CN109202851A - A kind of distribution switchgear cabinet auxiliary operation robot - Google Patents
A kind of distribution switchgear cabinet auxiliary operation robot Download PDFInfo
- Publication number
- CN109202851A CN109202851A CN201811187426.7A CN201811187426A CN109202851A CN 109202851 A CN109202851 A CN 109202851A CN 201811187426 A CN201811187426 A CN 201811187426A CN 109202851 A CN109202851 A CN 109202851A
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- tool changing
- mobile device
- fixture
- axis mobile
- axis
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- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 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 description 16
- 230000003139 buffering effect Effects 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to distribution switchgear cabinet operating technology fields, more particularly to a kind of distribution switchgear cabinet auxiliary operation robot, including control device and the mobile device being electrically connected with control device, operating device, X-axis mobile device, Y-axis mobile device, rotating seat and Z axis mobile device, operating device, including tool changing component and operating assembly；Operating assembly, including X-axis Mobile base, fixture rotary unit and operation fixture, operation fixture are connected to the power output end of fixture rotary unit, and fixture rotary unit is connected to X-axis mobile device by X-axis Mobile base, to move along the x axis；Tool changing component, including tool changing driving unit, support frame and tool changing disk, support frame first end is fixed on mobile device, and tool changing driving unit and tool changing disk are respectively arranged in the second end of support frame, tool changing driving unit and tool changing disk are sequentially connected, so that the rotation of tool changing disk carries out tool changing for operation fixture.The present invention effectively improves the efficiency of distribution switchgear cabinet operation.
Description
Technical field
The present invention relates to distribution switchgear cabinet operating technology field more particularly to a kind of distribution switchgear cabinet auxiliary operation machines
People.
Background technique
Substation (Substation) is that some equipment are assembled, to be switched off or on, change or adjust electricity
Pressure, in the power system, substation is the assembly place of transmission and disttrbution.And distribution switchgear cabinet is indispensable one in substation
Kind distribution switchgear, transmission and control for electric energy.Generally, the behaviour for the master switch facility being equipped with inside distribution switchgear cabinet
Make to realize the movement of switch using electric operation button, for example, on the cabinet face of 10kV switchgear with operating breaker separating brake,
The switch button component of combined floodgate.
Usual distribution switchgear cabinet, which passes through, manually to be operated, but due to being in high pressure conditions when distribution switchgear cabinet work,
There are biggish risk, the prior art also has operates distribution switchgear cabinet by operating equipment manual operation, but existing
Operation equipment activity performance it is poor, in distribution switchgear cabinet complicated for operation, efficiency is lower, needs multiple mobile ability
The switch of distribution switchgear cabinet is operated, in addition, the cutter for operating distribution switchgear cabinet is also required in equipment access switch
It is finished changing before cabinet, replaces cutter every time and require manually to replace after removing equipment, reduce the effect that equipment is operated
Rate.
Summary of the invention
The object of the present invention is to provide be conducive to improve the one of efficiency and safe operation degree that distribution switchgear cabinet operates
Kind distribution switchgear cabinet auxiliary operation robot.
To achieve the goals above, the present invention provides a kind of distribution switchgear cabinet auxiliary operation robot, including control device
And mobile device, operating device, X-axis mobile device, Y-axis mobile device, rotating seat and the Z axis being electrically connected with control device move
Dynamic device, the Y-axis mobile device are installed in mobile device by rotating seat, and it is mobile that the Z axis mobile device is connected to Y-axis
Device, to move along the y axis；The X-axis mobile device is connected to Z axis mobile device, to move along Z-direction；
Operating device, including tool changing component and operating assembly；
Operating assembly, including X-axis Mobile base, fixture rotary unit and operation fixture, the operation fixture are connected to fixture
The power output end of rotary unit, the fixture rotary unit is connected to X-axis mobile device by X-axis Mobile base, along X-axis side
To movement；
Tool changing component, including tool changing driving unit, support frame and tool changing disk, support frame as described above first end are fixed on the shifting
Dynamic device, the tool changing driving unit and tool changing disk are respectively arranged in the second end of support frame, the tool changing driving unit with change
Cutterhead transmission connection, so that the rotation of tool changing disk carries out tool changing for the operation fixture.
