CN106786132B - Avenue distribution line maintenance device - Google Patents

Avenue distribution line maintenance device Download PDF

Info

Publication number
CN106786132B
CN106786132B CN201611035393.5A CN201611035393A CN106786132B CN 106786132 B CN106786132 B CN 106786132B CN 201611035393 A CN201611035393 A CN 201611035393A CN 106786132 B CN106786132 B CN 106786132B
Authority
CN
China
Prior art keywords
forearm
fixed
arm
swing
plate
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.)
Expired - Fee Related
Application number
CN201611035393.5A
Other languages
Chinese (zh)
Other versions
CN106786132A (en
Inventor
周庆
张来刚
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.)
Shanghe County Power Supply Company State Grid Shandong Electric Power Co
State Grid Corp of China SGCC
Original Assignee
Shanghe County Power Supply Company State Grid Shandong Electric Power Co
State Grid Corp of China SGCC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghe County Power Supply Company State Grid Shandong Electric Power Co, State Grid Corp of China SGCC filed Critical Shanghe County Power Supply Company State Grid Shandong Electric Power Co
Priority to CN201611035393.5A priority Critical patent/CN106786132B/en
Publication of CN106786132A publication Critical patent/CN106786132A/en
Application granted granted Critical
Publication of CN106786132B publication Critical patent/CN106786132B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

Avenue distribution line maintenance device, for removing the bird's nest on electric pole, to ensure the transmission of electricity of distribution line safety.It is rotatablely equipped with turntable on the car body, fork type elevator is equipped on turntable, lifting regulating mechanism is equipped at the top of fork type elevator, lifting regulating mechanism is equipped with the movable plate moved up and down, large arm on movable plate is hingedly installed, the large arm swing mechanism for driving big arm swing is equipped on movable plate;Hinged forearm, is equipped with the forearm swing mechanism for driving small arm swing in large arm in large arm;The hinged forearm on forearm is equipped with the forearm swing mechanism of arm swing before driving on forearm;Clamping assembly is equipped in one end of forearm, clamping assembly gripping bird's nest, which is realized, removes operation, is equipped with push rod assembly in the forearm other end, push rod assembly adsorbs remaining branch by air draught;It is equipped with branch on the car body and recycles assembly, to realize the collection to branch.The transmission of electricity safety of distribution line can be effectively ensured in the present invention.

