CN107887873A - A kind of self-propelled power circuit barrier clearing device - Google Patents
A kind of self-propelled power circuit barrier clearing device Download PDFInfo
- Publication number
- CN107887873A CN107887873A CN201711129847.XA CN201711129847A CN107887873A CN 107887873 A CN107887873 A CN 107887873A CN 201711129847 A CN201711129847 A CN 201711129847A CN 107887873 A CN107887873 A CN 107887873A
- Authority
- CN
- China
- Prior art keywords
- transmission line
- ring
- power transmission
- frame
- planing
- 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.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The present invention relates to a kind of self-propelled power circuit barrier clearing device, belong to the device and apparatus field of transmission line of electricity, the working method for proposing planing of the invention by substitute it is existing using rotary cutting or grinding in a manner of, prominent effect is that the reaction force direction suffered by equipment is conllinear with power transmission line, the situation for avoiding equipment rotation on power transmission line occurs, maintain balance of the equipment on power transmission line, the unpredictable loss caused by rotation occurs and causes equipment to be hit with power transmission line is avoided to occur, improve the reliability of equipment, pass through the design of this change force direction simultaneously, avoid the design using weight increase balance, advantageously reduce weight of equipment, so that equipment reduces to the pressure of power transmission line, play a part of protecting power transmission line；By the mode of planing, more steady, high speed firm foreign matter can be machined away, improve effect and efficiency that foreign matter is cleared up, a wide range of can be applicable.
Description
Technical field
The invention belongs to the device of transmission line of electricity and apparatus field, and in particular to a kind of self-propelled power circuit is removed obstacles dress
Put.
Background technology
Among power transmission line is erected in midair, the object such as the polybag that flies over, kite, balloon easily twines with power transmission line
Around, and then cause the short circuit accident of power transmission line, great economic loss is caused, actual power transmission line line walking maintenance work is generally pressed
The break tour cycle of patrolman is carried out, therefore the foreign matter being suspended between the work of front and rear line walking twice on power transmission line may retain very
For a long time, foreign matter acts in wind-force, easily in further circumvolution to power transmission line, forms more hard tubercle class foreign matter, it is difficult to
Remove.Other north of china in winter cold weather, icing disaster easily occurs on power transmission line, and hard icing falls within and is difficult to clean off
Tubercle class foreign matter.
The presence of foreign matter not only endangers the safe for operation of electric power transmission line, and run on the line in recent years from
Dynamic line walking, instrument of getting rid of the danger are also because the presence of these barriers can not normally come and go inspection on power transmission line.
The device of current power transmission line cleaning foreign matter is largely the self-propelling device on power transmission line, by what is installed on device
The cleaning tools such as blade, saw blade carry out the cutting or grinding of the rotation of foreign matter, and foreign matter can apply reverse active force to instrument,
Cause self-propelling device occur around power transmission line rotation trend, cause the balance of self-propelling device to be destroyed, easily shock and
Power transmission line is injured, increases counterweight on self-propelling device to overcome this problem to need, but this way easily causes again
The load increase of self-propelling device stress concentration, power transmission line, the possibility of power transmission line broken string be present.
The content of the invention
The present invention is in order to solve above-mentioned problems of the prior art, and the invention provides a kind of self-propelled power circuit
Barrier clearing device, can autonomous operation on electric power transmission line, abandoned using conventional tool carry out circumgyration incision, grinding it is different
Thing reset mode, the innovative mode for proposing planing so that reaction force direction is parallel with electric power transmission line, avoids
The rotation of self-propelling device.
