve the anti-vibration hammer (such as the Chinese utility model patent "No. 03269795.3" Anti-vibration hammer reset device". The sliding anti-vibration hammer pull back mechanism can replace the staff to put the anti-vibration hammer that deviates from the correct position back to its original position, but its structure is complicated, the mechanism is not flexible, and the work efficiency is low. When the anti-vibration hammer and the ground wire Then the anti-vibration hammer cannot be dragged back when the active force is large (as the Chinese utility model patent "special tool for overhauling ground wire anti-vibration hammer" with the patent No. It is relatively simple, but due to the operation method of pulling back and pulling, the transmission line will be damaged during the operation, and when the force between the anti-vibration hammer and the ground wire is large, the operation can only be abandoned, and the anti-vibration hammer cannot be pulled back ( Such as the Chinese utility model patent "overhead power transmission line anti-vibration hammer mechanical retrieval device" whose patent number is 201020652813.6).
发明内容Contents of the invention
针对上述问题，本发明的目的在于提供一种跑位防震锤复位作业机构。该跑位防震锤复位作业机构具有结构简单，作业简单可靠，对输电线路的损伤小等特点。In view of the above-mentioned problems, the object of the present invention is to provide a reset operation mechanism of the anti-vibration hammer. The reset operating mechanism of the anti-vibration hammer has the characteristics of simple structure, simple and reliable operation, little damage to power transmission lines, and the like.
为了实现上述目的，本发明采用以下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种跑位防震锤复位作业机构，包括举升机构、作业机构及托举机构，其中举升机构与机器人本体连接，所述作业机构和托举机构设置于举升机构上，所述作业机构和托举机构通过举升机构靠近跑位防震锤，所述托举机构将跑位防震锤托起，并通过作业机构对跑位防震锤进行复位作业。A resetting operating mechanism for a shockproof hammer in a running position, including a lifting mechanism, an operating mechanism and a lifting mechanism, wherein the lifting mechanism is connected to the robot body, the operating mechanism and the lifting mechanism are arranged on the lifting mechanism, and the operating mechanism And the lifting mechanism is close to the anti-vibration hammer of moving position through the lifting mechanism, and the anti-vibration hammer of moving position is held up by the lifting mechanism, and the anti-vibration hammer of moving position is reset by the operating mechanism.
所述举升机构包括第一传动装置、第一丝杠、第一丝母、第一电机、第一导轨、第一滑块及第一机架，其中第一传动装置、第一电机及第一滑块与机器人本体连接，所述第一电机通过第一传动装置与第一丝母连接，所述第一丝杠与第一丝母螺纹配合、并两端分别与一个第一机架连接，两个第一机架之间连接有第一导轨，所述第一导轨与第一滑块滑动连接，所述作业机构和托举机构设置于位于上方的第一机架上。The lifting mechanism includes a first transmission device, a first lead screw, a first screw nut, a first motor, a first guide rail, a first slider and a first frame, wherein the first transmission device, the first motor and the first A slider is connected to the robot body, the first motor is connected to the first screw nut through the first transmission device, the first lead screw is threadedly matched with the first screw nut, and both ends are respectively connected to a first frame A first guide rail is connected between the two first racks, the first guide rail is slidingly connected with the first slider, and the working mechanism and the lifting mechanism are arranged on the first rack above.
所述第一传动装置包括第一同步带轮、第二同步带轮及第一同步带，其中第一同步带轮和第二同步带轮均转动安装在机器人本体上、并通过第一同步带传动连接，所述第一同步带轮与第一电机的输出轴连接，所述第二同步带轮与第一丝母同轴固连。The first transmission device includes a first synchronous pulley, a second synchronous pulley and a first synchronous belt, wherein the first synchronous pulley and the second synchronous pulley are all rotatably mounted on the robot body, and pass through the first synchronous belt Transmission connection, the first synchronous pulley is connected with the output shaft of the first motor, and the second synchronous pulley is coaxially fixed with the first screw nut.
