CN105965486A - Electric operation robot system - Google Patents
Electric operation robot system Download PDFInfo
- Publication number
- CN105965486A CN105965486A CN201610585812.6A CN201610585812A CN105965486A CN 105965486 A CN105965486 A CN 105965486A CN 201610585812 A CN201610585812 A CN 201610585812A CN 105965486 A CN105965486 A CN 105965486A
- Authority
- CN
- China
- Prior art keywords
- robot
- work robot
- signal
- operator
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses an electric operation robot system which comprises an operation tail end, an operation robot, a collection device, a background control device and an operation control device. The operation tail end is carried on the operation robot and used for carrying out specific electric operation, the operation robot is used for moving the operation tail end, the collection device is used for collecting limb signals of an operator, the background control device is connected with the collection device and used for converting the limb signal to obtain control signals which correspond to the operation robot and the operation tail end respectively and sending the control signals to the operation control device, and the operation control device is connected with the operation robot and the operation tail end and used for controlling the operation robot and the operation tail end to act according to the control signals respectively. An action following control way is adopted, the operator only need to do different limb actions according to operation conditions in the working process, operation is simple, and the labor intensity of the operator is greatly lowered.
Description
Technical field
The present invention relates to livewire work field, particularly relate to a kind of electric operating robot system.
Background technology
At present, in China's power system, livewire work relies primarily on and manually carries out, and operator directly contact height
, there is potential safety hazard in pressure wire.Artificial live-working safety protects, covers requirement very strictly, does not notes
Meaning arises that short circuit, causes great security incident, even causes personal injury.
For the problems referred to above, begin with at present and the Work robot of livewire work can carry out operation, currently
In technology, Work robot is controlled, due to this kind of mode of operation by operator by operation handle
Need operator to have higher operation level, if the operation level of operator is inadequate, then can affect work
The homework precision of industry robot and accuracy, i.e. operation complexity is high, is difficult to popularize；And repeat to pull
Fixed handle also improves the labor intensity of operator.
Therefore, how providing a kind of simple to operate and that labor intensity is low electric operating robot system is ability
The problem that field technique personnel are presently required solution.
Summary of the invention
It is an object of the invention to provide a kind of electric operating robot system, the controlling party that employing action is followed
Formula, in work process, operator only need to show different limb actions according to handling situations, operation
Simply, and greatly reduce the labor intensity of operator.
For solving above-mentioned technical problem, the invention provides a kind of electric operating robot system, including:
It is equipped on Work robot, for carrying out the operation end of concrete electric operating operation；
For moving the described Work robot of described operation end；
Collecting device for the limbs signal of acquisition operations personnel；
That be connected with described collecting device, for described limbs signal is carried out signal conversion processes, divided
Not Dui Yingyu described Work robot and the control signal of described operation end, and send to Operation control and set
Standby Background control equipment；
That be connected with described Work robot and described operation end respectively, for according to described control signal
Control described Work robot respectively and described operation end carries out the described operation controlling apparatus of action.
Preferably, also include:
It is arranged on described Work robot, for the described Work robot of monitoring and described operation in real time
The job state of end, and the status signal obtained is sent to described backstage by described operation controlling apparatus
The monitoring device of control equipment；
Described Background control equipment also includes:
For the display device that described status signal is shown.
Preferably, described monitoring device is one or more photographic head.
Preferably, described display device is display screen.
Preferably, also include:
It is connected with described Background control equipment, sets for described control signal is sent extremely described Operation control
Standby, and receive the first Wireless Telecom Equipment of described status signal；
It is connected with described operation controlling apparatus, is used for receiving described control signal and described status signal,
And described status signal is sent the second Wireless Telecom Equipment to described Background control equipment.
Preferably, also include that hoistable platform and lifting arm, described Work robot, described Operation control set
Standby and described monitoring device is respectively positioned on described hoistable platform, and described hoistable platform is arranged at described lifting arm
Top.
