CN107150333A - A kind of high-potting special remote control mechanical arm - Google Patents
A kind of high-potting special remote control mechanical arm Download PDFInfo
- Publication number
- CN107150333A CN107150333A CN201710486234.5A CN201710486234A CN107150333A CN 107150333 A CN107150333 A CN 107150333A CN 201710486234 A CN201710486234 A CN 201710486234A CN 107150333 A CN107150333 A CN 107150333A
- Authority
- CN
- China
- Prior art keywords
- occlusion
- chela
- remote control
- mechanical arm
- control mechanical
- 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
- 238000004382 potting Methods 0.000 title claims abstract description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 241000040710 Chela Species 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000000835 fiber Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 208000002193 Pain Diseases 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 229910001095 light aluminium alloy Inorganic materials 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of high-potting special remote control mechanical arm, including pedestal, rotary shaft, occlusion clamp block and engaging clamp, rotary shaft one end is rotationally connected on pedestal by rotary drive mechanism, the other end is connected in occlusion clamp block by pitching drive mechanism, and the engaging clamp of conduction is connected with occlusion clamp block.The present invention by conductive engaging clamp by being connected to luffing mechanism and rotating mechanism, the clamping of the wire and the wiring palm of different directions can be realized and lead is completed, realize the gimbal function of mechanical arm, clamping is convenient and swift, and it is time saving and energy saving to clamp, and can be connected to mechanical arm by insulating bar, realize long-range operation, mitigate personnel labor intensity, operating risk, raise labour efficiency, the characteristics of present invention also has easy to operate.
Description
Technical field
The invention belongs to checking experiment equipment technical field, it is related to a kind of high-potting special remote control mechanical arm.
Background technology
High-voltage test of electrical equipment needs to mount various p-wires in equipment, is true because power equipment is bulky
Protect contact good, artificial climbing equipment is usually required during clamping test line or high-altitude operation vehicle is used：Artificial climbing equipment, it is necessary to
Coordinated using insulating ladder, labor intensity is big, and there is falling from high altitude risk；And need special messenger to drive using high-altitude operation vehicle wiring,
And scene is put cumbersome, is taken time and effort, is also suffered from the limitation of on-site actual situations.In addition, during using both approaches, owning
It can be carried out after wiring personnel's evacuation appliances such as experiment work need, efficiency is relatively low.
The content of the invention
The technical problem to be solved in the present invention is：A kind of high-potting special remote control mechanical arm is provided, ground remote control is realized
High-altitude wiring, for substituting the work for being accomplished manually test lead clamping, removing, mitigates personnel labor intensity, operating risk, carries
High efficiency, to overcome the problem of prior art is present.
The technical scheme that the present invention takes is：A kind of high-potting special remote control mechanical arm, including pedestal, rotary shaft, sting
Clamp block and engaging clamp are closed, rotary shaft one end is rotationally connected on pedestal by rotary drive mechanism, and the other end is driven by pitching
Motivation structure is connected in occlusion clamp block, and the engaging clamp of conduction is connected with occlusion clamp block.
It is preferred that, above-mentioned engaging clamp includes occlusion chela one and occlusion chela two, and occlusion chela one and occlusion chela two are equal
It is connected in occlusion clamp block and is formed in the occlusal surface of occlusion chela one and occlusion chela two by screw lead screw pair drive mechanism
It is engaged jaw.
It is preferred that, above-mentioned drive mechanism secondary per mantle fiber master screw includes leading screw and screw, and leading screw two ends are connected by bearing block
It is connected in occlusion clamp block, the screw being meshed with leading screw is fixedly connected on occlusion chela, in addition to guiding mechanism, guiding mechanism
Including cylinder axis and linear bearing, cylinder axis two ends are fixedly connected in occlusion clamp block, the linear bearing being engaged with cylinder axis
It is fixedly connected at the mounting hole by installation screw.
It is preferred that, above-mentioned rotary drive mechanism includes electric rotating machine, and electric rotating machine is fixedly connected on the support in rotary shaft
On plate, supporting plate vertical rotating shaft axis is simultaneously fixedly connected in rotary shaft, and the output shaft of electric rotating machine is fixedly attached to pedestal
On.