Optionally, the tool changing disk has been evenly arranged several clamping jaws, and the clamping jaw includes interconnecting piece and clamping part, described
Interconnecting piece is connect with tool changing disk, and the clamping part offers opening backwards to the U-shaped groove of interconnecting piece, the two sides of the U-shaped groove
Wall offers connecting hole respectively, wears in the connecting hole and is fixed with positioning column.
Optionally, described positioning column one end is equipped with positioning ball, and the positioning column offers moving hole, and the positioning ball passes through
Spring is movably arranged in the moving hole.
Optionally, described operation fixture one end offers the blocked hole for clamping cutter, is equipped with and uses in the blocked hole
In the magnetic part of absorption cutter.
Optionally, the cross section of the blocked hole is quadrilateral hole, and the quadrangle of the quadrilateral hole offers respectively to be used for
The card slot for preventing cutter from rotating.
Optionally, the operation fixture is connect by Buffer Unit with fixture rotary unit, and the Buffer Unit includes the
One shaft coupling, second shaft coupling and buffering spring sheet, the first shaft coupling is connect with second shaft coupling by buffering spring sheet, described
First shaft coupling is connect with fixture rotary unit, and the second shaft coupling is connect with operation fixture.
Optionally, the operating assembly further includes press unit, and the press unit includes that compression bar is moved with X-axis is installed on
The push rod cylinder of seat, the power output end of the push rod cylinder are connect with compression bar.
Optionally, the operating assembly further includes camera unit, and the camera unit includes video camera and light compensating lamp, described
Video camera is installed on X-axis Mobile base, and the light compensating lamp encloses the circumference set on video camera.
Optionally, the mobile device includes pedestal and the crawler belt for being set to pedestal two sides, and the rotating seat and control fill
It sets and is mounted on pedestal, the pedestal is equipped with the detection device for detecting light intensity, illumination, radiation.
Optionally, the pedestal is equipped with the ultrasonic probe for detecting barrier.
Implement the embodiment of the present invention, has following technical effect that
Structure of the invention is compact, and the area integrally occupied is smaller, is suitble to be moved in narrow space, on the one hand,
The present invention realizes the movement of equipment by mobile device, without being carried, using more convenient；
Second aspect realizes behaviour by setting rotating seat, X-axis mobile device, Y-axis mobile device and Z axis mobile device
Four axis for making device are mobile, improve the mobile degree of flexibility and moving range of operating device；
The third aspect, operating assembly include fixture rotary unit and operation fixture, and cooperation mobile device, rotating seat, X-axis are moved
Dynamic device, Y-axis mobile device and Z axis mobile device make operation fixture be capable of clamping fixture and carry out operation and maintenance, nothing to switchgear
It need to manually be operated, keep the control of switchgear safer, reduce artificial investment；
Fourth aspect, mobile device are installed with tool changing component, and operation fixture is facilitated to carry out replacement switchgear operational instrument, nothing
It switchgear need to repeatedly be passed in and out carries out replacement tool and be operated, further increase working efficiency, and drive by tool changing driving unit
Move cutterhead rotation, operational instrument is facilitated to carry out tool changing, improves tool changing efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the mobile device of the preferred embodiment of the present invention；
Fig. 3 is the X-axis mobile device of the preferred embodiment of the present invention and the structural schematic diagram of operating assembly；
Fig. 4 is the cross-sectional view of the operation fixture of the preferred embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the tool changing component of the preferred embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the clamping jaw of the preferred embodiment of the present invention.