Preferably, the insulating support being arranged on described hoistable platform, described Work robot, institute are also included
State operation controlling apparatus and described monitoring device is respectively positioned on described insulating support.
Preferably, also include:
Moving automobile, described lifting arm is arranged on described moving automobile.
Preferably, described collecting device includes:
Pressure transducer, three-axis gyroscope, 3-axis acceleration sensor and displacement transducer.
Preferably, the artificial sixdegree-of-freedom simulation of described work machine.
The invention provides a kind of electric operating robot system, the limbs signal of this system acquisition operator
After, Background control equipment generate control signal according to limbs signal, and send control signals to operation
Control equipment, is carried out according to this control signal control Work robot and operation end by operation controlling apparatus
Corresponding action.The control mode that i.e. this system employing action is followed, in work process, operator only need
Different limb actions is shown according to handling situations, compared with the control mode of operation handle, operation letter
Single, and greatly reduce the labor intensity of operator.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to prior art and enforcement
In example, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
Some embodiments of the present invention, for those of ordinary skill in the art, are not paying creative work
Under premise, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structural representation of a kind of electric operating robot system that Fig. 1 provides for the present invention.
Detailed description of the invention
The core of the present invention is to provide a kind of electric operating robot system, the controlling party that employing action is followed
Formula, in work process, operator only need to show different limb actions according to handling situations, operation
Simply, and greatly reduce the labor intensity of operator.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based in the present invention
Embodiment, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
Embodiment one
The invention provides a kind of electric operating robot system, shown in Figure 1, Fig. 1 is that the present invention carries
A kind of structural representation of the electric operating robot system of confession；This system includes:
It is equipped on Work robot 12, for carrying out the operation end 11 of concrete electric operating operation；
For moving the Work robot 12 of operation end 11；
Collecting device 15 for the limbs signal of acquisition operations personnel；
That be connected with collecting device 15, for limbs signal is carried out signal conversion processes, it is the most right to obtain
In Work robot 12 and the control signal of operation end 11, and should send to operation controlling apparatus 13
Background control equipment 14；
That be connected with Work robot 12 and operation end 11 respectively, for controlling respectively according to control signal
Manufacturing robot 12 and operation end 11 carry out the operation controlling apparatus 13 of action.
Wherein, Work robot 12 here refers to robot arm.
The invention provides a kind of electric operating robot system, the limbs signal of this system acquisition operator
After, Background control equipment generate control signal according to limbs signal, and send control signals to operation
Control equipment, is carried out according to this control signal control Work robot and operation end by operation controlling apparatus
Corresponding action.The control mode that i.e. this system employing action is followed, in work process, operator only need
Different limb actions is shown, without through special training according to handling situations, it is to avoid due to
Operator lack experience and occur the situation of error to occur, compared with the control mode of operation handle, and operation
Simply, and greatly reduce the labor intensity of operator.
Embodiment two
On the basis of embodiment one, present invention also offers another kind of electric operating robot system.
As preferably, this system also includes:
It is arranged on Work robot 12, for real-time monitoring results robot 12 and operation end
The job state of 11, and the status signal of acquisition is sent to Background control by operation controlling apparatus 13 set
The monitoring device of standby 14；
Background control equipment 14 also includes:
For the display device that status signal is shown.
It is understood that owing to Work robot 12 and operation end 11 are the limbs following operator
Body action carries out action, therefore operator need to understand Work robot 12 and operation end in real time
The position of 11 and duty.After adding monitoring device and display device, operator are the most permissible
Work robot 12 and operation end is understood in time in the case of the working environment away from Work robot 12
The position of end 11 and duty, and make corresponding action, expand the worked model of operator
Enclose, make the job site of operator and Background control equipment 14 can determine according to practical situation, improve
The convenience of work.