It is preferred that, above-mentioned pitching drive mechanism includes pitching motor, and the stator two ends of pitching motor are fixedly connected on rotation
On axle, the rotor matched with stator is embedded into the round end endoporus for being engaged clamp block.
It is preferred that, above-mentioned leading screw one end stretches out bearing block and is connected to chela motor, and chela motor is fixedly connected on engaging clamp
On seat.
It is preferred that, the occlusal surface vertical and horizontal of above-mentioned occlusion chela one and occlusion chela two are all provided with being set to the occlusion of V-type
Groove.
It is preferred that, the groove face of above-mentioned occlusal crib is arranged to laciniation.
It is preferred that, a kind of above-mentioned high-potting special remote control mechanical arm, in addition to main control unit, main control unit and electric rotating
Machine, pitching motor and the electrical connection of tong arm motor, and monitor terminal is connected to by wireless module.
It is preferred that, the anglec of rotation that above-mentioned main control unit is also connected with the detection electric rotating machine anglec of rotation by wire is sensed
The tong arm displacement sensing of device, the luffing angle sensor for detecting pitching motor luffing angle and the motor rectilinear movement of detection tong arm
Device.
Beneficial effects of the present invention：Compared with prior art, effect of the present invention is as follows：
1）By the way that conductive engaging clamp is connected into luffing mechanism and rotating mechanism, wire and the wiring of different directions can be realized
The clamping of the palm simultaneously completes lead, realizes the gimbal function of mechanical arm, and clamping is convenient and swift, and it is time saving and energy saving to clamp, and can pass through insulation
Bar is connected to mechanical arm, realizes long-range operation, mitigates personnel labor intensity, operating risk, raises labour efficiency, and the present invention is also
With it is easy to operate the characteristics of；
2）The occlusion chela folding of engaging clamp is realized by screw lead screw pair drive mechanism and guiding mechanism, occlusion is reliable and stable,
Driving structure is simple, and snap-in force is big, and the moving stability is high, and maximum biting force can reach 100N；
3）Built-in rotary drive mechanism realizes the rotation of rotary shaft, and compact conformation, built-in electric rotating machine, space hold is small, can be real
Existing 360 ° rotation；
4）The pitching drive mechanism that built-in pitching motor is constituted, compact conformation occupies little space, and 180 ° of pitching can be achieved；
5）Using monitor terminal Wireless remote control controller, controller control electric rotating machine, pitching motor and tong arm motor enter
Action is made, and realizes the control that mechanical arm is remotely rotated, pitching and engaging clamp are engaged, and remote auto control realizes that ground remote control is high
Empty wiring, for substituting the work for being accomplished manually test lead clamping, removing, mitigates personnel labor intensity, operating risk, improves
Efficiency, is controlled simple and convenient；
6）Using angular sensor, luffing angle sensor and tong arm displacement transducer realize the electric rotating machine anglec of rotation,
The detection of pitching motor luffing angle and tong arm motor rectilinear movement distance, the anglec of rotation can be monitored automatically, is greatly improved certainly
Dynamicization level, it is automatic to carry out positioning swing clamping.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the side view configuration schematic diagram of engaging clamp；
Fig. 3 is the vertical view configuration schematic diagram of engaging clamp；
Fig. 4 is remote control diagrammatic cross-section of the invention；
Fig. 5 is control principle schematic diagram.
Embodiment
Embodiment 1：As shown in Fig. 1 ~ Fig. 5, a kind of high-potting special remote control mechanical arm, including pedestal 1, rotary shaft 2,
Clamp block 3 and engaging clamp 4 are engaged, the one end of rotary shaft 2 is rotationally connected on pedestal 1 by rotary drive mechanism, and the other end passes through
Pitching drive mechanism is connected in occlusion clamp block 3, and the engaging clamp 4 of conduction is connected with occlusion clamp block 3.
It is preferred that, above-mentioned engaging clamp 4 includes occlusion chela 1 and occlusion chela 27, occlusion chela 1 and occlusion chela
27 are connected in occlusion clamp block 3 by screw lead screw pair drive mechanism and are being engaged chela 1 and are being engaged stinging for chela 27
Conjunction face forms occlusion jaw.