所述作业机构包括第二传动装置、第二丝母、第二丝杠、第二电机、第三电机、作业工具、第二滑块、第二导轨、第二机架、第一连接件及第二连接件，其中第二机架与举升机构固连，所述第二丝杠转动安装在第二机架的下方、并与第二丝母螺纹配合，所述第二传动装置、第二电机及第二滑块均设置于第一连接件上，所述第二电机通过第二传动装置与第二丝母连接，所述第二导轨设置于第二机架的上方、并与第二滑块滑动连接，所述第三电机通过第二连接件与第二滑块连接、并输出端与作业工具连接。The operating mechanism includes a second transmission device, a second screw nut, a second lead screw, a second motor, a third motor, a working tool, a second slider, a second guide rail, a second frame, a first connecting piece and The second connecting piece, wherein the second frame is fixedly connected with the lifting mechanism, the second lead screw is rotatably installed under the second frame, and is threadedly matched with the second screw nut, the second transmission device, the first The two motors and the second slide block are all arranged on the first connector, the second motor is connected with the second nut through the second transmission device, and the second guide rail is arranged on the top of the second frame and connected with the first The two sliders are slidably connected, the third motor is connected to the second slider through the second connecting piece, and the output end is connected to the working tool.
所述第二传动装置包括第三同步带轮、第四同步带轮及第二同步带，其中第三同步带轮和第四同步带轮转动安装在第一连接件上、并通过第二同步带传动连接，所述第三同步带轮与第二电机的输出轴连接，所述第四同步带轮与第二丝母同轴固连。The second transmission device includes a third synchronous pulley, a fourth synchronous pulley and a second synchronous belt, wherein the third synchronous pulley and the fourth synchronous pulley are rotatably mounted on the first connecting member and are synchronized through the second The belt drive connection, the third synchronous pulley is connected with the output shaft of the second motor, and the fourth synchronous pulley is coaxially fixed with the second screw nut.
所述作业工具为内六角套筒，所述内六角套筒通过弹性联轴器与第三电机的输出端连接。The operating tool is an inner hexagonal sleeve, and the inner hexagonal sleeve is connected to the output end of the third motor through an elastic coupling.
所述托举机构包括第一支架、第二支架及支撑板，其中支撑板与举升机构连接，所述第一支架和第二支架安装在支撑板的两端。所述支撑板上设有位于第一支架和第二支架之间的第三支架。所述第一支架和第二支架为U型结构。The lifting mechanism includes a first bracket, a second bracket and a support plate, wherein the support plate is connected to the lifting mechanism, and the first bracket and the second bracket are installed at both ends of the support plate. The support plate is provided with a third bracket located between the first bracket and the second bracket. The first bracket and the second bracket are U-shaped structures.
本发明的优点与积极效果为：Advantage of the present invention and positive effect are:
1.本发明作业机构依据防振锤专门设计，结构紧凑、动作可靠，针对性强，可将跑位防震锤拖拽回指定位置。1. The operating mechanism of the present invention is specially designed based on the anti-vibration hammer, with compact structure, reliable action, strong pertinence, and can drag the anti-vibration hammer back to the designated position.
2.本发明对输电线路损伤小，适用范围广。2. The present invention has little damage to the transmission line and has a wide application range.
3.本发明操作简单，降低人员上线安全风险。3. The present invention is easy to operate and reduces the safety risk of personnel going online.