Description

Avenue distribution line maintenance device
Technical field
The present invention relates to power grid safe distribution of electric power technical field, specifically a kind of avenue distribution line safeguards dress It puts.
Background technology
It is the place that birds easily build bird's nest on the electric pole of avenue, birds build bird's nest on utility poles, There is larger threat for power grid safe distribution of electric power.The bird's nest on electric pole cross-arm is cleared up, is a universal and cumbersome work Make.Power transformation operation maintenance personnel needs to climb onto electric pole, is disclosed bird's nest with the rod piece of insulation, and under this mode, power transformation is transported The certain threat of the security presence of dimension personnel.
Invention content
The purpose of the present invention is to provide a kind of avenue distribution line maintenance device, for removing the bird on electric pole Nest, to ensure the transmission of electricity of distribution line safety.
The technical scheme adopted by the invention to solve the technical problem is that:Avenue distribution line maintenance device, it is special Sign is, it include car body, swing mechanism, fork type elevator, lifting regulating mechanism, large arm swing mechanism, forearm swing mechanism, Forearm, forearm swing mechanism, gripping assembly, absorption assembly and branch recycling assembly, it is recessed to be equipped with first at the top of the car body Slot is rotatablely equipped with turntable in first groove, and swing mechanism is equipped between the bottom of the turntable and car body, described Swing mechanism includes turning motor, revolution worm screw, revolution worm gear, the first revolution bevel gear, the second revolution bevel gear, swiveling gear And gear ring, the gear ring are fixed on the bottom of turntable, and the swiveling gear of coaxial setting is rotatablely equipped in first groove With the first revolution bevel gear, the swiveling gear is engaged with gear ring, and coaxial setting is also rotatablely equipped in first groove Second revolution bevel gear and revolution worm gear, it is described second revolution bevel gear with first turn round bevel gear engages, the revolution snail Take turns and be fixed on the revolution worm engaging of turning motor output terminal;
Fork type elevator is fixed at the top of the turntable, lifting is fixed at the top of the fork type elevator Regulating mechanism, the lifting regulating mechanism mainly includes bottom plate, vertical beam, upper mounted plate, lifting cylinder and movable plate, described Upper mounted plate is setting up and down with bottom plate, the vertical beam of a pair of of left and right settings is equipped between upper and lower fixing plate, pairs of two Movable plate moving up and down is slidably fitted between vertical beam, on the vertical beam in left side be equipped with strip hole, movable plate with it is lower solid Lifting cylinder is equipped between fixed board;
Be fixed with a pair of of cantilever plate on the left of the movable plate, the free end of the cantilever plate pass through after strip hole from It is stretched out between upper and lower fixing plate, large arm is hingedly installed on the cantilever plate, driving large arm is equipped on the cantilever plate and is existed The large arm swing mechanism swung in perpendicular;
Forearm is hingedly installed in the large arm, the forearm of the driving relatively large arm swing of forearm is equipped in the large arm Swing mechanism;
Forearm is hinged on the forearm, the preceding arm swing of the driving relatively small arm swing of forearm is equipped on the forearm Mechanism;
Gripping assembly is equipped in one end of the forearm, the gripping assembly mainly includes clamper and rotary driving machine Structure is rotatablely equipped with shaft in one end of the forearm, and the rotary drive mechanism of drive shaft rotation is equipped on the forearm, Clamper is fixed in the shaft, the clamper includes tablet, clamping motor, rocking arm, operating bar, left clamping limb and the right side Clamping limb, the tablet are fixed in shaft, and arc-shaped left clamping limb and right folder are hingedly equipped in the bottom of the tablet Gripping arm is equipped with the clamping motor for being fixed on flat plate bottom between left and right clamping limb, is equipped in the output terminal of the clamping motor Rocking arm is equipped with operating bar between one end of the rocking arm and left clamping limb, the rocking arm the other end and right clamping limb it Between also be provided with operating bar, when clamp motor output rotary motion when can drive the synchronization action of left and right clamping limb and left and right clamping Arm is close to each other or separate;
Absorption assembly is equipped in the other end of the forearm, the absorption assembly mainly includes wind turbine, air hose, tuyere and song Handle slide block mechanism, the wind turbine are slidably mounted on forearm, and driving wind turbine is equipped on the forearm and does linear reciprocating motion Slider-crank mechanism is equipped with air hose on the wind turbine, and tuyere is equipped on the air hose, and the tuyere is the hollow knot of taper Structure, the small end of the tuyere are connected with air hose, are equipped with partition board in the inside of the tuyere, the outer wall of the partition board and tuyere it is interior Side wall contacts, and air holes is equipped on the partition board;
The second groove is additionally provided at the top of the car body, the cunning vertically placed is slidably fitted in second groove Plate is equipped with push cylinder between the right side of the slide plate and car body, two pairs is hingedly equipped on the left side wall of the slide plate Swing rod, the length of four swing rods is identical, and right end and the slide plate of swing rod are hinged, and the left end of four swing rods is cut with scissors with the outer wall of bucket seat It connects, two pairs of swing rods form a parallelogram linkage with bucket seat, slide plate, hinged on the left side wall of the slide plate There are two oscillating oil cylinder, the piston rod of the oscillating oil cylinder and one of pendulum on corresponding parallelogram linkage for installation Bar is hinged, and the bucket seat is made of semi arch plate setting up and down and plectane, and the collecting vessel is placed on above plectane, semi arch On the inside of plate.
Further, the bottom of the turntable is equipped with circular groove, is fixed on the inner wall of the circular groove several circumferentially equal The fixation journal stirrup of even distribution, on the gear ring be equipped with several location holes being uniformly distributed circumferentially, location hole with it is corresponding Bolt is equipped between fixed journal stirrup.