It is preferred that, above-mentioned drive mechanism secondary per mantle fiber master screw includes leading screw 8 and screw 9, and the two ends of leading screw 8 pass through bearing block
10 are connected in occlusion clamp block 3, and the screw 9 being meshed with leading screw 8 is fixedly connected on occlusion chela, in addition to guiding mechanism,
Guiding mechanism includes cylinder axis 6 and linear bearing 11, and the two ends of cylinder axis 6 are fixedly connected in occlusion clamp block 3, with the phase of cylinder axis 6
The linear bearing 11 of cooperation is fixedly connected at the mounting hole for installing the side of screw 9.
It is preferred that, above-mentioned rotary drive mechanism includes electric rotating machine 12, and electric rotating machine 12 is fixedly connected in rotary shaft 2
In supporting plate 13, the axis of 13 vertical rotating shaft of supporting plate 2 is simultaneously fixedly connected in rotary shaft 2, and the output shaft of electric rotating machine 12 is consolidated
Surely it is connected on pedestal 1.
It is preferred that, above-mentioned pitching drive mechanism includes pitching motor 14, and the stator two ends of pitching motor 14 are fixedly connected on
In rotary shaft 2, the rotor matched with stator is embedded into the round end endoporus for being engaged clamp block 3.
It is preferred that, above-mentioned one end of leading screw 8 stretches out bearing block 10 and is connected to chela motor 15, and chela motor 15 is fixedly connected on
It is engaged in clamp block 3.
It is preferred that, the occlusal surface vertical and horizontal of above-mentioned occlusion chela 1 and occlusion chela 27 are all provided with being set to stinging for V-type
Close groove.
It is preferred that, the groove face of above-mentioned occlusal crib is arranged to laciniation, and vice jaw surface laciniation abolishes metal surface
Oxide layer, contacts more reliable, clamps also more stable, difficulty of processing reduction.
It is preferred that, a kind of above-mentioned high-potting special remote control mechanical arm, in addition to main control unit, main control unit and electric rotating
Machine, pitching motor and the electrical connection of tong arm motor, and monitor terminal is connected to by wireless module, it can also be connected by wireless module
Remote control is connected to, main control unit is also connected with angular sensor, the detection of the detection electric rotating machine anglec of rotation by wire
The luffing angle sensor of pitching motor luffing angle and the tong arm displacement transducer of detection tong arm motor rectilinear movement, master control list
Member is also associated with warning device, and wireless module uses GPRS module, and monitor terminal uses mobile phone or flat board, and main control unit is connected with
Power supply and display electricity display screen, tong arm displacement transducer use rotary encoder or grating scale, luffing angle sensor and
Angular sensor uses rotary encoder.
The performance parameter of the present invention：
Main screw lift：<1500g；
Clamping range：15-100mm（Cylinder）, 2-100mm (flat board)；
Rotating range：240；
Clamp speed：10s；
Rotary speed：60°/s；
Chucking power：>3kg；
Remote control distance：>20m.
The performance characteristics of the present invention：
1. by wireless remote control, realizing the rotation, pitching, clamping of mechanical arm, facilitate various highly difficult wiring；
2. highly conductive jaw, can clamp diameter 15mm-110mm wire, the thickness 2mm-110mm wiring palm can be clamped directly
Various kinds of equipment wiring is slapped；Vice jaw surface laciniation, abolishes oxidation on metal surface layer, contacts more reliable, clamping is also more stable, plus
Work difficulty is reduced；
3. the shell full-shield equipotential of the present apparatus, built-in power, no exposed lead wires, 20 meters of wireless remote control distance, available for being situated between
The high pressure testing operations such as matter loss, insulaion resistance, D.C. resistance；
4. the insulating telescopic bar of compatible all size, insulating telescopic bar is connected on pedestal by anchor ear or engagement thread, behaviour
Make simple, one man operation；
5. full electric drive, aircraft aluminum CNC cutting formings are firm in structure, corrosion-resistant；
6. it is vdiverse in function, in addition to wiring, it can also complete the operations such as instrument transmission, foreign matter removal；High-definition camera, office can be matched
Put the annexes such as sensor, clamp on amperemeter；
7. firm light and handy, using low inertia DC servo motor, joint moment of torsion 25Nm, clamp thrust 100N, strength reaches people
Wrist joint level；Full weight 1.5kg, maximum load 3kg.