Wherein, monitoring device is one or more photographic head here.It is understood that by different
Side set up multiple photographic head, can make operator understand from different angles Work robot 12 with
And the position of operation end 11 and duty, make operator have clear and definite spatial impression, improve
Working performance.Certainly, the present invention does not limit the number of photographic head and concrete installation site.
It addition, display device here is display screen.Background control equipment 14 and operation controlling apparatus 13
Computer can be.Certainly, the present invention does not limit the type of each equipment above.
As preferably, in the case of system includes monitoring device and display device, this system also includes:
It is connected with Background control equipment 14, is used for sending control signals to operation controlling apparatus 13, and
Receive the first Wireless Telecom Equipment of status signal；
It is connected with operation controlling apparatus 13, is used for receiving control signal and status signal, and by state
Signal sends the second Wireless Telecom Equipment to Background control equipment 14.
Wherein, the first Wireless Telecom Equipment and the second Wireless Telecom Equipment here can be single equipment, also
Can be built in respectively in Background control equipment 14 and operation controlling apparatus 13, this is not construed as limiting by the present invention.
It is understood that use radio communication between Background control equipment 14 and operation controlling apparatus 13,
And system includes monitoring device and display device, so time operator can stand in away from Work robot
The position of the working environment of 12, it is to avoid operator are in electrification in high voltage environment, and wireless owing to using
Signal controls, therefore operator will not contact charging equipment, therefore this embodiment eliminates strong-electromagnetic field to operation
The person threat of personnel, safety is high.
As preferably, this system also includes hoistable platform and lifting arm, Work robot 12, operation
Control equipment 13 and monitoring device are respectively positioned on hoistable platform, and hoistable platform is arranged at the top of lifting arm.
It is understood that Work robot 12, Operation control can be set by hoistable platform and lifting arm
Job position is delivered to for 13 and monitoring device.
It addition, this system also includes the insulating support being arranged on hoistable platform, Work robot 12, work
Industry controls equipment 13 and monitoring device is respectively positioned on insulating support.
By arranging insulating support, lifting arm can be avoided charged, and then avoid operator's imprudence touching
The danger got an electric shock is there is after lifting arm.
As preferably, this system also includes:
Moving automobile, lifting arm is arranged on moving automobile.
It is understood that can be very easily by hoistable platform, lifting arm, working rig by moving automobile
The equipment delivery such as device people 12, operation controlling apparatus 13 and monitoring device, to job site, also may be used meanwhile
Transport in Background control equipment 14 and collecting device 15 etc. are positioned over moving automobile, be greatly improved
The convenience of livewire work.
In the present invention, operation end 11 is mainly responsible for replacing manually carrying out distribution operation in the environment of charged,
Therefore different operation ends 11 can be changed to complete various livewire work task according to actual handling situations.
Work robot 12 be mainly responsible for carrying operation end 11 movement of the end 11 that fulfils assignment and
Pose adjustment.When distribution operation, typically can use sixdegree-of-freedom simulation, can follow operator's
Actual act makes corresponding operation.Work robot 12 needs to use other form machines also dependent on operation
Device people, as ultra-high-tension power transmission line can not take lifting platform as the support platform of Work robot 12 time
Time can use the Equipotential live working robot 12 hung on the line.
Wherein, collecting device 15 includes:
Pressure transducer, three-axis gyroscope, 3-axis acceleration sensor and displacement transducer.It is used for gathering
Each actuating signal of operator's limbs, including the direction of action, amplitude, moment etc..Certainly, here
Collecting device 15 may be used without other kinds of device, as long as being capable of the collection of the purpose of the present invention
Equipment 15 is all within protection scope of the present invention.
