CN110539298A - Outdoor live working robot operating system of automatic switching tool - Google Patents
Outdoor live working robot operating system of automatic switching tool Download PDFInfo
- Publication number
- CN110539298A CN110539298A CN201910825727.6A CN201910825727A CN110539298A CN 110539298 A CN110539298 A CN 110539298A CN 201910825727 A CN201910825727 A CN 201910825727A CN 110539298 A CN110539298 A CN 110539298A
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- Prior art keywords
- tool
- live working
- shaft
- transmission
- groove
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
the invention discloses an outdoor live working robot operating system of an automatic switching tool, which comprises a multi-station tool table for placing live working tool components, a live working mechanical arm and a driving component, wherein the mechanical arm comprises a connecting pipe and a connecting sleeve sleeved at the tail end of the connecting pipe, and the side wall of the connecting sleeve is provided with a butt joint groove; live working tool subassembly includes the cover on connecting seat and the connecting seat and connects the ring, and cup joints and is provided with the rotor plate on the ring lateral wall, and the inside and outside both sides of rotor plate are connected with the latch segment respectively and dial the claw piece, realize the latch segment and the locking and the pine of butt joint groove through the rotation of dialling the claw piece and take off the switching. According to the invention, the rotation of the poking claw block is controlled by the driving assembly to realize locking and loosening switching between the locking block and the butt joint groove, so that automatic replacement of live working tools on the mechanical arm is realized, the structure is simple, the operation is convenient, the replacement is efficient, the safety of workers in a high-voltage environment is ensured, and the working efficiency is effectively improved.
Description
Technical Field
The invention designs an outdoor live working robot operating system of an automatic switching tool, and belongs to the technical field of outdoor live working robot design.
Background
At present, the widely adopted live working technology is mainly manual live working, and operators are required to climb a high-voltage tower or perform uninterrupted operation by means of an insulating bucket arm vehicle. However, the manual live working means that the operators are in dangerous environments of high altitude, high voltage and strong electromagnetic field, the labor intensity is high, the posture of the human body is not easy to control, and personal casualties are easy to happen by a little carelessness. In order to solve the danger caused by manual live-wire work and improve the work efficiency, a live-wire work technology of using a robot to replace manual work appears at home and abroad.
The research result of the live working robot mainly adopts a teleoperation method of a master mechanical arm and a slave mechanical arm, and an operator remotely controls the slave mechanical arm through the master manipulator. The method ensures the safety of operators, but still has higher requirements on the operators, and has the following disadvantages: the operators are required to have higher technical proficiency and have high concentration in the working process; the operation is slow, and the next operation is carried out after the safety of the operation environment is ensured; if the operation is improper, the mechanical arm may be damaged, and the operation efficiency is seriously affected.
Therefore, there is a need to develop a live working robot with an autonomous working function, which can autonomously perform operations such as live wire disconnection, live wire connection, live replacement of a lightning arrester, live replacement of an isolating switch, live replacement of a drop-out fuse, and live replacement of an insulating protection tube, and thus the robot is required to have an ability to automatically replace a live working tool.
disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems, the invention provides an outdoor live working robot operating system of an automatic switching tool, which has the characteristics of simple structure, convenient operation, high switching efficiency and the like, and the locking and releasing switching between a locking block and a butt joint groove is realized by controlling the rotation of a claw shifting block through a driving assembly, so that the automatic replacement of the live working tool on a mechanical arm is realized, the safety of workers in a high-voltage environment is ensured, and the operating efficiency is effectively improved.