4.本发明作业工具采用弹性连接设计，对目标适应性好。4. The operating tool of the present invention adopts an elastic connection design, which has good adaptability to the target.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为本发明中举升机构的结构示意图；Fig. 2 is the structural representation of lifting mechanism among the present invention;
图3为本发明中作业机构的结构示意图；Fig. 3 is the structural representation of operating mechanism among the present invention;
图4为本发明中举托单元的结构示意图；Fig. 4 is the structural representation of lifting unit among the present invention;
图5为本发明在跑位防震锤复位作业的第一步示意图；Fig. 5 is the schematic diagram of the first step in the reset operation of the anti-vibration hammer of the present invention;
图6为本发明在跑位防震锤复位作业的第二步示意图；Fig. 6 is a schematic diagram of the second step of the reset operation of the running position anti-vibration hammer in the present invention;
图7为本发明在跑位防震锤复位作业的第三步示意图；Fig. 7 is the schematic diagram of the third step of the present invention in the reset operation of the anti-vibration hammer in running position;
图8为本发明在跑位防震锤复位作业的第四步示意图；Fig. 8 is a schematic diagram of the fourth step of the reset operation of the anti-vibration hammer in the running position of the present invention;
图9为本发明在跑位防震锤复位作业的第五步示意图。Fig. 9 is a schematic diagram of the fifth step of the reset operation of the running position anti-vibration hammer according to the present invention.
其中：1为举升机构，101为第一同步带轮，102为第二同步带轮，103为第一同步带，104为第一丝杠，105为第一丝母，106为第一电机，107为第一导轨，108为第一滑块，109为第一机架，2为作业机构，201为第三同步带轮，202为第四同步带轮，203为第二同步带，204为第二丝母，205为第二丝杠，206为第二电机，207为第三电机，208为内六角套筒，209为第二滑块，210为第二导轨，211为第二机架，212为第一连接件，213为弹性联轴器，214为第二连接件，3为托举机构，301为第一支架，302为支撑板，303为第三支架，304为第二支架，4为导线。Among them: 1 is the lifting mechanism, 101 is the first synchronous pulley, 102 is the second synchronous pulley, 103 is the first synchronous belt, 104 is the first screw, 105 is the first screw nut, and 106 is the first motor , 107 is the first guide rail, 108 is the first slider, 109 is the first frame, 2 is the working mechanism, 201 is the third synchronous pulley, 202 is the fourth synchronous pulley, 203 is the second synchronous belt, 204 205 is the second lead screw, 206 is the second motor, 207 is the third motor, 208 is the inner hexagon socket, 209 is the second slider, 210 is the second guide rail, 211 is the second machine Frame, 212 is the first connector, 213 is the elastic coupling, 214 is the second connector, 3 is the lifting mechanism, 301 is the first bracket, 302 is the support plate, 303 is the third bracket, 304 is the second Support, 4 is lead wire.
具体实施方式detailed description
下面结合附图对本发明作进一步的详细描述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1所示，本发明包括举升机构1、作业机构2及托举机构3，其中举升机构1与机器人本体连接，所述作业机构2和托举机构3设置于举升机构1上。所述作业机构2和托举机构3通过举升机构1靠近跑位防震锤，所述托举机构3将跑位防震锤托起，并通过作业机构2对跑位防震锤进行复位作业。As shown in Figure 1, the present invention includes a lifting mechanism 1, an operating mechanism 2 and a lifting mechanism 3, wherein the lifting mechanism 1 is connected to the robot body, and the operating mechanism 2 and the lifting mechanism 3 are arranged on the lifting mechanism 1 . The operating mechanism 2 and the lifting mechanism 3 are close to the anti-vibration hammer of the movement through the lifting mechanism 1, and the anti-vibration hammer of the movement is lifted by the lifting mechanism 3, and the anti-vibration hammer of the movement is reset by the operating mechanism 2.
如图2所示，所述举升机构1包括第一传动装置、第一丝杠104、第一丝母105、第一电机106、第一导轨107、第一滑块108及第一机架109，其中第一传动装置、第一电机106及第一滑块108与机器人本体连接，所述第一电机106通过第一传动装置与第一丝母105连接，所述第一丝杠104与第一丝母105螺纹配合、并两端分别与一个第一机架109连接，两个第一机架109之间连接有第一导轨107，所述第一导轨107与第一滑块108滑动连接，所述作业机构2和托举机构3设置于位于上方的第一机架109上。As shown in Figure 2, the lifting mechanism 1 includes a first transmission device, a first lead screw 104, a first screw nut 105, a first motor 106, a first guide rail 107, a first slider 108 and a first frame 109, wherein the first transmission device, the first motor 106 and the first slider 108 are connected to the robot body, the first motor 106 is connected to the first screw nut 105 through the first transmission device, and the first lead screw 104 is connected to the first screw nut 105. The first screw nut 105 is threaded, and the two ends are respectively connected with a first frame 109, and a first guide rail 107 is connected between the two first frame 109, and the first guide rail 107 slides with the first slide block 108 Connected, the working mechanism 2 and the lifting mechanism 3 are arranged on the first frame 109 located above.