Further, the large arm swing mechanism mainly includes large arm oscillating motor, big arm swing worm gear and big arm swing Worm screw, the large arm oscillating motor are fixed on the motor mounting plate of cantilever plate bottom, in the output of the large arm oscillating motor End is equipped with big arm swing worm screw, the big arm swing worm gear and big arm swing worm engaging, consolidates in the large arm equipped with large arm Fixed pole, the large arm fixed link are hinged on by the first swinging axle on cantilever plate, and the big arm swing worm gear is fixed on the first pendulum On moving axis.
Further, the forearm swing mechanism mainly includes forearm oscillating motor, small arm swing worm gear and small arm swing Worm screw, the forearm are hinged on by the second swinging axle in large arm, and small arm swing worm gear is fixed on second swinging axle, Forearm oscillating motor is fixed in the large arm, is fixed on the output shaft of the forearm oscillating motor and small arm swing snail The small arm swing worm screw of wheel.
Further, the large arm is U-shaped structure, and a pair of of external expanding plate, the forearm are equipped in the openend of the large arm It is hinged on external expanding plate by the second swinging axle.
Further, the forearm swing mechanism mainly includes forearm oscillating motor, preceding arm swing worm gear, preceding arm swing snail Bar, forearm first gear and forearm second gear, the small arm swing worm gear are fixed on articulated shaft, and the forearm passes through hinged Axis is hinged with forearm, the preceding arm swing worm gear and preceding arm swing worm engaging, the preceding arm swing worm screw and the first tooth of forearm Coaxial setting is taken turns, the forearm oscillating motor is fixed on forearm, is equipped with and forearm in the output terminal of the forearm oscillating motor The forearm second gear of first gear engagement.
Further, the rotary drive mechanism mainly includes rotational positioning motor, drive sprocket, driven sprocket, transmission Worm screw, transmission worm gear, first bevel gear and second bevel gear, the rotational positioning motor is fixed on forearm, in the forearm Two pairs of chain-drive mechanisms are equipped with, the chain-drive mechanism includes drive sprocket, driven sprocket and chain, two drive sprockets Coaxial setting is fixed with transmission worm gear on the axis between two drive sprockets, in the output terminal of the rotational positioning motor Equipped with the geared worm engaged with transmission worm gear, driven sprocket setting coaxial with first bevel gear is solid in the shaft Surely there is the second bevel gear engaged with first bevel gear.
Further, the slider-crank mechanism includes translation motor, crank and connecting rod, before the translation motor is fixed on On arm, crank is hinged in the output terminal of the translation motor, connecting rod is equipped between the crank and wind turbine.
Further, the left clamping limb includes left pole socket and three supporting rods being fixed on left pole socket, the right folder Gripping arm includes right pole socket and two supporting rods being fixed on right pole socket, and the supporting rod on right clamping limb is located at phase on left clamping limb Between adjacent supporting rod.
Further, on the forearm be equipped with elasticity adjusting mechanism, the elasticity adjusting mechanism mainly include fixed seat, Bearing, screw, leading screw and adjusting sprocket wheel, the fixed seat is U-shaped structure and is fixed on the inside of forearm, in the fixed seat Inside is equipped with a pair of bearings, and leading screw is equipped between two bearings, and cooperation is equipped on the leading screw slides with fixed seat The screw of connection is fixed with bearing block on the screw, sprocket shaft is equipped in the bearing inner race of the bearing block, described Adjusting sprocket wheel is fixed on sprocket shaft, the adjusting sprocket wheel is between pairs of drive sprocket and driven sprocket, and drive chain Wheel, driven sprocket, adjusting sprocket wheel are located on three vertex of triangle, and knob is fixed on the leading screw on the outside of forearm is placed in.
Further, be fixed with a pair of of oil cylinder supporting rod in second groove, the top of the oil cylinder supporting rod with The cylinder barrel of push cylinder is connected;A pair of of sliding slot is equipped in the second groove, a pair of of sliding block, institute are fixed in the bottom of the slide plate Sliding block is stated to be slidably connected with sliding slot;It is fixed on the outer wall of the bucket seat that there are four bucket seat journal stirrup, one end of the swing rod and cunnings Plate is hinged, and the other end and the bucket seat journal stirrup of the swing rod are hinged;Screw thread is equipped at least one limit on the plectane of the bucket seat Position bar, the gag lever post are located on the circumference where semi arch plate.
The beneficial effects of the invention are as follows:Avenue distribution line maintenance device provided by the invention, fork type elevator Setting can cause in the present invention remove bird's nest structure be placed at the electric pole of eminence, swing mechanism, lifting regulating mechanism, The setting of large arm swing mechanism, forearm swing mechanism, forearm swing mechanism can cause fore-arm in suitable operating position;Folder It takes assembly and adsorbs the setting of assembly, can realize the dismounting to bird's nest;The setting of assembly is gripped, bird's nest can be taken together Under, the setting of assembly is adsorbed, can realize the absorption to vestige of branch.Branch recycles the setting of assembly, can realize to removing Under branch recycling, branch is avoided, which to directly fall in, influences the appearance of the city on avenue.And push cylinder, swing rod and oscillating oil cylinder Collecting vessel can be easily placed on ground by setting, in order to taking for the collecting vessel to collecting full branch.Intelligence of the invention Change degree is high, can realize the efficient dismounting to bird's nest, to ensure the transmission of electricity of distribution line safety.
Description of the drawings
Fig. 1 is the integrally-built schematic diagram of the present invention;
Fig. 2 is the driving schematic diagram that fork type elevator rotates in the horizontal plane;
Fig. 3 is the schematic diagram of swing mechanism;
Fig. 4 is the schematic diagram of gear ring;
Fig. 5 is the front schematic view of lifting regulating mechanism;
Fig. 6 is the schematic top plan view of lifting regulating mechanism;
Fig. 7 is the schematic diagram of cantilever plate and lifting regulating mechanism;
Fig. 8 is the schematic diagram of vertical beam;
Fig. 9 is the schematic top plan view that branch recycles assembly;
Figure 10 is the side schematic view that branch recycles assembly;
Figure 11 is one of action schematic diagram that branch recycles assembly;
Figure 12 is the two of the action schematic diagram that branch recycles assembly;
Figure 13 is the structure diagram of large arm swing mechanism and forearm swing mechanism;
Figure 14 is the structure diagram of large arm;
Figure 15 is the appearance schematic diagram of forearm and forearm;
Figure 16 is the sectional view of forearm;
Figure 17 is the schematic diagram of forearm swing mechanism;
Schematic diagram when Figure 18 is preceding arm swing;