It is understood that want to realize action to follow operation, Background control equipment 14 needs deposit in advance
Storage operation end 11 and the parameters of Work robot 12, and set up a system model accordingly.Backstage
Control equipment 14 obtains after gathering signal, is merged by various collection signals, due to operation end 11 He
The limbs such as each component of Work robot 12 and the arm of operator can not be completely the same, needs more
New system model, then in this system model, by Coordinate Conversion by limbs attitude Work robot
The joint angle of 12 encodes, and generates Work robot 12 and the control signal of operation end 11.Operation
Each joint of robot 12 can carry out coding-control, thus improves the degree of accuracy of livewire work operation
And sensitivity.
Therefore after changing Work robot 12 or operation end 11, only need in Background control equipment 14 incite somebody to action
The parameter of new parts (such as the size of Work robot 12, degree of freedom, rotating shaft position etc.) is re-entered
I.e. may make up the system model of new hot line robot 12.
For convenience of understanding to the present invention program, below the electric operating robot 12 of just present invention offer be
A kind of concrete workflow of system is done and is simply introduced:
Step s101: after making job task, hoistable platform by operation part (Work robot 12 with
And operation end 11) mobile to planning job position；
Step s102: operator enter Operation control state, the real time imaging shown according to photographic head, sentence
The position of disconnected robot manipulating task end 11 and attitude and the gap of normal operation position, and list is carried out on ground
Individual action control；
Step s103: the limbs signal of acquisition operations personnel, Background control equipment 14 is raw according to limbs signal
Control signal is become to control operation part；
Step s104: operation part performs individual part；
Step s105: judge whether this individual part completes according to real time imaging, if it is, enter step
s105；Otherwise, some of them particular location, action, attitude are carried out micro-according to real time imaging by operator
Adjust, and return step s103；
Step s105: judge whether job task completes according to real time imaging, if it is, operator will make
Industry part is regained, it is to avoid and the danger such as high-tension line generation electric discharge, exit robot controlled state；Otherwise,
Return step s102, carry out next action control；
Step s106: operation part is exited to home by hoistable platform, terminates operation.
Compared with embodiment one, the present embodiment adds monitoring device and display device, therefore operator
Stand in any position and all can understand Work robot and the position of operation end and duty in time,
Expand operator can working range, improve the convenience of work；Meanwhile, backstage in the present embodiment
It is radio communication between control equipment and operation controlling apparatus, therefore operator can stand in away from Work robot
The position of working environment, avoid operator to be in electrification in high voltage environment, avoid operator simultaneously
Contact charging equipment, eliminates the strong-electromagnetic field person threat to operator, and safety is high；It addition, this
Embodiment also add hoistable platform and lifting arm, to send homework department to job position easily, and
Insulating support it is additionally provided with, it is to avoid during livewire work, operation part contacts with hoistable platform on hoistable platform,
Stop the dangerous generation got an electric shock further, improve safety.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is
With the difference of other embodiments, between each embodiment, identical similar portion sees mutually.For
For device disclosed in embodiment, owing to it corresponds to the method disclosed in Example, so the comparison described
Simply, relevant part sees method part and illustrates.
Also, it should be noted in this manual, term " include ", " comprising " or its any other become
Body is intended to comprising of nonexcludability so that include the process of a series of key element, method, article or
Person's equipment not only includes those key elements, but also includes other key elements being not expressly set out, or also wraps
Include the key element intrinsic for this process, method, article or equipment.In the case of there is no more restriction,
The key element limited by statement " including ... ", it is not excluded that include the process of described key element, method,
Article or equipment there is also other identical element.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this
Invention.Multiple amendment to these embodiments will be apparent for those skilled in the art
, generic principles defined herein can without departing from the spirit or scope of the present invention,
Other embodiments realize.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and
It is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. an electric operating robot system, it is characterised in that including:
It is equipped on Work robot, for carrying out the operation end of concrete electric operating operation；
For moving the described Work robot of described operation end；
Collecting device for the limbs signal of acquisition operations personnel；
That be connected with described collecting device, for described limbs signal is carried out signal conversion processes, divided
Not Dui Yingyu described Work robot and the control signal of described operation end, and send to Operation control and set
Standby Background control equipment；
That be connected with described Work robot and described operation end respectively, for according to described control signal
Control described Work robot respectively and described operation end carries out the described operation controlling apparatus of action.