所述第一传动装置包括第一同步带轮101、第二同步带轮102及第一同步带103，其中第一同步带轮101和第二同步带轮102均转动安装在机器人本体上、并通过第一同步带103传动连接，所述第一同步带轮101与第一电机106的输出轴连接，所述第二同步带轮102与第一丝母105同轴固连。The first transmission device comprises a first synchronous pulley 101, a second synchronous pulley 102 and a first synchronous belt 103, wherein the first synchronous pulley 101 and the second synchronous pulley 102 are all rotatably mounted on the robot body, and Through the transmission connection of the first synchronous belt 103 , the first synchronous pulley 101 is connected with the output shaft of the first motor 106 , and the second synchronous pulley 102 is coaxially fixedly connected with the first nut 105 .
所述举升机构1的工作原理是：The working principle of the lifting mechanism 1 is:
所述第一同步带轮101由第一电机106驱动，通过第一同步带103的传动，带动第二同步带轮102的转动，第一丝母105与第二同步带轮102固连，进而驱动第一丝杠104上下移动。由于第一机架109与第一丝杠104固连，因此实现第一机架109的上升和下降。第一滑块108与机器人本体固连，第一导轨107与第一机架109固连，第一机架109的上下移动带动第一导轨107沿第一滑块108上下移动，保证举升机构的升降平稳。The first synchronous pulley 101 is driven by the first motor 106, and through the transmission of the first synchronous belt 103, it drives the rotation of the second synchronous pulley 102, and the first screw nut 105 is fixedly connected with the second synchronous pulley 102, and then Drive the first lead screw 104 to move up and down. Since the first frame 109 is fixedly connected with the first lead screw 104, the ascending and descending of the first frame 109 is realized. The first slide block 108 is fixedly connected with the robot body, and the first guide rail 107 is fixedly connected with the first frame 109. The up and down movement of the first frame 109 drives the first guide rail 107 to move up and down along the first slide block 108 to ensure that the lifting mechanism The lift is stable.
如图3所示，所述作业机构2包括第二传动装置、第二丝母204、第二丝杠205、第二电机206、第三电机207、作业工具、第二滑块209、第二导轨210、第二机架211、第一连接件212及第二连接件214，其中第二机架211与举升机构1固连，所述第二丝杠205转动安装在第二机架211的下方、并与第二丝母204螺纹配合。所述第二传动装置、第二电机206及第二滑块209均设置于第一连接件212上，所述第二电机206通过第二传动装置与第二丝母204连接。所述第二导轨210设置于第二机架211的上方、并与第二滑块209滑动连接，所述第三电机207通过第二连接件214与第二滑块209连接、并输出端与作业工具连接。As shown in Figure 3, the working mechanism 2 includes a second transmission device, a second screw nut 204, a second lead screw 205, a second motor 206, a third motor 207, a working tool, a second slider 209, a second Guide rail 210, second frame 211, first connecting piece 212 and second connecting piece 214, wherein the second frame 211 is fixedly connected with the lifting mechanism 1, and the second lead screw 205 is rotatably mounted on the second frame 211 below, and threaded with the second screw nut 204. The second transmission device, the second motor 206 and the second slider 209 are all arranged on the first connecting member 212 , and the second motor 206 is connected to the second nut 204 through the second transmission device. The second guide rail 210 is arranged on the top of the second frame 211 and is slidably connected with the second slider 209, the third motor 207 is connected with the second slider 209 through the second connecting piece 214, and the output end is connected with the second slider 209. Work tool connection.