Figure 19 is the schematic diagram of gripping assembly and absorption assembly on forearm;
Figure 20 is the schematic diagram of rotary drive mechanism;
Figure 21 is the schematic diagram of elasticity adjusting mechanism;
Figure 22 is the schematic top plan view of fixed seat;
Figure 23 is the graphics of fixed seat;
Figure 24 is the scheme of installation for adjusting sprocket wheel;
Figure 25 is the scheme of installation for adsorbing assembly;
Figure 26 is the structure diagram for gripping assembly;
Figure 27 is the cooperation schematic diagram of left and right clamping limb;
Figure 28 is the schematic diagram of right clamping limb;
Figure 29 is the schematic diagram of left clamping limb;
In figure:1 car body, 11 fork type elevators, 111 elevator pedestals, 12 first grooves, 13 bearings, 14 turntables, 141 Fixed journal stirrup, 15 gear rings, 150 location holes, 151 swiveling gears, 152 first revolution bevel gears, 153 second revolution bevel gears, 154 Revolution worm gear, 155 revolution worm screws, 156 turning motors, 16 vertical pivots, 161 worm gear journal stirrups, 162 worm screw journal stirrups, 17 second grooves, 18 Sliding slot, 19 bolts;
2 lifting regulating mechanisms, 21 bottom plates, 22 vertical beams, 221 vertical slots, 222 bar holes, 23 bottom plates, 24 lifting oil Cylinder, 25 movable plates, 26 cantilever plates, 27 motor mounting plates;
3 large arm, 31 large arm fixed links, 32 first swinging axles, 321 big arm swing worm gears, 322 big arm swing worm screws, 323 Ear, 324 large arm oscillating motors, 33 external expanding plates, 34 second swinging axles, 341 small arm swing worm gears, 342 small arm swing worm screws, 343 Forearm oscillating motor;
4 forearms, 41 hinge holes, 42 articulated shafts;
5 forearms, arm swing worm gear before 51, arm swing worm screw before 52,53 forearm first gears, 54 forearm second gears, 55 Forearm oscillating motor, 56 link blocks;
6 gripping assemblies, 61 tablets, 62 supporting rods, 63 shafts, 631 first bevel gears, 632 second bevel gears, 64 driven chains Wheel, 641 chains, 642 drive sprockets, 65 transmission worm gears, 651 geared worms, 652 rotational positioning motors, 66 adjusting sprocket wheels, 661 Sprocket shaft, 662 screws, 67 fixed seats, 671 leading screws, 672 knobs, 673 bearing blocks;
7 absorption assemblies, 71 wind turbines, 711 otic placodes, 72 air hoses, 73 tuyeres, 731 partition boards, 732 air holes, 74 connecting rods, 75 cranks, 76 translation motors, 77 sliding rails;
8 clamping motors, 81 rocking arms, 82 operating bars, 83 left clamping limbs, 831 left pole sockets, 84 right clamping limbs, 841 right pole sockets, 85 gag lever posts, 86 is hinged;
9 bucket seats, 91 bucket seat journal stirrups, 92 swing rods, 93 slide plates, 931 sliding blocks, 932 slide plate journal stirrups, 94 push cylinder, 941 oil cylinders Supporting rod, 95 oscillating oil cylinders, 96 gag lever posts, 10 collecting vessels.
Specific embodiment
If Fig. 1 to Figure 29 shows, the invention mainly comprises car body 1, swing mechanism, 11 lifting regulating mechanisms of fork type elevator 2nd, large arm 3, large arm swing mechanism, forearm 4, forearm swing mechanism, forearm 5, forearm swing mechanism, gripping assembly 6, absorption assembly 7 and branch recycling assembly, the present invention will be described in detail below in conjunction with the accompanying drawings.
Car body:
As shown in Figure 1, matrix of the car body 1 for the present invention, car body is used to support the other components of installation.It is set above car body There is fork type elevator 11, as shown in Fig. 2, being equipped with the first groove 12 in the tail portion of car body, a pair is fixed in the first groove Bearing 13 setting up and down is fixed with turntable 14 in the inner ring of bearing, and the bottom of turntable is equipped with circular groove, on the inner wall of circular groove Fixation journal stirrup 141 equipped with several circumferentially spaced sets is equipped with gear ring 15, as shown in figure 4, being set on gear ring in circular groove Have several location holes 150 being uniformly distributed circumferentially, location hole is corresponded with fixed journal stirrup, fixed journal stirrup with it is corresponding fixed Installation bolt 19 in the hole of position realizes being fixedly connected for gear ring and turntable with this.It is rotatablely equipped in the first groove by bearing Vertical pivot 16, as shown in figure 3, swiveling gear 151 and first setting up and down is fixed on vertical pivot turns round bevel gear 152, the A pair of of worm gear journal stirrup 161 is fixed in one groove, revolution worm gear is rotatablely equipped with by worm-wheel shaft between two worm gear journal stirrups 154, the second revolution bevel gear 153 is further fixed on the worm-wheel shaft, turning motor 156 is fixed in the first groove, is being returned The output terminal of rotating motor is fixed with revolution worm screw 155, turns round one end of worm screw and the output terminal of turning motor is connected, and turns round worm screw The other end be rotatably installed on worm screw journal stirrup 162.Turning motor, revolution worm screw, revolution worm gear, the first revolution bevel gear, the Two-revolution bevel gear, swiveling gear, turntable and gear ring constitute swing mechanism, fork type elevator are driven to exist by swing mechanism Rotation in horizontal plane.
Lifting regulating mechanism 2 is equipped at the top of fork type elevator.
Lifting regulating mechanism 2:
As shown in Fig. 5 to Fig. 8, lifting regulating mechanism 2 mainly includes bottom plate 21, vertical beam 22, upper mounted plate 23, lifting Oil cylinder 24, movable plate 25 and cantilever plate 26, bottom plate 21 and upper mounted plate 23 are the metallic plate of rectangle, and upper mounted plate, Bottom plate is setting up and down, and the vertical beam 22 of a pair of of left and right settings is equipped between upper and lower fixing plate, is realized by vertical beam upper and lower Fixed plate is connected.As shown in fig. 6, vertical beam for " [" shape structure is equipped with a pair of of vertical slot 221 in the inside of vertical beam, as shown in fig. 7, Bar hole 222 is equipped on the vertical beam in left side.Lifting cylinder 24 is fixed on bottom plate, on the piston rod of elevating ram Movable plate 25 is fixed with, the protrusion being slidably matched with vertical slot is equipped on the front-rear side walls of movable plate, in the left side wall of movable plate On be fixed with a pair of of cantilever plate 26, the free end of cantilever plate from upper and lower fixing plate across stretching out after bar hole, in cantilever plate Bottom be equipped with motor mounting plate 27.The fixing end of cantilever plate is connected with movable plate, and large arm 3 is equipped in the free end of cantilever plate.
Large arm, large arm swing mechanism:
As shown in Figure 13, Figure 14, large arm 3 is the metalwork of U-shaped structure, and large arm fixed link is equipped in the sealing end of large arm 31, large arm fixed link is hinged on by the first swinging axle 32 on cantilever plate, and big arm swing worm gear is fixed on the first swinging axle 321, large arm oscillating motor 324 is fixed on motor mounting plate 27, large arm pendulum is fixed in the output terminal of large arm oscillating motor Dynamic worm screw 322, while big arm swing worm screw is also rotatably installed on journal stirrup 323, the first swinging axle, big arm swing worm gear, large arm It swings worm screw and large arm oscillating motor constitutes large arm swing mechanism.Under the driving of large arm swing mechanism, large arm can be relatively outer Plate swing is stretched, and swing angle is more than 0 degree, less than 90 degree.
Forearm, forearm swing mechanism:
A pair of of external expanding plate 33 is equipped in the openend of large arm, external expanding plate is the metallic plate of L-shaped, and two external expanding plates surround a side Shape space, and the distance between two external expanding plates are more than the width of large arm, it is hinged by the second swinging axle 34 between two external expanding plates Forearm 4 is installed, and the bearing 13 for installing the second swinging axle is fixed on external expanding plate.It is fixed on the second swinging axle Small arm swing worm gear 341 is equipped with motor mounting plate 27 between the bottom of two external expanding plates, is fixed on the motor mounting plate small Arm swing motor 343 is fixed with small arm swing worm screw 342, small arm swing worm screw and forearm in the output terminal of forearm oscillating motor Worm gear engagement is swung, small arm swing worm screw, small arm swing worm gear and forearm oscillating motor constitute forearm swing mechanism, by small Arm swing mechanism driving forearm with respect to large arm swing, and when forearm is around big arm swing swing angle more than 0 degree, less than 180 degree.
Forearm, forearm swing mechanism:
As shown in figure 15, forearm 5 is hingedly equipped with by articulated shaft 42 on forearm, as shown in figure 16, forearm is U-shaped Metalwork is equipped with hinge hole 41 in the sealing end of forearm and openend, and the axis of two hinge holes is vertically arranged, the second swinging axle It is through in the hinge hole of forearm sealing end.Articulated shaft 42 is equipped in the hinge hole of forearm openend.Between forearm and forearm Equipped with forearm swing mechanism, forearm swing mechanism mainly includes preceding arm swing worm gear 51, preceding arm swing worm screw 52, the first tooth of forearm Wheel 53, forearm second gear 54 and forearm oscillating motor 55, preceding arm swing worm gear are fixed on the articulated shaft between forearm and forearm On, be rotatablely equipped with the preceding arm swing worm screw 52 engaged with preceding arm swing worm gear on the inner wall of forearm, preceding arm swing worm screw with The 53 coaxial setting of forearm first gear, is fixed with forearm oscillating motor 55, in the output of forearm oscillating motor on the inside of forearm End is fixed with the forearm second gear 54 engaged with forearm first gear.As shown in figure 18, it when forearm oscillating motor acts, can drive Swing of the forearm with respect to forearm is moved, forearm is more than 0 degree, less than or equal to 360 degree with respect to the swing angle of forearm.
Forearm, gripping assembly:
As shown in figure 19, the main body of forearm 5 is the arm plate of a pair of parallel setting, and a pair of of link block is equipped between two-arm plate 56, the connection of two-arm plate is realized by link block.Along the length direction of arm plate, preceding arm swing worm gear be arranged on two link blocks it Between.
Gripping assembly 6 is equipped in one end of forearm, as shown in Figure 19, Figure 20, Figure 26, gripping assembly mainly includes clamper And rotary drive mechanism.
As shown in figure 20, the chain-drive mechanism of two pairs of left and right settings is equipped between two-arm plate, chain-drive mechanism includes master Movable sprocket 642 and driven sprocket 64 are equipped with chain 641, two drive chains between the drive sprocket and driven sprocket of mating reaction Coaxial setting is taken turns, and bearing 13 is equipped on the axis between two drive sprockets, bearing is fixedly connected with arm plate, in two drive sprockets Between axis on be fixed with transmission worm gear 65, be fixed with rotational positioning motor 652 on an arm plate wherein, rotational positioning electricity Machine is equipped with geared worm 651, and geared worm engages cooperation with transmission worm gear.Bearing 13 is fixed on an arm plate wherein, Shaft 63 is fixed in bearing inner race, first bevel gear 631 is fixed in one end of shaft, in the sprocket wheel of each driven sprocket Second bevel gear 632 is fixed on axis, two second bevel gears are engaged with first bevel gear.Rotational positioning motor, transmission worm gear, biography Dynamic worm screw, drive sprocket, driven sprocket, chain, first bevel gear and second bevel gear constitute rotary drive mechanism, in this way, Pass through the rotation of rotary drive mechanism drive shaft.
Be fixed with clamper in the other end of shaft, as shown in figure 26, clamper mainly include tablet 61, supporting rod 62, Motor 8, rocking arm 81, operating bar 82, left clamping limb 83 and right clamping limb 84 are clamped, tablet is rectangle or circular metallic plate and consolidates Be scheduled in shaft, a pair of support rods 62 be equipped in the bottom of tablet, wherein on a supporting rod hinged 86 be equipped with it is arc-shaped Left clamping limb 83, arc-shaped right clamping limb 84 is hingedly installed on another supporting rod, to drive left and right clamping limb Swing, clamping motor 8 is fixed in the bottom of tablet, is fixed with rocking arm 81 in the output terminal of clamping motor, rocking arm is a word The metalwork of type structure, the middle part of rocking arm and the output shaft fixed connection of clamping motor, set between one end of rocking arm and left clamping limb There is operating bar 82, operating bar 82 also is provided between the other end and right clamping limb of rocking arm, driving clamping motor output is clockwise Rotary motion when, the clockwise oscillation of left clamping limb counter-clockwise swing, right clamping limb can be driven by operating bar, at this time Left and right clamping limb mating reaction clamps bird's nest.As shown in Figure 27 to Figure 29, left clamping limb includes left pole socket 831 and is fixed on a left side Three supporting rods of pole socket bottom, right clamping limb include right pole socket 841 and two supporting rods for being fixed on right pole socket bottom, right folder Supporting rod in gripping arm is placed between two supporting rods adjacent on left clamping limb, i.e., the supporting rod on left clamping limb and right clamping limb On supporting rod it is arranged in a crossed manner.Left clamping limb and right clamping limb mating reaction clamping bird's nest, for the branch on bird's nest is avoided to squeeze Between rocking arm and operating bar, gag lever post 85 is respectively equipped on left clamping limb and right clamping limb, gag lever post is circular arc-shaped metal bar, When rocking arm clockwise oscillation is to extreme position, left clamping limb, right clamping limb and two gag lever post mating reactions clamp bird's nest simultaneously So that bird's nest is placed in the area of space between left clamping limb, right clamping limb and gag lever post.