System the most according to claim 1, it is characterised in that also include:
It is arranged on described Work robot, for the described Work robot of monitoring and described operation in real time
The job state of end, and the status signal obtained is sent to described backstage by described operation controlling apparatus
The monitoring device of control equipment；
Described Background control equipment also includes:
For the display device that described status signal is shown.
System the most according to claim 2, it is characterised in that described monitoring device is one or many
Individual photographic head.
System the most according to claim 3, it is characterised in that described display device is display screen.
System the most according to claim 2, it is characterised in that also include:
It is connected with described Background control equipment, sets for described control signal is sent extremely described Operation control
Standby, and receive the first Wireless Telecom Equipment of described status signal；
It is connected with described operation controlling apparatus, is used for receiving described control signal and described status signal,
And described status signal is sent the second Wireless Telecom Equipment to described Background control equipment.
System the most according to claim 2, it is characterised in that also include hoistable platform and lifting
Arm, described Work robot, described operation controlling apparatus and described monitoring device are respectively positioned on described lifting and put down
On platform, described hoistable platform is arranged at the top of described lifting arm.
System the most according to claim 6, it is characterised in that also include that being arranged at described lifting puts down
Insulating support on platform, described Work robot, described operation controlling apparatus and the equal position of described monitoring device
On described insulating support.
System the most according to claim 7, it is characterised in that also include:
Moving automobile, described lifting arm is arranged on described moving automobile.
System the most according to claim 1, it is characterised in that described collecting device includes:
Pressure transducer, three-axis gyroscope, 3-axis acceleration sensor and displacement transducer.
System the most according to claim 1, it is characterised in that described work machine artificial six is freely
Degree mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610585812.6A CN105965486A (en) | 2016-07-22 | 2016-07-22 | Electric operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610585812.6A CN105965486A (en) | 2016-07-22 | 2016-07-22 | Electric operation robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105965486A true CN105965486A (en) | 2016-09-28 |
Family
ID=56953478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610585812.6A Pending CN105965486A (en) | 2016-07-22 | 2016-07-22 | Electric operation robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965486A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109089076A (en) * | 2018-07-12 | 2018-12-25 | 上海常仁信息科技有限公司 | A kind of robot motion real-time monitoring system |
| CN111923009A (en) * | 2020-09-14 | 2020-11-13 | 天津滨电电力工程有限公司 | IMU-based control device and method for live-wire work robot of distribution line |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2597163Y (en) * | 2002-06-24 | 2004-01-07 | 山东鲁能智能技术有限公司 | High-voltage live-wire working device for manipulator |
| JP4558682B2 (en) * | 2006-06-15 | 2010-10-06 | 株式会社日立製作所 | Manipulator remote control method for mobile robot system |
| CN202292752U (en) * | 2011-07-13 | 2012-07-04 | 徐州海伦哲专用车辆股份有限公司 | Multifunctional high-lift operation mechanical arm |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN203973551U (en) * | 2014-06-13 | 2014-12-03 | 济南翼菲自动化科技有限公司 | A kind of remote control robot of controlling by body gesture |
| CN104942811A (en) * | 2015-06-15 | 2015-09-30 | 河池学院 | Control system for explosive-handling robot |
| CN105034001A (en) * | 2015-08-03 | 2015-11-11 | 南京邮电大学 | Biomimetic manipulator synchronous wireless control system and method |