The technical scheme is as follows:
An outdoor live working robot operating system of an automatic change-over tool, comprising:
the linear tool table is provided with a plurality of tool positions for placing live working tool components in a linear arrangement manner;
the live-wire operation mechanical arm comprises a mechanical big arm, a mechanical small arm and a mechanical front arm which are sequentially connected through a joint; the mechanical front arm comprises a connecting pipe and a connecting sleeve sleeved at the tail end of the connecting pipe, and a butt joint groove is formed in the side wall of the connecting sleeve;
a live-wire work tool assembly including a connecting portion and a tool portion arranged up and down; the connecting part comprises a connecting seat and a sleeve ring on the connecting seat, and the inner diameter of the sleeve ring is matched with the outer diameter of the sleeve ring; a circular groove is formed in the side wall of the sleeving ring, and a rotating sheet is arranged in the circular groove; the inner side and the outer side of the rotating sheet are respectively connected with a locking block and a claw shifting block, and the locking block and the butt joint groove are locked and released to be switched by the rotation of the claw shifting block;
The driving assembly comprises a driving motor, a transmission assembly, a pusher dog mounting seat, a rotating shaft and a pusher dog; the pusher dog mounting seat is fixed on the rear side of a tool position on the linear tool table, and a rotating shaft corresponding to the tool position penetrates through the pusher dog mounting seat through a bearing; the pusher dog is installed in the axis of rotation front end, and driving motor passes through the rotation of transmission assembly drive axis of rotation, and then realizes through the cooperation of pusher dog and pusher dog piece that the butt joint of live working instrument subassembly and mechanical forearm is got and is put on the instrument position.
furthermore, the cross section of the locking block is in a long strip shape, and the two ends of the locking block along the long edge are in a circular arc shape matched with the circular groove;
The butt joint groove comprises an inlet groove and an accommodating groove which are communicated, the inlet groove is in a long strip shape, and the lower end of the inlet groove extends to the bottom of the connecting sleeve; the width of the inlet groove is not less than the width of the locking block but less than the length of the locking block, and the accommodating groove forms a space capable of accommodating the locking block to rotate freely.
Furthermore, a torsion spring for realizing horizontal reset of the locking block is arranged on the rotating sheet.
furthermore, in order to realize the motion limitation of the locking block, a limiting sheet is arranged on the outer side wall of the sleeving ring, and a limiting groove is formed in the limiting sheet and used for realizing the rotation limitation of the claw block within the 90-degree range, so that the locking block is limited by the rotation from the horizontal direction to the vertical direction.
furthermore, the transmission assembly comprises a transmission gear set and a transmission shaft, the transmission shaft is arranged on the rear side of the pusher dog mounting seat through bearing seats at two ends, and the driving motor drives the transmission shaft to rotate through the transmission gear set; the axes of the transmission shaft and the rotating shaft are arranged in a staggered mode, and the transmission of the transmission shaft and the rotating shaft is realized through gear transmission.
Furthermore, the gear transmission between the transmission shaft and the rotating shaft is realized by adopting a tapered tooth matching structure or a worm and gear matching structure.
Furthermore, the pusher dog block comprises two strip-shaped blocks which are symmetrically arranged up and down, and the pusher dog comprises two fan-shaped blocks which are symmetrically arranged left and right; the distance between the vertexes of the fan-shaped blocks is larger than the width of the strip-shaped blocks, and the fan-shaped blocks and the strip-shaped blocks are in transmission through the matching of the fan-shaped blocks and the side faces of the strip-shaped blocks during rotation.
furthermore, a connecting shaft extending into the connecting sleeve is arranged in the connecting pipe, and the mechanical front arm further comprises a stepping motor arranged at the front end of the connecting pipe and used for driving the connecting shaft;
A central shaft which penetrates through the connecting seat and is in driving connection with the tool part is arranged in the sleeving ring, and a positioning pin is arranged at the top of the central shaft in a penetrating manner; the connecting shaft bottom is provided with the constant head tank, realizes the transmission of connecting shaft and center pin through the cooperation of constant head tank and locating pin, and then realizes the drive control of instrument portion.
furthermore, the positioning groove comprises a central circular groove matched with the central shaft and fan-shaped grooves on two opposite sides, and the fan-shaped grooves on the two sides are communicated with the central circular groove. In order to ensure the matching of the positioning groove and the positioning pin, the unified angle is ensured when the tool position is initially and manually placed in the live-wire work tool assembly.