Elasticity adjusting mechanism:
To realize the elastic adjusting of chain, an arm plate is equipped with elasticity adjusting mechanism wherein, as shown in figure 21, elastic Regulating mechanism mainly includes adjusting sprocket wheel 66, screw 662, fixed seat 67, leading screw 671 and knob 672, as shown in Figure 22, Figure 23, Fixed seat is the metalwork of U-shaped structure, and a pair of bearings 13 is equipped on the inside of fixed seat, is equipped between two bearings and is slided with fixed seat The screw 662 of dynamic connection is equipped with leading screw 671 between two bearings, and leading screw coordinates with screw, and one end of leading screw is stretched after passing through arm plate Go out forearm, knob 672 is equipped in the one end for stretching out the leading screw of forearm.As shown in figure 24, bearing block 673 is fixed on screw, Sprocket shaft 661 is equipped in the inner ring of bearing block, is fixed on sprocket shaft and adjusts sprocket wheel 66, sprocket wheel is adjusted and is located at drive sprocket Between driven sprocket and and chain interoperation, and adjust sprocket wheel, driven sprocket and drive sprocket surround a triangle.
Adsorb assembly:
As shown in figure 25, absorption assembly is arranged on the other end of forearm, and adsorbs assembly and mainly include wind turbine 71, air hose 72nd, tuyere 73 and slider-crank mechanism are equipped with a pair of of sliding rail 77 in the end of forearm, wind are slidably fitted on forearm and sliding rail Machine 71, on wind turbine be equipped with air hose 72, on air hose be equipped with tuyere 73, tuyere be taper hollow structure, the small end of tuyere with Air hose connects, and the wind in wind turbine is entered through tuyere in air hose, i.e., wind turbine is suction ventilator.Partition board 731 is equipped in the inside of tuyere, Partition board is plastic article or metalwork, and the circular outer wall of partition board is fixed on the madial wall of tuyere, and air holes 732 is equipped on partition board. The setting of partition board can prevent branch from entering in air hose in fan induced draught, and branch is attracted on partition board at this time.In two-arm Translation motor 76 is equipped between plate, crank 75 is equipped in the output terminal of translation motor, connecting rod 74 is equipped between crank and otic placode, Translation motor 76, crank 75, connecting rod 74 and wind turbine constitute slider-crank mechanism, and the past of wind turbine is driven by slider-crank mechanism It is multiple mobile.
Branch recycles assembly:
As shown in Fig. 9 to Figure 12, branch recycling assembly mainly includes bucket seat 9, swing rod 92, slide plate 93,94 and of push cylinder Oscillating oil cylinder 95, the second groove 17 is equipped at the top of car body, and the second groove runs through the left side of car body, i.e. one where driver's cabin Side as shown in Figure 10, is slidably fitted with the slide plate 93 vertically placed in the second groove, a pair of of cunning is fixed in the bottom of slide plate Block 931 is equipped with a pair of of sliding slot 18 in the bottom of the second groove, and sliding block is slidably connected with sliding slot.Push-and-pull is equipped on the right side of slide plate Oil cylinder 94, the cylinder barrel of push cylinder are fixed on the car body, and the piston rod of push cylinder is fixed on slide plate, is set in the second groove There is a pair of of oil cylinder supporting rod 941, be fixed on the cylinder barrel outer wall of push cylinder, and push cylinder is located at the top of oil cylinder supporting rod The top of oil cylinder supporting rod.Two pairs of slide plate journal stirrups 932 are equipped on the left side wall of slide plate, are respectively articulated on each slide plate journal stirrup Swing rod 92, the equal length of four swing rods are installed, one end of two pairs of swing rods is cut with scissors respectively with two pairs of slide plate journal stirrups It connects, bucket seat 9 is equipped in the other end of four swing rods, fixed on the outer wall of bucket seat there are four bucket seat journal stirrup 91, four bucket seat branch Ear is hinged respectively with four swing rods, and two pairs of swing rods form a parallelogram linkage with slide plate, bucket seat, due to cunning Plate is vertically placed, therefore can drive the vertically movable of bucket seat during swing rod swing, to drive the swing of swing rod, in the left side of slide plate Hingedly there are two oscillating oil cylinders 95 for installation on wall, and two oscillating oil cylinders are corresponding with two parallelogram linkages respectively, pendulum The cylinder barrel of dynamic oil cylinder is hinged with slide plate, and piston rod and the swing rod of oscillating oil cylinder are hinged.As shown in figure 11, when push cylinder acts When, slide plate, staving can be driven to move left and right.As shown in figure 12, after the piston rod of push cylinder is fully extended, staving is stretched Go out the second groove, drive oscillating oil cylinder action that can drive bucket seat moving up and down in the vertical direction at this time.When the bottom of staving After portion is contacted with ground, collecting vessel can be removed.Collecting vessel is the cylindrical structure of open top, and staving is collected for placing Bucket, staving include semi arch plate and plectane setting up and down, and semi arch plate is fixedly connected with plectane, and when placement puts collecting vessel 10 It puts above plectane, the inside of semi arch plate, to prevent falling for collecting vessel, gag lever post 96, limiting is equipped at the edge of plectane Bar is threadedly coupled with plectane.And gag lever post is located at semi arch plate on same circumference.
In use, bird's nest can be clamped by gripping assembly, fork type elevator is then driven in water by swing mechanism Revolution in plane, until when gripping assembly is placed in right over collecting vessel, left clamping limb and right clamping limb open and branch are fallen In collecting vessel.After bird's nest main body is removed, then tuyere is placed in bird by the part branch residual for forming bird's nest on utility poles By nest, then by tuyere air-breathing, branch is adsorbed in tuyere in tuyere at this time.Branch recycles the setting of assembly, can realize Collection to branch, avoids branch from directly falling on avenue, influences the appearance of the city.It, can after the branch in collecting vessel is filled To drive push cylinder action and oscillating oil cylinder action so that staving is placed in from car body on ground, is then removed collecting vessel Handle the branch in collecting vessel.Swing rod swings to downwards extreme position when the piston rod of oscillating oil cylinder is fully extended, works as swing Swing rod swings upwards into extreme position when the piston rod of oil cylinder is fully retracted.