Description of symbols:
1, control device, 2, mobile device, 21, pedestal, 22, crawler belt, 3, operating device, 31, tool changing component, 311, tool changing
Driving unit, 312, support frame, 313, tool changing disk, 32, operating assembly, 321, X-axis Mobile base, 322, fixture rotary unit,
323, operation fixture, 3231, blocked hole, 3232, card slot, 33, clamping jaw, 331, interconnecting piece, 332, clamping part, 333, U-shaped groove,
334, connecting hole, 335, positioning column, 336, positioning ball, 34, Buffer Unit, 341, first shaft coupling, 342, second shaft coupling,
343, buffering spring sheet, 35, press unit, 351, compression bar, 352, push rod cylinder, 36, video camera, 37, light compensating lamp, 4, X-axis movement
Device, 5, Y-axis mobile device, 6, rotating seat, 7, Z axis mobile device, 8, detection device, 9, ultrasonic probe.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
With reference to Fig. 1~6, present embodiments provide a kind of distribution switchgear cabinet auxiliary operation robot, including control device 1 with
And mobile device 2, operating device 3, X-axis mobile device 4, Y-axis mobile device 5, rotating seat 6 and the Z being electrically connected with control device 1
Shaft moving device 7, Y-axis mobile device 5 are installed in mobile device 2 by rotating seat 6, and Z axis mobile device 7 is connected to Y-axis shifting
Dynamic device 5, to move along the y axis；X-axis mobile device 4 is connected to Z axis mobile device 7, to move along Z-direction；
Operating device 3, including tool changing component 31 and operating assembly 32；
Operating assembly 32, including X-axis Mobile base 321, fixture rotary unit 322 and operation fixture 323, operate fixture 323
It is connected to the power output end of fixture rotary unit 322, fixture rotary unit 322 is connected to X-axis shifting by X-axis Mobile base 321
Dynamic device 4, to move along the x axis；
Tool changing component 31, including tool changing driving unit 311, support frame 312 and tool changing disk 313,312 first end of support frame are solid
Due to mobile device 2, tool changing driving unit 311 and tool changing disk 313 are respectively arranged in the second end of support frame 312, tool changing driving
Unit 311 and tool changing disk 313 are sequentially connected, so that the rotation of tool changing disk 313 carries out tool changing for operation fixture 323.
Structure of the invention is compact, and the area integrally occupied is smaller, is suitble to be moved in narrow space, on the one hand,
The present invention realizes the movement of equipment by mobile device 2, without being carried, using more convenient；
Second aspect is realized by setting rotating seat 6, X-axis mobile device 4, Y-axis mobile device 5 and Z axis mobile device 7
Four axis of operating device 3 are mobile, improve the mobile degree of flexibility and moving range of operating device 3；
The third aspect, operating assembly 32 include fixture rotary unit 322 and operation fixture 323, cooperation mobile device 2, rotation
Swivel base 6, X-axis mobile device 4, Y-axis mobile device 5 and Z axis mobile device 7 make operation fixture 323 be capable of clamping fixture to switchgear
Operation and maintenance is carried out, without manually being operated, keeps the control of switchgear safer, reduces artificial investment；
Fourth aspect, mobile device 2 are installed with tool changing component 31, and operation fixture 323 is facilitated to carry out replacement switchgear operation
Tool carries out replacement tool without repeatedly passing in and out switchgear and is operated, and further increases working efficiency, and passes through tool changing and drive
Unit 311 drives tool changing disk 313 to rotate, and operational instrument is facilitated to carry out tool changing, improves tool changing efficiency.
With reference to Fig. 5, tool changing disk 313 has been evenly arranged several clamping jaws 33, and clamping jaw 33 includes interconnecting piece 331 and clamping part
332, interconnecting piece 331 is connect with tool changing disk 313, and clamping part 332 offers the U-shaped groove 333 being open backwards to interconnecting piece, U-shaped recessed
The two sidewalls of slot 333 offer connecting hole 334 respectively, wear in connecting hole 334 and are fixed with positioning column 335, solid by clamping jaw 33
Stationary knife tool, prevents cutter from falling in 2 motion process of mobile device, improves the stability that uses of tool changing disk 313, and clamping jaw 33 is along changing
313 circumferencial direction of cutterhead is evenly arranged, and fixes the rotational angle in 311 exchanging knives process of tool changing driving unit, improves tool changing
The levels of precision of journey further increases tool changing efficiency；
Cutter is removed from clamping part 332 along 313 radial direction of tool changing disk in addition, facilitating, the two of U-shaped groove 333
Side wall offers connecting hole 334 respectively, wears in connecting hole 334 and is fixed with positioning column 335, the flank of tool offers and positioning column
The location hole of 335 cooperations, is stably fixed on cutter in clamping jaw 33.
Further, it is opened up with reference to Fig. 6, positioning column 335 and one end of tool contact equipped with ball 336, positioning column 335 is positioned
There is moving hole, positioning ball 336 is movably arranged by spring in moving hole, and the positioning for positioning ball 336 and cutter is made by spring
Hole is cooperated, and the fixation of the taking-up of cutter is facilitated, and structure is simple, while reducing the abrasion to tool surface.