The concrete technical scheme that the present invention uses is：
A kind of self-propelled power circuit barrier clearing device, including have by road wheel along power transmission line and move back and forth the free degree
From walking frame, from walking the cleaning plant that is provided with frame for removing foreign matter, described cleaning plant include planing tool module and
The power module of power is provided for planing tool module：
Planing tool module, which includes being arranged on being provided with to have from the feeding station walked in frame, in feeding station, moves back and forth the free degree
Planing block, be arranged on planing block on planing tool knife plate；
Power module includes having the dynamic ring around power transmission line rotary freedom and dynamic ring coaxially solid by motor
Fixed drive ring, it is arranged on from walking in frame along the reciprocating lever in power transmission line direction, reciprocating lever is by position-limit mechanism and drive ring
Anchor ring formation clamping is spacing, and the anchor ring of drive ring is connected in the wave structure to rise and fall, the free end of reciprocating lever with planing block, institute
The reciprocating lever stated has the free degree of reciprocating sliding planing block as the anchor ring rotation of drive ring rises and falls.
Described reciprocating lever radial section showing ellipsoidal structure.
Described reciprocating lever is arranged on from walking in frame by the sliding sleeve ring for being provided with through hole, and described reciprocating lever is interspersed in
In the through hole of sliding sleeve ring.
Described planing tool knife plate includes the knife plate body and planing tool body being fixedly connected with planing block, described planing tool body
The edge of a knife that multigroup, described planing tool body is provided with arcuation is equidistantly arranged with knife plate body.
Described feeding station is arranged on from walking in frame by feeding position-limit mechanism, and described feeding position-limit mechanism includes tune
The domain, slide plate, the adjustment block of wedge-like is provided with the inner ring surface of described adjustment ring, wedge-like is provided with described feeding station
Feeding block, adjustment block with feed block contact of incline plane and formation be slidably matched, described feeding station is in list structure, described
Slide plate is separately positioned on the both ends of feeding station, and slide plate is faced directly in its both sides of sector structure and is provided with chute, feeding station with
The chute is formed and is slidably connected, and described slide plate is staggered with axis of the feeding station around adjustment ring.
Described feeding station and walk certainly and be provided with back-moving spring between frame.
Described road wheel is sheave structure, and described frame of walking certainly is connected by connecting rod with road wheel, described company
Extension bar described connecting rod and is walked with being hinged from walking frame and is provided with thrust spring between frame certainly, and described connecting rod is set
There is multigroup and connecting rod to be symmetrical arranged two-by-two on walking the central axis of frame certainly.
Described position-limit mechanism includes front-wheel and trailing wheel, front-wheel and the trailing wheel forward and backward annular face contacts shape with drive ring respectively
Coordinate into clamping, the wheel shaft of described front-wheel and trailing wheel is fixedly connected with reciprocating lever respectively.
The beneficial effects of the invention are as follows：
The present invention is by the way of the working method replacement planed is existing using rotary cutting or grinding, prominent effect
It is that reaction force direction suffered by equipment is conllinear with power transmission line, the situation for avoiding equipment rotation on power transmission line occurs, dimension
Balance of the equipment on power transmission line has been held, has avoided the unpredictable damage caused by rotation occurs and causes equipment to be hit with power transmission line
Lose and occur, improve the reliability of equipment, while by the design of this change force direction, avoid flat using weight increase
The design of weighing apparatus, advantageously reduces weight of equipment so that equipment reduces to the pressure of power transmission line, plays the work of protection power transmission line
With；By the mode of planing, more steady, high speed can machine away firm foreign matter, improve foreign matter cleaning effect and
Efficiency, a wide range of it can be applicable.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the schematic diagram of Section A-A in Fig. 1；
Fig. 3 is the schematic diagram of slide plate；
Fig. 4 is the schematic diagram of adjustment ring；
Fig. 5 is the side view of drive ring；
In accompanying drawing, 1, road wheel, 2, walk frame certainly, 3, feeding station, 4, planing block, 5, planing tool knife plate, 6, motor, 7,