Claims (10)

1. avenue distribution line maintenance device, it is characterized in that, it includes car body, swing mechanism, fork type elevator, lifting Regulating mechanism, large arm swing mechanism, forearm swing mechanism, forearm, forearm swing mechanism, gripping assembly, absorption assembly and branch Assembly is recycled, the first groove is equipped at the top of the car body, turntable is rotatablely equipped in first groove, at described turn Swing mechanism is equipped between the bottom of disk and car body, the swing mechanism includes turning motor, revolution worm screw, revolution worm gear, the Single-revolution bevel gear, the second revolution bevel gear, swiveling gear and gear ring, the gear ring are fixed on the bottom of turntable, described the The swiveling gear and the first revolution bevel gear, the swiveling gear that coaxial setting is rotatablely equipped in one groove are engaged with gear ring, The second revolution bevel gear of coaxial setting and revolution worm gear, the second revolution cone are also rotatablely equipped in first groove Gear is engaged with the first revolution bevel gear, the revolution worm gear and the revolution worm engaging for being fixed on turning motor output terminal;
Fork type elevator is fixed at the top of the turntable, lift adjustment is fixed at the top of the fork type elevator Mechanism, the lifting regulating mechanism mainly includes bottom plate, vertical beam, upper mounted plate, lifting cylinder and movable plate, described solid Fixed board is setting up and down with bottom plate, the vertical beam of a pair of of left and right settings is equipped between upper and lower fixing plate, in two pairs of vertical beams Between be slidably fitted with movable plate moving up and down, on the vertical beam in left side be equipped with strip hole, in movable plate and bottom plate Between be equipped with lifting cylinder;
It is fixed with a pair of of cantilever plate on the left of the movable plate, the free end of the cantilever plate is passed through after strip hole from upper and lower It is stretched out between fixed plate, large arm is hingedly installed on the cantilever plate, driving large arm is equipped on the cantilever plate vertical The large arm swing mechanism swung in plane;
Forearm is hingedly installed in the large arm, the small arm swing of the driving relatively large arm swing of forearm is equipped in the large arm Mechanism;
Forearm is hinged on the forearm, the forearm oscillating machine of the driving relatively small arm swing of forearm is equipped on the forearm Structure;
Gripping assembly is equipped in one end of the forearm, the gripping assembly mainly includes clamper and rotary drive mechanism, One end of the forearm is rotatablely equipped with shaft, the rotary drive mechanism of drive shaft rotation is equipped on the forearm, in institute It states and clamper is fixed in shaft, the clamper includes tablet, clamping motor, rocking arm, operating bar, left clamping limb and right clamping Arm, the tablet are fixed in shaft, and arc-shaped left clamping limb and right clamping limb are hingedly equipped in the bottom of the tablet, The clamping motor for being fixed on flat plate bottom is equipped between left and right clamping limb, rocking arm is equipped in the output terminal of the clamping motor, Operating bar is equipped between one end of the rocking arm and left clamping limb, is also set between the other end and right clamping limb of the rocking arm There is operating bar, can drive the synchronization action of left and right clamping limb when clamping motor output rotary motion and left and right clamping limb is mutual Closer or far from;
Absorption assembly is equipped in the other end of the forearm, the absorption assembly mainly includes wind turbine, air hose, tuyere and slide crank Block mechanism, the wind turbine are slidably mounted on forearm, and the crank that driving wind turbine does linear reciprocating motion is equipped on the forearm Slide block mechanism is equipped with air hose on the wind turbine, and tuyere is equipped on the air hose, and the tuyere is the hollow structure of taper, The small end of the tuyere is connected with air hose, and partition board, the outer wall of the partition board and the inside of tuyere are equipped in the inside of the tuyere Wall contacts, and air holes is equipped on the partition board;
The second groove is additionally provided at the top of the car body, the slide plate vertically placed is slidably fitted in second groove, Push cylinder is equipped between the right side of the slide plate and car body, two pairs of pendulum are hingedly installed on the left side wall of the slide plate Bar, the length of four swing rods is identical, and right end and the slide plate of swing rod are hinged, and the left end of four swing rods is hinged with the outer wall of bucket seat, Two pairs of swing rods form a parallelogram linkage with bucket seat, slide plate, hingedly pacify on the left side wall of the slide plate There are two oscillating oil cylinder, the piston rod of the oscillating oil cylinder and one of swing rods on corresponding parallelogram linkage for dress Hinged, the bucket seat is made of semi arch plate setting up and down and plectane, and above plectane, collection is placed on the inside of semi arch plate Bucket.
2. avenue distribution line maintenance device according to claim 1, it is characterized in that, the bottom of the turntable is equipped with Circular groove is fixed with several fixation journal stirrups being uniformly distributed circumferentially on the inner wall of the circular groove, if being equipped on the gear ring The dry location hole being uniformly distributed circumferentially is equipped with bolt between location hole and corresponding fixed journal stirrup.
3. avenue distribution line maintenance device according to claim 1, it is characterized in that, the large arm swing mechanism master To include large arm oscillating motor, big arm swing worm gear and big arm swing worm screw, the large arm oscillating motor is fixed on cantilever plate bottom On the motor mounting plate in portion, big arm swing worm screw, the big arm swing worm gear are equipped in the output terminal of the large arm oscillating motor With big arm swing worm engaging, large arm fixed link is equipped in the large arm, the large arm fixed link is cut with scissors by the first swinging axle It is connected on cantilever plate, the big arm swing worm gear is fixed on the first swinging axle.
4. avenue distribution line maintenance device according to claim 1, it is characterized in that, the forearm swing mechanism master To include forearm oscillating motor, small arm swing worm gear and small arm swing worm screw, the forearm to be hinged on greatly by the second swinging axle On arm, small arm swing worm gear is fixed on second swinging axle, forearm oscillating motor is fixed in the large arm, in institute State the small arm swing worm screw being fixed on the output shaft of forearm oscillating motor with small arm swing worm gear.
5. avenue distribution line maintenance device according to claim 1, it is characterized in that, the large arm is U-shaped structure, A pair of of external expanding plate is equipped in the openend of the large arm, the forearm is hinged on by the second swinging axle on external expanding plate.
6. avenue distribution line maintenance device according to claim 1, it is characterized in that, the forearm swing mechanism master To include forearm oscillating motor, preceding arm swing worm gear, preceding arm swing worm screw, forearm first gear and forearm second gear, it is described Small arm swing worm gear is fixed on articulated shaft, and the forearm is hinged by articulated shaft and forearm, and the preceding arm swing worm gear is with before Arm swing worm engaging, the preceding arm swing worm screw setting coaxial with forearm first gear, the forearm oscillating motor are fixed on On forearm, the forearm second gear engaged with forearm first gear is equipped in the output terminal of the forearm oscillating motor.
7. avenue distribution line maintenance device according to claim 1, it is characterized in that, the rotary drive mechanism master To include rotational positioning motor, drive sprocket, driven sprocket, geared worm, transmission worm gear, first bevel gear and the second cone tooth Wheel, the rotational positioning motor are fixed on forearm, and two pairs of chain-drive mechanisms, the chain-drive mechanism are equipped on the forearm Including drive sprocket, driven sprocket and chain, the two coaxial settings of drive sprocket, on the axis between two drive sprockets Be fixed with transmission worm gear, the geared worm that is engaged with transmission worm gear be equipped in the output terminal of the rotational positioning motor, it is described from Movable sprocket setting coaxial with first bevel gear, is fixed with the second bevel gear engaged with first bevel gear in the shaft.
8. avenue distribution line maintenance device according to claim 1, it is characterized in that, the slider-crank mechanism packet Translation motor, crank and connecting rod are included, the translation motor is fixed on forearm, and song is hinged in the output terminal of the translation motor Handle is equipped with connecting rod between the crank and wind turbine.
9. avenue distribution line maintenance device according to claim 1, it is characterized in that, pine is equipped on the forearm Tight regulating mechanism, the elasticity adjusting mechanism mainly include fixed seat, bearing, screw, leading screw and adjust sprocket wheel, the fixed seat For U-shaped structure and the inside of forearm is fixed on, a pair of bearings is equipped in the inside of the fixed seat, is set between two bearings There is leading screw, the screw for being equipped with and being slidably connected with fixed seat coordinated on the leading screw, bearing block is fixed on the screw, Sprocket shaft is equipped in the bearing inner race of the bearing block, adjusting sprocket wheel, the adjusting sprocket wheel are fixed on the sprocket shaft Between pairs of drive sprocket and driven sprocket, and drive sprocket, driven sprocket, adjusting sprocket wheel are located at three of triangle On vertex, knob is fixed on the leading screw on the outside of forearm is placed in.
10. avenue distribution line maintenance device according to claim 1, it is characterized in that, in second groove A pair of of oil cylinder supporting rod is fixed with, the top of the oil cylinder supporting rod and the cylinder barrel of push cylinder are connected;It is set in the second groove There is a pair of of sliding slot, a pair of of sliding block is fixed in the bottom of the slide plate, the sliding block is slidably connected with sliding slot;In the bucket seat Fixed there are four bucket seat journal stirrup on outer wall, one end and the slide plate of the swing rod are hinged, the other end and the bucket seat journal stirrup of the swing rod It is hinged;Screw thread is equipped at least one gag lever post on the plectane of the bucket seat, and the gag lever post is located at where semi arch plate On circumference.
CN201611035393.5A 2016-11-22 2016-11-22 Avenue distribution line maintenance device Expired - Fee Related CN106786132B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611035393.5A CN106786132B (en) 2016-11-22 2016-11-22 Avenue distribution line maintenance device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611035393.5A CN106786132B (en) 2016-11-22 2016-11-22 Avenue distribution line maintenance device