With reference to Fig. 3 and Fig. 4,323 one end of operation fixture in the present embodiment offers blocked hole 3231, in blocked hole 3231
Equipped with the magnetic part for adsorbing cutter, structure is simple, and cutter is fixed in the axial direction, while passing through blocked hole 3231
The rotary freedom of cutter in the axial direction is limited, realizes operation of the cutter to switchgear；Specifically, blocked hole 3231 is transversal
Face is quadrilateral hole, and the quadrangle of quadrilateral hole offers the card slot 3232 for preventing cutter from rotating respectively, is arranged in cutter
In card slot 3232, the rotary freedom of axial direction is limited.
Specifically, operation fixture 323 is connect by Buffer Unit 34 with fixture rotary unit 322, Buffer Unit 34 includes
First shaft coupling 341, second shaft coupling 342 and buffering spring sheet 343, first shaft coupling 341 and second shaft coupling 342 pass through buffering
Elastic slice 343 connects, and first shaft coupling 341 is connect with fixture rotary unit 322, and second shaft coupling 342 and operation fixture 323 connect
It connects, makes to operate fixture 323 in carrying out X-direction moving process, after contacting with switchgear, buffering spring sheet 343 plays buffering
Effect prevents cutter from colliding with switchgear and switchgear is caused to damage, and further, operation fixture 323 is equipped with pressure sensor, into
One step improves the safety that cutter is contacted with switchgear.
With reference to Fig. 3, the operating device 3 of this implementation further includes press unit 35, and press unit 35 includes compression bar 351 and installation
It is connect in the power output end of the push rod cylinder 352 of X-axis Mobile base 321, push rod cylinder 352 with compression bar 351, improving equipment can grasp
The type of the control key of work reduces the use cost of equipment to improve the applicable range of equipment.
Specifically, Z axis mobile device 7 includes Z axis column and Z axis driving assembly, it is mobile that Z axis column is slidably mounted on Y-axis
Device 5, Z axis driving device are installed on Z axis column, and X-axis mobile device 4 is connected to Z axis driving assembly, to move along Z-direction.
Further, X-axis mobile device 4 includes X-axis mounting rack and X-axis driving assembly, and operating assembly 32 is connected to X-axis drive
Dynamic component.
With reference to Fig. 2, mobile device 2 includes pedestal 21 and the crawler belt 22 for being set to 21 two sides of pedestal, is suitable for more landform
Movement, and counter roller the moving stability is higher, and rotating seat 6 and control device 1 are mounted on pedestal 21.
The pedestal 21 of the present embodiment is equipped with for detecting light intensity, illumination and the detection device of radiation 8, is opened convenient for technology feedback
The working environment in cabinet is closed, the safety that equipment uses is improved, pedestal 21 is equipped with the ultrasonic probe 9 for detecting barrier, into
One step improves the safety that equipment uses, and reduces the collision of equipment and other articles, improves service life of equipment.
Specifically, operating device 3 further includes camera unit, camera unit includes video camera 36 and light compensating lamp 37, video camera
36 are installed on X-axis Mobile base 321, and light compensating lamp 37 encloses the circumference set on video camera 36, it is to be understood that use video camera 36
The position of the switch for obtaining switchgear, is facilitated and is operated, while being illuminated the region of switchgear using light compensating lamp 37, caused the device to more
Clearly the position of the switch of identification switch cabinet is operated, and improves the levels of precision of equipment operation.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, various information are described in the present invention using term " first ", " second " etc., but these information should not necessarily be limited by
These terms, these terms are only used to for same type of information being distinguished from each other out.For example, in the feelings for not departing from the scope of the invention
Under condition, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as " first " letter
Breath.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of distribution switchgear cabinet auxiliary operation robot, which is characterized in that be electrically connected including control device and with control device
Mobile device, operating device, X-axis mobile device, Y-axis mobile device, rotating seat and the Z axis mobile device connect, the Y-axis are mobile
Device is installed in mobile device by rotating seat, and the Z axis mobile device is connected to Y-axis mobile device, to move along the y axis
It is dynamic；The X-axis mobile device is connected to Z axis mobile device, to move along Z-direction；
Operating device, including tool changing component and operating assembly；
Operating assembly, including X-axis Mobile base, fixture rotary unit and operation fixture, the operation fixture are connected to fixture rotation
The power output end of unit, the fixture rotary unit is connected to X-axis mobile device by X-axis Mobile base, to move along the x axis
It is dynamic；
Tool changing component, including tool changing driving unit, support frame and tool changing disk, support frame as described above first end are fixed on the mobile dress
It sets, the tool changing driving unit and tool changing disk are respectively arranged in the second end of support frame, the tool changing driving unit and tool changing disk
Transmission connection, so that the rotation of tool changing disk carries out tool changing for the operation fixture.