Dynamic ring, 8, drive ring, 9, reciprocating lever, 10, sliding sleeve ring, 11, knife plate body, 12, planing tool body, 13, adjustment ring, 14, slide rail
Plate, 15, adjustment block, 16, feeding block, 17, back-moving spring, 18, connecting rod, 19, thrust spring, 20, front-wheel, 21, trailing wheel.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the invention will be further described：
Specific embodiment 1, as shown in figure 1, the present invention is a kind of self-propelled power circuit barrier clearing device, it is set with and operates in
On transmission line of electricity, including have by road wheel 1 along what power transmission line moved back and forth the free degree and walk frame 2 certainly, road wheel 1 is by step
Stepper motor drives, and from the cleaning plant that is provided with frame 2 for removing foreign matter is walked, described cleaning plant includes planing tool module
And the power module of power is provided for planing tool module：
Planing tool module, which includes being arranged on, to be provided with from the feeding station 3 walked in frame 2, in feeding station 3 with moving back and forth oneself
By the planing block 4 spent, the planing tool knife plate 5 being arranged on planing block 4；
Power module includes having around the dynamic ring 7 of power transmission line rotary freedom, same with dynamic ring 7 by motor 6
Drive ring 8 that axle is fixed, it is arranged on and is arranged in frame 2 along the reciprocating lever 9 in power transmission line direction, dynamic ring 7 in frame simultaneously from walking
Machine is being walked certainly in rotatable connection by being arranged on the rack-driving of the side of dynamic ring 7, described dynamic ring 7 by motor 6
There is the free degree rotated around power transmission cable on frame 2, the drive ring 8 for being secured to connection is driven by the rotation of dynamic ring 7, it is past
Compound lever 9 is spacing by the formation clamping of the anchor ring of position-limit mechanism and drive ring 8, and the anchor ring of drive ring 8 is in the wave structure to rise and fall,
The free end of reciprocating lever 9 is connected with planing block 4, and reciprocating lever 9 is connected to from walking in frame 2 due to flexible, without with drive ring 8
The free degree of hoop rotation, therefore, described reciprocating lever 9 as the anchor ring rotation of drive ring 8 rises and falls there is reciprocating sliding to plane
The free degree of block 4.
The operation principle of the present invention is rotated by corrugated drive ring 8 so that the reciprocating lever 9 of clamping drive ring 8
Risen and fallen and reciprocating sliding planing block 4 with the anchor ring of drive ring 8 so that planing block 4 is different on cutting power transmission line with moving back and forth
The free degree of thing.Under such working method, tubercle class foreign matter for clearance, barrier are applied to the reaction force side of equipment
To parallel with power transmission line direction, avoid equipment and occur to occur around the rotation of power transmission line, so as to avoid the shock being likely to occur,
It ensure that the safe operation of power transmission line and equipment.
In order to ensure that the installation of reciprocating lever 9 is reliable, described reciprocating lever 9 is arranged on by the sliding sleeve ring 10 for being provided with through hole
From walking in frame 2, the through-bore axis is identical with the moving direction for block 4 of planing, and described reciprocating lever 9 is interspersed in the logical of sliding sleeve ring 10
In hole.The through hole of sliding sleeve ring 10 is evenly distributed, and sliding sleeve ring 10 is fixed with walking frame 2 certainly, is walked frame 2 certainly and is cylindrical in shape structure, sliding sleeve
Ring 10 is arranged on from the inside for walking frame 2, reciprocating lever 9 and is slidably connected with the through hole on sliding sleeve ring 10 in slip so that reciprocating lever 9
The free degree pulled and pushed with opposing through-bores, it is through hole, reciprocal so as to which power smoothly is delivered into planing block 4 from drive ring 8
Bar 9, the quantity for the three of block 4 that planes are identical and correspond setting, described according to the diameter of cable and the width of planing tool body 12
Through hole, reciprocating lever 9, plane block 4 quantity by being adjusted flexibly so that the outside of cable can be completely covered in planing tool body 12
Face, so as to ensure that the thorough of cleaning.
The described radial section showing ellipsoidal structure of reciprocating lever 9.After reciprocating lever 9 is installed, tied by the ellipse in section
Structure ensure that the accurate fit of the position-limit mechanism that is carried of reciprocating lever 9 and drive ring 8 after installation, it is therefore prevented that reciprocating lever 9 occurs partially
Turn, improve the stability and reliability of equipment operation.