Publications (2)

Publication Number Publication Date
CN106786132A CN106786132A (en) 2017-05-31
CN106786132B true CN106786132B (en) 2018-06-19

Family

ID=58970944

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611035393.5A Expired - Fee Related CN106786132B (en) 2016-11-22 2016-11-22 Avenue distribution line maintenance device

Country Status (1)

Country Link
CN (1) CN106786132B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107181202A (en) * 2017-06-12 2017-09-19 国网山东省电力公司邹城市供电公司 A kind of distribution line safe operation attending device
CN107069560B (en) * 2017-06-19 2018-08-07 国网山东省电力公司济南市章丘区供电公司 Power circuit maintenance device
CN107310866A (en) * 2017-06-27 2017-11-03 刘冬 A kind of construction material frame
CN107283388A (en) * 2017-08-10 2017-10-24 王莎莎 A kind of architectural engineering work machine
CN107470810B (en) * 2017-08-10 2019-01-11 沭阳三石建设有限公司 A kind of architectural engineering operating equipment
CN107310622A (en) * 2017-08-10 2017-11-03 虞静丽 A kind of environmentally friendly work machine for building
CN107234388A (en) * 2017-08-10 2017-10-10 应夏英 A kind of energy-conservation work machine for building
CN111022453A (en) * 2019-12-11 2020-04-17 大同新成新材料股份有限公司 Intelligent carbon sliding plate bonding and pressing machine with multi-connecting-rod adjusting mechanism and operation method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1103248A (en) * 1993-11-05 1995-06-07 大庭建筑物保养株式会社 Apparatus for inhibitively preventing birds from crowding
JP2001233598A (en) * 2000-02-25 2001-08-28 Yaskawa Electric Corp Power supply device for sensor of robot for power distribution work
CN103896187A (en) * 2014-04-14 2014-07-02 张利军 Self-propelled bagged cargo stacking and unstacking track loader
CN204224172U (en) * 2014-10-28 2015-03-25 洛阳市建龙化工有限公司 A kind of armful ladle car of liftable upset
CN105429042A (en) * 2015-11-13 2016-03-23 国网山东商河县供电公司 Power distribution line obstacle clearing apparatus
CN105552784A (en) * 2016-02-23 2016-05-04 济南多舜信息科技有限公司 Device suitable for installing bird repeller on cross arm of low-altitude power transmission line

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1103248A (en) * 1993-11-05 1995-06-07 大庭建筑物保养株式会社 Apparatus for inhibitively preventing birds from crowding
JP2001233598A (en) * 2000-02-25 2001-08-28 Yaskawa Electric Corp Power supply device for sensor of robot for power distribution work
CN103896187A (en) * 2014-04-14 2014-07-02 张利军 Self-propelled bagged cargo stacking and unstacking track loader
CN204224172U (en) * 2014-10-28 2015-03-25 洛阳市建龙化工有限公司 A kind of armful ladle car of liftable upset
CN105429042A (en) * 2015-11-13 2016-03-23 国网山东商河县供电公司 Power distribution line obstacle clearing apparatus
CN105552784A (en) * 2016-02-23 2016-05-04 济南多舜信息科技有限公司 Device suitable for installing bird repeller on cross arm of low-altitude power transmission line

Also Published As

Publication number Publication date
CN106786132A (en) 2017-05-31

Similar Documents

Publication Publication Date Title
CN101882765B (en) Traveling mechanism of robot on high voltage transmission line
CN201415716Y (en) Robot walking device capable of surmounting lead obstacles
CN105248161B (en) Electric power maintenance screen of trees clears up car
CN104823731A (en) Branch pruning robot for overhead high-voltage transmission line live working
CN202518795U (en) Tyre turnover machine
CN204546540U (en) outlet manipulator control system
CN107354501A (en) Adjustable folder bucket manipulator in a kind of electroplating device
CN104175162B (en) A kind of automatic loading/unloading machine arm and automatic loading/unloading method
CN201504053U (en) Pitch variable wheel arm composite inspection robot mechanism
EP2298602A3 (en) Vehicle headlamp
CN103972816B (en) Obstacle-crossing mechanical arm suitable for power transmission line inspection robot
CN105644646B (en) A kind of wheeled climbing level robot
CN105227078B (en) Solar panel that is rotatable, launching carries support body
CN107053272A (en) A kind of newspaper printing paper cutting equipment
CN106378536B (en) A kind of cutter device of photovoltaic panel cell piece
CN105858535A (en) Electric power overhauling supporting device
CN207010074U (en) A kind of power grid maintenance equipment
CN104192225B (en) Vehicle dormer window installs accessory
CN202411265U (en) Rotating and lifting device
CN108058155B (en) Mechanical arm device for replacing lining plate of ball mill
CN206211357U (en) One kind rotates adjustable electric power inspection platform
CN206088408U (en) Rubbish of refuse treatment machine promotes emptys device
CN106737621A (en) A kind of compound humanoid robot of utilization auxiliary rod pole-climbing
CN2630310Y (en) Electric street road scavenging vehicle
CN202412286U (en) Device for adjusting vertical positions of mechanical arms

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180619

Termination date: 20181122

CF01 Termination of patent right due to non-payment of annual fee