2. distribution switchgear cabinet auxiliary operation according to claim 1 robot, which is characterized in that the uniform cloth of tool changing disk
Several clamping jaws are equipped with, the clamping jaw includes interconnecting piece and clamping part, and the interconnecting piece is connect with tool changing disk, and the clamping part is opened
Equipped with opening backwards to the U-shaped groove of interconnecting piece, the two sidewalls of the U-shaped groove offer connecting hole respectively, in the connecting hole
It wears and is fixed with positioning column.
3. distribution switchgear cabinet auxiliary operation according to claim 2 robot, which is characterized in that described positioning column one end is set
There is positioning ball, the positioning column offers moving hole, and the positioning ball is movably arranged by spring in the moving hole.
4. distribution switchgear cabinet auxiliary operation according to claim 1 robot, which is characterized in that described operation fixture one end
The blocked hole for clamping cutter is offered, the magnetic part for adsorbing cutter is equipped in the blocked hole.
5. distribution switchgear cabinet auxiliary operation according to claim 4 robot, which is characterized in that the blocked hole it is transversal
Face is quadrilateral hole, and the quadrangle of the quadrilateral hole offers the card slot for preventing cutter from rotating respectively.
6. distribution switchgear cabinet auxiliary operation according to claim 1 robot, which is characterized in that the operation fixture passes through
Buffer Unit is connect with fixture rotary unit, and the Buffer Unit includes first shaft coupling, second shaft coupling and buffering spring sheet, institute
It states first shaft coupling and is connect with second shaft coupling by buffering spring sheet, the first shaft coupling is connect with fixture rotary unit, institute
Second shaft coupling is stated to connect with operation fixture.
7. distribution switchgear cabinet auxiliary operation according to claim 1 robot, which is characterized in that the operating assembly also wraps
Press unit is included, the press unit includes compression bar and the push rod cylinder for being installed on X-axis Mobile base, the power of the push rod cylinder
Output end is connect with compression bar.
8. distribution switchgear cabinet auxiliary operation according to claim 1 robot, which is characterized in that the operating assembly also wraps
Camera unit is included, the camera unit includes video camera and light compensating lamp, and the video camera is installed on X-axis Mobile base, the light filling
Lamp encloses the circumference set on video camera.
9. distribution switchgear cabinet auxiliary operation according to claim 1 robot, which is characterized in that the mobile device includes
Pedestal and the crawler belt for being set to pedestal two sides, the rotating seat and control device are mounted on pedestal, and the pedestal is equipped with and is used for
Detect light intensity, the detection device of illumination, radiation.
10. distribution switchgear cabinet auxiliary operation according to claim 9 robot, which is characterized in that the pedestal, which is equipped with, to be used
In the ultrasonic probe of detection barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187426.7A CN109202851B (en) | 2018-10-12 | 2018-10-12 | Auxiliary operation robot for power distribution switch cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187426.7A CN109202851B (en) | 2018-10-12 | 2018-10-12 | Auxiliary operation robot for power distribution switch cabinet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109202851A true CN109202851A (en) | 2019-01-15 |
| CN109202851B CN109202851B (en) | 2024-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811187426.7A Active CN109202851B (en) | 2018-10-12 | 2018-10-12 | Auxiliary operation robot for power distribution switch cabinet |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927045A (en) * | 2019-03-15 | 2019-06-25 | 徐秀荣 | A kind of power distribution cabinet crusing robot |
| CN112757250A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
| CN114939859A (en) * | 2022-05-14 | 2022-08-26 | 北京潞电电气设备有限公司 | Cooperative operation inspection robot |
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| CN112757250A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
| CN112757250B (en) * | 2020-12-31 | 2022-05-10 | 南京昱晟机器人科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
| CN114939859A (en) * | 2022-05-14 | 2022-08-26 | 北京潞电电气设备有限公司 | Cooperative operation inspection robot |
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