Specific embodiment 2, further, described planing tool knife plate 5 include the knife plate body 11 being fixedly connected with planing block 4
And planing tool body 12, described planing tool body 12 are equidistantly arranged with multigroup, described planing tool body 12 on knife plate body 11
It is provided with the edge of a knife of arcuation, described knife plate body 11 and planing tool body 12 are Split type structure, while described knife plate body 11
It is bolted with planing block 4, when needing the grinding for carrying out planing tool body 12 to safeguard, causes knife plate by the dismounting of bolt
Body 11 separates with planing block 4, specifically, 11 plate-like structure of knife plate body and set through hole to be used to pass through bolt, bolt and
The screwed hole connection planed on block 4, the planing tool body 12 of setting are arranged to the arcuation edge of a knife, are further bonded electric power transmission cable
Circular outside face, improve cleaning effect.
Specific embodiment 3, further, described feeding station 3 are arranged on from walking in frame 2 by feeding position-limit mechanism,
For position-limit mechanism to adjust the distance apart from axis of planing block 4, that is, adjust planing block 4 gives knife depth, described feeding limit
Position mechanism includes adjustment ring 13, slide plate 14, and the adjustment block 15 of wedge-like is provided with the inner ring surface of described adjustment ring 13, described
Feeding station 3 on be provided with the feeding block 16 of wedge-like, adjustment block 15 is slidably matched with the contact of incline plane and formation for feeding block 16, institute
The feeding station 3 stated is in list structure, and described slide plate 14 is separately positioned on the both ends of feeding station 3, and slide plate 14 is tied in fan-shaped
Its both sides of structure, which are faced directly, is provided with chute, and feeding station 3 is formed with the chute and is slidably connected, described slide plate 14 and feeding station 3
Axis around adjustment ring 13 is staggered.The principle of adjustment is, by being arranged on from the stepper motor walked in frame 2 by setting
Put the rack-driving in the side wall of adjustment ring 13 so that adjustment ring 13 rotates predetermined angle, after block 4 of planing is installed in place, leads to
Cross adjustment ring 13 to rotate, adjustment block 15 and the contact of incline plane of feeding block 16 extrude so that feeding station 3 is in the chute of slide plate 14
Slide, glide direction is the interior shifting or outer shifting along the radial direction of adjustment ring 13, so as to have adjusted planing block 4 and planing tool body 12 and cable
The distance between outer surface, when planing is, planing block 4 can be fed in time by being rotated by adjustment ring 13 so that cleaning is more
Add thoroughly.
Further, in order to which the block 4 that ensures to plane has a stable withdrawing ability, described feeding station 3 with from walk frame 2 it
Between be provided with back-moving spring 17.Pulling force is provided to feeding station 3 by back-moving spring 17, so as to ensure that equipment is advanced or is moved to
During other workshop sections, the accident that planing tool body 12 hits with power transmission cable will not occur.
Specific embodiment 4, in order to ensure that described road wheel 1 is sheave knot from the effect for walking the stable movement of frame 2
Structure, the groove of arc is provided with sheave wheel face, there is certain parcel effect by the groove to power transmission cable, improve row
The frictional force of wheel 1 and power transmission line is walked, is avoided because the problem of planing carries out and causes equipment to shift occurs, described frame 2 of walking certainly is borrowed
Connecting rod 18 is helped to be connected with road wheel 1, described connecting rod 18 is be hinged with walking frame 2 certainly, and described connecting rod 18 with walking machine certainly
Thrust spring 19 is provided between frame 2, described connecting rod 18 is provided with center of the multigroup and connecting rod 18 on walking frame 2 certainly
Axis is symmetrical arranged two-by-two.The present invention traveling mode be that road wheel is driven by stepper motor, by connecting rod 18,
Thrust spring 19 forms clamping with power transmission cable and coordinated, and after stepper motor stops operating, walks frame 2 certainly and stops in situ, this
When planing tool body 12 and the foreign matter on power transmission line are adjusted by adjustment ring 13, start motor cause 8 turns of drive ring
Dynamic, the push-and-pull of reciprocating lever 9 planing block 4 is back and forth planed, so as to complete cleaning work.It is in the anchor ring of undaform additionally, due to drive ring 8,
Synchronization is different around multigroup working condition of planing block 4 that power transmission line is set, and some is in planing feed state, and some is in
Planing withdrawing state, the reaction force direction that two states are provided is along the direction of power transmission line, but it is previous to be directed to one
Afterwards, cancel out each other, so as to reduce the reaction force that equipment is integrally subject to, ensure that the accurate of equipment positioning, also avoid because anti-
Active force is excessive, and sliding knife problem occurs caused by the brake weight provided more than the brake of stepper motor idling, ensure that cleaning effect.