所述第二传动装置包括第三同步带轮201、第四同步带轮202及第二同步带203，其中第三同步带轮201和第四同步带轮202转动安装在第一连接件212上、并通过第二同步带203传动连接，所述第三同步带轮201与第二电机206的输出轴连接，所述第四同步带轮202与第二丝母204同轴固连。所述作业工具为内六角套筒208，所述内六角套筒208通过弹性联轴器213与第三电机207的输出端连接。The second transmission device includes a third synchronous pulley 201, a fourth synchronous pulley 202 and a second synchronous belt 203, wherein the third synchronous pulley 201 and the fourth synchronous pulley 202 are rotatably mounted on the first connecting member 212 , and through the transmission connection of the second synchronous belt 203, the third synchronous pulley 201 is connected with the output shaft of the second motor 206, and the fourth synchronous pulley 202 is coaxially fixedly connected with the second nut 204. The operating tool is an inner hexagonal sleeve 208 , and the inner hexagonal sleeve 208 is connected to the output end of the third motor 207 through an elastic coupling 213 .
所述作业机构2的工作原理是：The operating principle of the operating mechanism 2 is:
所述第二电机206驱动第三同步带轮201，通过第二同步带203的传动带动第四同步带轮202转动，由于第二丝母204与第四同步带轮202固连，第二丝杠205与第二机架211固连，因此第二丝母204带动第一连接件212沿水平方向移动，即实现第二滑块209沿第二导轨210水平方向的移动。由于第二连接件214与第二滑块209固连，因此实现内六角套筒208沿水平方向的移动。弹性联轴器213(弹簧软轴)一端与内六角套筒208连接，另一端与第三电机207连接，弹性联轴器213实现对内六角套筒208在防震锤螺栓对正时的适应性，通过第三电机207驱动，实现了对防震锤螺母的拧紧与松动。The second motor 206 drives the third synchronous pulley 201, and drives the fourth synchronous pulley 202 to rotate through the transmission of the second synchronous belt 203. Since the second wire nut 204 is fixedly connected with the fourth synchronous pulley 202, the second wire The bar 205 is fixedly connected to the second frame 211 , so the second screw nut 204 drives the first connecting member 212 to move in the horizontal direction, that is, to realize the horizontal movement of the second slider 209 along the second guide rail 210 . Since the second connecting member 214 is fixedly connected with the second sliding block 209 , the movement of the inner hexagon socket 208 in the horizontal direction is realized. One end of the elastic coupling 213 (flexible spring shaft) is connected to the inner hexagonal sleeve 208, and the other end is connected to the third motor 207. The elastic coupling 213 realizes the adaptability of the inner hexagonal sleeve 208 to the timing of the anti-vibration hammer bolt , driven by the third motor 207, the tightening and loosening of the anti-vibration hammer nut is realized.
如图4所示，所述托举机构3包括第一支架301、第二支架304、第三支架303及支撑板302，其中支撑板302与举升机构1连接，所述第一支架301和第二支架304安装在支撑板302的两端，所述第三支架303安装在支撑板302上并位于第一支架301和第二支架304之间。所述第一支架301和第二支架304为U型结构。所述第一支架301和第二支架304可举托防震锤，第三支架303可防止防震锤的螺钉脱落。As shown in Figure 4, the lifting mechanism 3 includes a first bracket 301, a second bracket 304, a third bracket 303 and a support plate 302, wherein the support plate 302 is connected with the lifting mechanism 1, and the first bracket 301 and The second bracket 304 is mounted on both ends of the support board 302 , and the third bracket 303 is mounted on the support board 302 and located between the first bracket 301 and the second bracket 304 . The first bracket 301 and the second bracket 304 are U-shaped structures. The first bracket 301 and the second bracket 304 can support the anti-vibration hammer, and the third bracket 303 can prevent the screws of the anti-vibration hammer from falling off.