| CN105741491A (en) * | 2016-03-17 | 2016-07-06 | 北京工业大学 | Fall-down detection alarm system based on Kalman filtering and KNN algorithm and method thereof |
| CN205817839U (en) * | 2016-07-22 | 2016-12-21 | 广东电网有限责任公司电力科学研究院 | A kind of electric operating robot system |
-
2016
- 2016-07-22 CN CN201610585812.6A patent/CN105965486A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2597163Y (en) * | 2002-06-24 | 2004-01-07 | 山东鲁能智能技术有限公司 | High-voltage live-wire working device for manipulator |
| JP4558682B2 (en) * | 2006-06-15 | 2010-10-06 | 株式会社日立製作所 | Manipulator remote control method for mobile robot system |
| CN202292752U (en) * | 2011-07-13 | 2012-07-04 | 徐州海伦哲专用车辆股份有限公司 | Multifunctional high-lift operation mechanical arm |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN203973551U (en) * | 2014-06-13 | 2014-12-03 | 济南翼菲自动化科技有限公司 | A kind of remote control robot of controlling by body gesture |
| CN104942811A (en) * | 2015-06-15 | 2015-09-30 | 河池学院 | Control system for explosive-handling robot |
| CN105034001A (en) * | 2015-08-03 | 2015-11-11 | 南京邮电大学 | Biomimetic manipulator synchronous wireless control system and method |
| CN105741491A (en) * | 2016-03-17 | 2016-07-06 | 北京工业大学 | Fall-down detection alarm system based on Kalman filtering and KNN algorithm and method thereof |
| CN205817839U (en) * | 2016-07-22 | 2016-12-21 | 广东电网有限责任公司电力科学研究院 | A kind of electric operating robot system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109089076A (en) * | 2018-07-12 | 2018-12-25 | 上海常仁信息科技有限公司 | A kind of robot motion real-time monitoring system |
| CN111923009A (en) * | 2020-09-14 | 2020-11-13 | 天津滨电电力工程有限公司 | IMU-based control device and method for live-wire work robot of distribution line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053188A (en) | A kind of hot line robot branch connects gage lap method | |
| CN106493708A (en) | A kind of hot line robot control system based on double mechanical arms and sub-arm | |
| CN107030693B (en) | A kind of hot line robot method for tracking target based on binocular vision | |
| CN106737547A (en) | A kind of hot line robot | |
| CN106595762B (en) | A kind of hot line robot strain insulator detection method | |
| CN106826756A (en) | A kind of conducting wire mending method based on robot for high-voltage hot-line work | |
| CN106516984A (en) | Unmanned tower crane control system based on wireless communication network and implementing method | |
| CN206840057U (en) | A kind of hot line robot control system based on double mechanical arms and sub-arm | |
| CN107688349A (en) | A kind of crusing robot tele-control system and control method | |
| CN106786140A (en) | A kind of hot line robot strain insulator replacing options | |
| CN106771805A (en) | A kind of hot line robot Detecting Methods of MOA | |
| CN105965486A (en) | Electric operation robot system | |
| CN107639621A (en) | A kind of remote operating equipment, system and its operational method for nuclear power station place | |
| US11749978B1 (en) | Cross-arm phase-lifter | |
| CN207415335U (en) | A kind of remote operating equipment for nuclear power station place | |
| CN108598990A (en) | A kind of hot line robot aerial earth wire replacement method for repairing and mending based on force feedback master ＆ slave control technology | |
| CN106583294A (en) | Method for sweeping tension insulator by live working robot | |
| CN105005814A (en) | Online comprehensive service system for electric automobiles | |
| CN104320633A (en) | Remote image collection device | |
| CN205817839U (en) | A kind of electric operating robot system | |
| CN106965147A (en) | A kind of hot line robot isolation switch detection method | |
| CN108565793A (en) | A kind of hot line robot conducting wire mending method based on force feedback master ＆ slave control | |
| CN107053261A (en) | A kind of insulating protection system of the mechanical arm with camera | |
| CN112091974A (en) | Remote control operation system of distribution network live working robot and control method thereof | |
| DE102016225686A1 (en) | Robot Controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160928 |
|
| RJ01 | Rejection of invention patent application after publication |