Furthermore, positioning nails are arranged on two sides of the tool position, corresponding positioning holes are arranged on two sides of the connecting seat, and the connecting seat is positioned on the tool position through the matching of the positioning holes and the positioning nails.
Has the advantages that: compared with the prior art, the outdoor live working robot operating system of the automatic switching tool has the following advantages: 1. the locking and loosening switching between the locking block and the butt joint groove is realized by controlling the rotation of the claw shifting block through the driving assembly, so that the automatic replacement of live working tools on the mechanical arm is realized, the switching efficiency is high, the safety of workers in a high-voltage environment is ensured, and the working efficiency is effectively improved; 2. the high-efficiency control of the stepping motor on the live working tool is realized through shaft transmission, the control precision is high, the structure is simple, the operation is convenient, and the effective driving of different live working tool components can be realized.
drawings
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a large mechanical arm and a small mechanical arm in an embodiment of the invention;
FIG. 3 is a schematic illustration of an assembled configuration of a mechanical forearm and wire clamp tool assembly in an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a connecting pipe and a connecting sleeve in the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a bottom of a connecting tube in an embodiment of the present invention;
figure 6 is a schematic diagram of the construction of a wire stripper tool assembly in an embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of a finger and a finger block according to an embodiment of the present invention;
The figure includes: 1. a mechanical big arm 2, a mechanical small arm 301, a stepping motor 302, a connecting pipe 303, a connecting sleeve 304, a butt joint groove 305, a connecting shaft 306 and a positioning groove,
401. a connecting seat, 402, a socket ring, 403, a locking block, 404, a pusher dog block, 405, a central shaft, 406 and a positioning pin,
501. A transmission gear set 502, a rotating shaft 503, a pusher dog 504, a driving motor 505, a transmission shaft 506 and a pusher dog mounting seat,
601. Linear tool table, 602, tool position, 603, positioning nail.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Fig. 1-3 show an outdoor live working robot working system of an automatic switching tool, comprising:
a linear tool table 601 in which a plurality of tool positions 602 for placing live working tool components are arranged linearly;
The live-wire operation mechanical arm comprises a mechanical big arm 1, a mechanical small arm 2 and a mechanical front arm which are sequentially connected through a joint; the mechanical forearm comprises a connecting pipe 302 and a connecting sleeve 303 sleeved at the tail end of the connecting pipe 302, and the side wall of the connecting sleeve 303 is provided with a butt joint groove 304;
A live-wire work tool assembly including a connecting portion and a tool portion arranged up and down; the connecting part comprises a connecting seat 401 and a socket ring 402 on the connecting seat 401, and the inner diameter of the socket ring 402 is matched with the outer diameter of the connecting sleeve 303; a circular groove is formed in the side wall of the sleeving ring 402, and a rotating sheet is arranged in the circular groove; the inner side and the outer side of the rotating piece are respectively connected with a locking block 403 and a pawl block 404, and the locking block 403 is driven by the rotation of the pawl block 404 to realize locking and releasing switching with the butt joint groove 304;
The driving assembly comprises a driving motor 504, a transmission assembly, a pusher dog mounting seat 506, a rotating shaft 502 and a pusher dog 503; the pusher dog mount 506 is fixed on the linear tool table 601 at the rear side of the tool position 602, and the rotating shaft 502 corresponding to the tool position 602 is arranged on the pusher dog mount 506 in a penetrating way through a bearing; the pusher dog 503 is installed in the front end of the rotating shaft 502, and the driving motor 504 drives the rotating shaft 502 to rotate through the transmission assembly, so that the live working tool assembly on the tool position 602 is butt-jointed with the mechanical forearm to be taken and placed through the cooperation of the pusher dog 503 and the pusher dog block 404.