Claims (10)
1. a kind of high-potting special remote control mechanical arm, it is characterised in that：Including pedestal（1）, rotary shaft（2）, occlusion clamp block（3）
And engaging clamp（4）, rotary shaft（2）One end is rotationally connected to pedestal by rotary drive mechanism（1）On, the other end passes through pitching
Drive mechanism is connected to occlusion clamp block（3）On, it is engaged clamp block（3）On be connected with conduction engaging clamp（4）.
2. a kind of high-potting special remote control mechanical arm according to claim 1, it is characterised in that：Engaging clamp（4）Including
It is engaged chela one（5）With occlusion chela two（7）, it is engaged chela one（5）With occlusion chela two（7）Driven by screw lead screw pair
Mechanism is connected to occlusion clamp block（3）Above and in occlusion chela one（5）With occlusion chela two（7）Occlusal surface formation occlusion jaw.
3. a kind of high-potting special remote control mechanical arm according to claim 2, it is characterised in that：Per mantle fiber master screw pair
Drive mechanism includes leading screw（8）And screw（9）, leading screw（8）Two ends pass through bearing block（10）It is connected to occlusion clamp block（3）On, with
Leading screw（8）The screw being meshed（9）It is fixedly connected on occlusion chela, in addition to guiding mechanism, guiding mechanism includes cylinder axis
（6）And linear bearing（11）, cylinder axis（6）Two ends are fixedly connected on occlusion clamp block（3）On, with cylinder axis（6）What is be engaged is straight
Bobbin is held（11）It is fixedly connected on installation screw（9）At other mounting hole.
4. a kind of high-potting special remote control mechanical arm according to claim 1, it is characterised in that：Rotary drive mechanism bag
Include electric rotating machine（12）, electric rotating machine（12）It is fixedly connected on rotary shaft（2）Interior supporting plate（13）On, supporting plate（13）Vertically
Rotary shaft（2）Axis is simultaneously fixedly connected on rotary shaft（2）It is interior, electric rotating machine（12）Output shaft be fixedly attached to pedestal（1）On.
5. a kind of high-potting special remote control mechanical arm according to claim 1, it is characterised in that：Pitching drive mechanism bag
Include pitching motor（14）, pitching motor（14）Stator two ends be fixedly connected on rotary shaft（2）On, the rotor matched with stator is embedding
Enter to occlusion clamp block（3）Round end endoporus in.
6. a kind of high-potting special remote control mechanical arm according to claim 3, it is characterised in that：Leading screw（8）Stretch one end
Go out bearing block（10）It is connected to chela motor（15）, chela motor（15）It is fixedly connected on occlusion clamp block（3）On.
7. a kind of high-potting special remote control mechanical arm according to claim 2, it is characterised in that：It is engaged chela one（5）
With occlusion chela two（7）Occlusal surface vertical and horizontal be all provided with being set to the occlusal crib of V-type.
8. a kind of high-potting special remote control mechanical arm according to claim 7, it is characterised in that：The groove face of occlusal crib is set
It is set to laciniation.
9. according to a kind of any described high-potting special remote control mechanical arms of claim 1-7, it is characterised in that：Also include master
Unit is controlled, main control unit is electrically connected with electric rotating machine, pitching motor and tong arm motor, and monitoring is connected to eventually by wireless module
End.