Specific embodiment 5, further described position-limit mechanism include front-wheel 20 and trailing wheel 21, and front-wheel 20 and trailing wheel 21 divide
Clamping is not formed with the forward and backward annular face contacts of drive ring 8 to coordinate, the wheel shaft of described front-wheel 20 and trailing wheel 21 respectively with reciprocating lever
9 are fixedly connected.Connected by the rolling of front-wheel 20 and trailing wheel 21, drive ring 8 and reciprocating lever 9 are formd to stable spacing knot
Structure so that drive ring 8 drives the frictional force to be overcome of reciprocating lever 9 to substantially reduce, so as to improve the overall output effect of equipment
Rate, help clean up the tubercle class foreign matter and icing class foreign matter of stubbornness.
Claims (5)
1. a kind of self-propelled power circuit barrier clearing device, including have by road wheel (1) along power transmission line and move back and forth the free degree
Walk frame (2) certainly, from walking the cleaning plant that is provided with frame (2) for removing foreign matter, it is characterised in that：Described cleaning
Device includes planing tool module and the power module of power is provided for planing tool module：
Planing tool module, which includes being arranged on being provided with to have from the feeding station (3) walked in frame (2), in feeding station (3), to be moved back and forth
The planing block (4) of the free degree, the planing tool knife plate (5) being arranged on planing block (4)；
Power module includes having the dynamic ring (7) around power transmission line rotary freedom and dynamic ring (7) by motor (6)
Co-axially fixed drive ring (8), be arranged on from walking in frame (2) along the reciprocating lever (9) in power transmission line direction, reciprocating lever (9) by
The formation clamping of the anchor ring of position-limit mechanism and drive ring (8) is spacing, and the anchor ring of drive ring (8) is in the wave structure to rise and fall, back and forth
The free end of bar (9) is connected with planing block (4), and described reciprocating lever (9) has past as the anchor ring rotation of drive ring (8) rises and falls
The free degree of multiple push-and-pull planing block (4)；
Described reciprocating lever (9) is arranged on from walking in frame (2) by the sliding sleeve ring (10) for being provided with through hole, described reciprocating lever
(9) it is interspersed in the through hole of sliding sleeve ring (10)；
Described reciprocating lever (9) radial section showing ellipsoidal structure.
A kind of 2. self-propelled power circuit barrier clearing device according to claim 1, it is characterised in that：Described feeding station
(3) it is arranged on by feeding position-limit mechanism from walking in frame (2), described feeding position-limit mechanism includes adjustment ring (13), slide rail
Plate (14), the adjustment block (15) of wedge-like is provided with the inner ring surface of described adjustment ring (13), and described feeding station is set on (3)
There is the feeding block (16) of wedge-like, adjustment block (15) is slidably matched with the contact of incline plane of feeding block (16) and formation, described feeding
Platform (3) is in list structure, and described slide plate (14) is separately positioned on the both ends of feeding station (3), and slide plate (14) is tied in fan-shaped
Its both sides of structure, which are faced directly, is provided with chute, and feeding station (3) is formed with the chute and is slidably connected, described slide plate (14) and feeding
Platform (3) is staggered around the axis of adjustment ring (13).