In this embodiment, the cross section of the locking block 403 is in a strip shape, and both ends along the long side are in a circular arc shape matched with the circular groove;
As shown in fig. 4, the docking slot 304 includes an inlet slot and an accommodating slot which are communicated with each other, and the inlet slot is elongated and has a lower end extending to the bottom of the connection sleeve 303; the width of the inlet slot is not less than the width of the locking block 403 but less than the length of the locking block 403, and the receiving slot forms a space for receiving the locking block 403 to rotate freely.
A torsion spring (not shown in the figure) for realizing horizontal reset of the locking block 403 is arranged on the rotating sheet; the outer side wall of the sleeving ring 402 is provided with a limiting sheet, and the limiting sheet is provided with a fan-shaped limiting groove for realizing rotation limitation of the claw shifting block 404 within a 90-degree range, so that rotation limitation of the locking block 403 from horizontal to vertical is realized.
The transmission assembly comprises a transmission gear set 501 and a transmission shaft 505, the transmission shaft 505 is arranged on the rear side of the pusher dog mounting seat 506 through bearing seats at two ends, and the driving motor 504 drives the transmission shaft 505 to rotate through the transmission gear set 501; the transmission shafts 505 and the axes of the rotating shafts 502 are arranged in a staggered mode, and the transmission of the transmission shafts 505 and the rotating shafts 502 is achieved through gear transmission.
the gear transmission between the transmission shaft 505 and the rotating shaft 502 can be realized by adopting a tapered tooth matching structure or a worm and gear matching structure.
As shown in fig. 7, the finger block 404 includes two strip-shaped blocks arranged vertically symmetrically, and the finger 503 includes two segments arranged horizontally symmetrically (the segments can be connected by an arc-shaped block to improve stability and synchronism); the distance between the vertexes of the fan-shaped blocks is larger than the width of the strip-shaped blocks, and the fan-shaped blocks and the strip-shaped blocks are in transmission through the matching of the fan-shaped blocks and the side faces of the strip-shaped blocks during rotation.
In addition, a connecting shaft 305 extending into the connecting sleeve 303 is arranged in the connecting pipe 302, and the mechanical forearm further comprises a stepping motor 301 arranged at the front end of the connecting pipe 302 and used for driving the connecting shaft 305;
As shown in fig. 6, a central shaft 405 penetrating through the connecting seat 401 and being in driving connection with the tool portion is disposed in the coupling ring 402, and a positioning pin 406 is disposed through the top of the central shaft 405; the bottom of the connecting shaft 305 is provided with a positioning groove 306, and the transmission between the connecting shaft 305 and the central shaft 405 is realized through the matching of the positioning groove 306 and the positioning pin 406, so that the driving control of the tool part is realized.
as shown in fig. 5, the positioning slot 306 includes a central circular slot adapted to the central shaft 405 and two opposite side fan-shaped slots, and the two side fan-shaped slots are communicated with the central circular slot.
positioning nails 603 are arranged on two sides of the tool position 602, corresponding positioning holes are arranged on two sides of the connecting seat 401, and the connecting seat 401 is positioned on the tool position 602 through the matching of the positioning holes and the positioning nails 603.
The specific embodiment of the invention is as follows:
when the robot works outdoors, multi-degree-of-freedom movement among the large mechanical arm 1, the small mechanical arm 2 and the front mechanical arm is realized through joint driving (generally, double mechanical arms are adopted for cooperation to carry out live-line work), and butt joint grabbing and driving work of different live-line work tool assemblies is realized through the front mechanical arm, so that operations such as live-line wire breaking, live-line wire connection, live-line lightning arrester replacement, live-line disconnecting switch replacement, live-line drop-out fuse replacement, live-line insulating protective pipe replacement and the like are automatically completed.