10. a kind of high-potting special remote control mechanical arm according to claim 9, it is characterised in that：Main control unit also connects
It is connected to the angular sensor of the detection electric rotating machine anglec of rotation, detects the luffing angle sensor of pitching motor luffing angle
With the tong arm displacement transducer of detection tong arm motor rectilinear movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710486234.5A CN107150333A (en) | 2017-06-23 | 2017-06-23 | A kind of high-potting special remote control mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710486234.5A CN107150333A (en) | 2017-06-23 | 2017-06-23 | A kind of high-potting special remote control mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107150333A true CN107150333A (en) | 2017-09-12 |
Family
ID=59795948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710486234.5A Pending CN107150333A (en) | 2017-06-23 | 2017-06-23 | A kind of high-potting special remote control mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107150333A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108120721A (en) * | 2017-12-21 | 2018-06-05 | 重庆晓微城企业孵化器有限公司 | A kind of engine commutator automatic visual detecting system |
| CN110116393A (en) * | 2018-02-06 | 2019-08-13 | 临颍县爬杆机器人有限公司 | A kind of article carrying platform |
| CN110369175A (en) * | 2019-08-07 | 2019-10-25 | 北京赛育达科教有限责任公司 | A kind of robot simulation's spray equipment for real training |
| CN110749758A (en) * | 2019-12-05 | 2020-02-04 | 贵州电网有限责任公司 | Self-heating test clamp for high-voltage test and use method thereof |
| CN111141968A (en) * | 2019-11-20 | 2020-05-12 | 贵州电网有限责任公司 | Fault monitoring and self-healing device applied to electronic equipment and self-starting mechanism thereof |
| CN115556076A (en) * | 2022-10-27 | 2023-01-03 | 贵州电网有限责任公司 | Support arrangement convenient for manipulator installation |
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| EP2039450A2 (en) * | 2007-09-24 | 2009-03-25 | Zimmer, Gunther | Separable mechanical coupling |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN105207117A (en) * | 2015-06-29 | 2015-12-30 | 国家电网公司 | High-voltage power transmission line hot-line work robot terminal |
| CN105729484A (en) * | 2016-04-13 | 2016-07-06 | 三峡大学 | Wiring robot and wiring method for on-site calibration of mutual inductor |
| CN206998910U (en) * | 2017-06-23 | 2018-02-13 | 贵州电网有限责任公司 | A kind of high-potting special remote control mechanical arm |
-
2017
- 2017-06-23 CN CN201710486234.5A patent/CN107150333A/en active Pending
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| EP2039450A2 (en) * | 2007-09-24 | 2009-03-25 | Zimmer, Gunther | Separable mechanical coupling |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN105207117A (en) * | 2015-06-29 | 2015-12-30 | 国家电网公司 | High-voltage power transmission line hot-line work robot terminal |
| CN105729484A (en) * | 2016-04-13 | 2016-07-06 | 三峡大学 | Wiring robot and wiring method for on-site calibration of mutual inductor |
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Non-Patent Citations (1)
| Title |
|---|
| 刘文波 等: "《工业机器人》", 中央广播电视大学出版社, pages: 172 - 173 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108120721A (en) * | 2017-12-21 | 2018-06-05 | 重庆晓微城企业孵化器有限公司 | A kind of engine commutator automatic visual detecting system |
| CN108120721B (en) * | 2017-12-21 | 2020-04-28 | 重庆晓微城企业孵化器有限公司 | Automatic vision detection system of motor commutator |
| CN110116393A (en) * | 2018-02-06 | 2019-08-13 | 临颍县爬杆机器人有限公司 | A kind of article carrying platform |
| CN110369175A (en) * | 2019-08-07 | 2019-10-25 | 北京赛育达科教有限责任公司 | A kind of robot simulation's spray equipment for real training |
| CN111141968A (en) * | 2019-11-20 | 2020-05-12 | 贵州电网有限责任公司 | Fault monitoring and self-healing device applied to electronic equipment and self-starting mechanism thereof |
| CN111141968B (en) * | 2019-11-20 | 2022-06-28 | 贵州电网有限责任公司 | Fault monitoring and self-healing device applied to electronic equipment and self-starting mechanism thereof |
| CN110749758A (en) * | 2019-12-05 | 2020-02-04 | 贵州电网有限责任公司 | Self-heating test clamp for high-voltage test and use method thereof |
| CN115556076A (en) * | 2022-10-27 | 2023-01-03 | 贵州电网有限责任公司 | Support arrangement convenient for manipulator installation |
| CN115556076B (en) * | 2022-10-27 | 2024-06-04 | 贵州电网有限责任公司 | Supporting device convenient for mechanical arm installation |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170912 |
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| RJ01 | Rejection of invention patent application after publication |