A kind of 3. self-propelled power circuit barrier clearing device according to claim 2, it is characterised in that：Described feeding station
(3) and from walking back-moving spring (17) is provided between frame (2).
A kind of 4. self-propelled power circuit barrier clearing device according to claim 1, it is characterised in that：Described road wheel
(1) it is sheave structure, described frame (2) of walking certainly is connected by connecting rod (18) with road wheel (1), described connecting rod (18)
It is be hinged with walking frame (2) certainly, described connecting rod (18) with oneself walk frame (2) between be provided with thrust spring (19), it is described
Connecting rod (18) is provided with multigroup and connecting rod (18) and is symmetrical arranged two-by-two on walking the central axis of frame (2) certainly.
A kind of 5. self-propelled power circuit barrier clearing device according to claim 1, it is characterised in that：Described position-limit mechanism
Including front-wheel (20) and trailing wheel (21), front-wheel (20) and trailing wheel (21) form with the forward and backward annular face contacts of drive ring (8) press from both sides respectively
Hold cooperation, the wheel shaft of described front-wheel (20) and trailing wheel (21) is fixedly connected with reciprocating lever (9) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711129847.XA CN107887873B (en) | 2017-11-15 | 2017-11-15 | Self-propelled power line clearance sacrifice device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711129847.XA CN107887873B (en) | 2017-11-15 | 2017-11-15 | Self-propelled power line clearance sacrifice device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107887873A true CN107887873A (en) | 2018-04-06 |
| CN107887873B CN107887873B (en) | 2019-12-10 |
Family
ID=61777343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711129847.XA Active CN107887873B (en) | 2017-11-15 | 2017-11-15 | Self-propelled power line clearance sacrifice device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107887873B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110581476A (en) * | 2019-09-25 | 2019-12-17 | 杨丽红 | outdoor cable deicing device with centering moving effect |
| CN110900628A (en) * | 2019-12-03 | 2020-03-24 | 南方电网科学研究院有限责任公司 | Automatic obstacle-crossing inspection robot |
| CN110918514A (en) * | 2019-10-29 | 2020-03-27 | 浙江国自机器人技术有限公司 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
| CN110932176A (en) * | 2019-12-17 | 2020-03-27 | 张明华 | Be used for cable clearance ice and snow to maintain device |
| CN111404082A (en) * | 2020-04-22 | 2020-07-10 | 北京春合隅林建筑工程有限公司 | Robot for high-altitude operation |
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| JPH0442713A (en) * | 1990-06-05 | 1992-02-13 | Sato Kensetsu Kogyo Kk | Snow accretion-retardant ring removing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110581476A (en) * | 2019-09-25 | 2019-12-17 | 杨丽红 | outdoor cable deicing device with centering moving effect |
| CN110918514A (en) * | 2019-10-29 | 2020-03-27 | 浙江国自机器人技术有限公司 | Reciprocating type cleaning head of cable cleaning robot and cable cleaning robot |
| CN110900628A (en) * | 2019-12-03 | 2020-03-24 | 南方电网科学研究院有限责任公司 | Automatic obstacle-crossing inspection robot |
| CN110900628B (en) * | 2019-12-03 | 2021-06-22 | 南方电网科学研究院有限责任公司 | Automatic obstacle-crossing inspection robot |
| CN110932176A (en) * | 2019-12-17 | 2020-03-27 | 张明华 | Be used for cable clearance ice and snow to maintain device |
| CN110932176B (en) * | 2019-12-17 | 2020-12-01 | 台州市安锋智能科技有限公司 | Be used for cable clearance ice and snow to maintain device |
| CN111404082A (en) * | 2020-04-22 | 2020-07-10 | 北京春合隅林建筑工程有限公司 | Robot for high-altitude operation |
| CN111404082B (en) * | 2020-04-22 | 2021-03-12 | 盛天智能机器人(广东)有限责任公司 | Robot for high-altitude operation |
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| Publication number | Publication date |
|---|---|
| CN107887873B (en) | 2019-12-10 |
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