本发明在跑位防震锤复位作业的过程是：The present invention is in the process of reset operation of anti-vibration hammer in running position:
第一步，机器人搭载作业工具由杆塔行走至防震锤附近，如图5所示。In the first step, the robot carries the working tool and walks from the tower to the vicinity of the anti-vibration hammer, as shown in Figure 5.
第二步，举升机构1上升，将作业机构2和托举机构3送至合适的垂直方向作业位置，如图6所示。In the second step, the lifting mechanism 1 is raised, and the working mechanism 2 and the lifting mechanism 3 are sent to a suitable vertical working position, as shown in FIG. 6 .
第三步，作业机构2沿水平方向移动，使内六角套筒208对准防震锤的螺母，内六角套筒208旋转，将防震锤的螺母松开，如图7所示。In the third step, the operating mechanism 2 moves horizontally so that the inner hexagonal sleeve 208 is aligned with the nut of the anti-vibration hammer, and the inner hexagonal sleeve 208 rotates to loosen the nut of the anti-vibration hammer, as shown in FIG. 7 .
第四步，作业机构2沿水平方向离开防震锤，如图8所示。In the fourth step, the operating mechanism 2 leaves the anti-vibration hammer along the horizontal direction, as shown in FIG. 8 .
第五步，举升机构1下降，将作业机构2和托举机构3回到初始位置，如图9所示。In the fifth step, the lifting mechanism 1 is lowered, and the working mechanism 2 and the lifting mechanism 3 are returned to the initial positions, as shown in FIG. 9 .
第六步，机器人返回杆塔附近。In the sixth step, the robot returns to the vicinity of the tower.
Claims (7)
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| CN107681522A (en) * | 2016-08-02 | 2018-02-09 | 天津中电华利电器科技集团有限公司 | It is a kind of to lift stable box-type substation |
| CN106711853B (en) * | 2017-01-24 | 2018-01-19 | 陕西理工学院 | A kind of damper resets machine |
| CN106602467B (en) * | 2017-01-24 | 2018-03-02 | 陕西理工学院 | A kind of stockbridge damper resets machine centering rotating device |
| CN109217167B (en) * | 2017-07-04 | 2021-06-22 | 克诺有限公司 | Composite clamping device and cable inspection robot used by cable inspection robot |
| CN108789349B (en) * | 2018-06-01 | 2020-08-14 | 广州供电局有限公司 | Live working robot |
| CN114614395B (en) * | 2022-03-09 | 2024-06-21 | 国网智能科技股份有限公司 | A line anti-vibration hammer resetting tool, operating robot and resetting method |
| CN116073280B (en) * | 2023-04-04 | 2023-06-27 | 辽宁省送变电工程有限公司 | Damper righting processing robot and use method |
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| CN2181109Y (en) * | 1993-11-25 | 1994-10-26 | 邢台供电公司 | Return device for vibration-proof hammer position moving |
| CN102581606A (en) * | 2012-03-07 | 2012-07-18 | 武汉大学 | Mounting and dismantling device for dampers of high-voltage transmission lines |
| CN203543368U (en) * | 2013-11-22 | 2014-04-16 | 北京美科艺数码科技发展有限公司 | Ink scraping maintenance device used for ink jet printer |
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| AUPQ879100A0 (en) * | 2000-07-14 | 2000-08-10 | Dulhunty Industries Pty Limited | Vibration damper for overhead power lines |
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| CN2181109Y (en) * | 1993-11-25 | 1994-10-26 | 邢台供电公司 | Return device for vibration-proof hammer position moving |
| CN102581606A (en) * | 2012-03-07 | 2012-07-18 | 武汉大学 | Mounting and dismantling device for dampers of high-voltage transmission lines |
| CN203543368U (en) * | 2013-11-22 | 2014-04-16 | 北京美科艺数码科技发展有限公司 | Ink scraping maintenance device used for ink jet printer |
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