When the tool is replaced by the mechanical arm, the original tool assembly is driven to move to the front side of the tool position through the mechanical forearm, then the mechanical arm is horizontally translated to the upper side of the tool position, the original tool assembly is placed into the tool position in a descending mode, the positioning holes in the connecting seat 401 are matched with the positioning nails 603 on the two sides of the tool position, the driving motor drives the poking claw block 404 to rotate through the poking claw 503, the locking block 403 is poked to be in a vertical state, the mechanical forearm rises to be loosened from the original tool assembly, and then another tool assembly is grabbed.
when the mechanical arm grabs a required tool, firstly, the mechanical front arm is adjusted to be in a vertical state through joint driving and translated to the position above the tool, at the moment, the driving motor drives the poking claw block 404 to rotate through the poking claw 503 again, and then the locking block 403 is poked to be in a vertical state; then mechanical forearm descends by a certain height for latch segment 403 gets into in the holding tank along the import groove, and constant head tank 306 and locating pin 406 cooperation, resets finger 503 and finger block 404 through driving motor (area encoder) this moment, and latch segment 403 resets to the horizontality under the effect of torsional spring, and then blocks the import groove, and unable pine takes off, realizes the automatic butt joint of arm and live working tool assembly.
It is noted that, in order to ensure the matching between the positioning groove 306 and the positioning pin 406, a uniform angle is ensured when the live-wire tool assembly is initially manually placed into the tool position, and then a certain angle is added by the stepping motor 301 on the basis of the initial angle (without a sensor) when the tool position is placed by the mechanical arm each time so that the positioning pin 406 can accurately fall into the middle of the sector groove.
In addition, after completing the automatic docking of the live working tool assembly, the robot arm may drive the connecting shaft 305 and the central shaft 405 to rotate by the stepping motor 301, so as to implement the driving control of the tool portion (generally, the central shaft 405 is implemented by a screw assembly to be in driving connection with the tool portion).
Because this scene is operated to the high-tension line, need to put 1 wire stripper, 1 holds up line ware, 3 novel fastener on the instrument desk, also can be applied to other work scenes, changes into other instruments.
although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.
Claims (10)
1. An outdoor live working robot operation system of an automatic switching tool, comprising:
A linear tool table (601) in which a plurality of tool positions (602) for placing live working tool components are arranged linearly;
the live-wire operation mechanical arm comprises a mechanical big arm (1), a mechanical small arm (2) and a mechanical front arm which are sequentially connected through a joint; the mechanical front arm comprises a connecting pipe (302) and a connecting sleeve (303) sleeved at the tail end of the connecting pipe (302), and a butt joint groove (304) is formed in the side wall of the connecting sleeve (303);
A live-wire work tool assembly including a connecting portion and a tool portion arranged up and down; the connecting part comprises a connecting seat (401) and a sleeving ring (402) on the connecting seat (401), and the inner diameter of the sleeving ring (402) is matched with the outer diameter of the connecting sleeve (303); a circular groove is formed in the side wall of the sleeving ring (402), and a rotating sheet is arranged in the circular groove; the inner side and the outer side of the rotating piece are respectively connected with a locking block (403) and a poking claw block (404), and the locking block (403) is driven by the rotation of the poking claw block (404) to realize locking and loosening switching with the butt joint groove (304);
The driving assembly comprises a driving motor (504), a transmission assembly, a pusher dog mounting seat (506), a rotating shaft (502) and a pusher dog (503); the pusher dog mounting seat (506) is fixed on the rear side of a tool position (602) on the linear tool table (601), and a rotating shaft (502) corresponding to the tool position (602) penetrates through the pusher dog mounting seat (506) through a bearing; the pusher dog (503) is installed in axis of rotation (502) front end, and driving motor (504) pass through the rotation of transmission assembly drive axis of rotation (502), and then realizes through the cooperation of pusher dog (503) and pusher dog piece (404) that live working instrument subassembly and the butt joint of mechanical forearm are got and are put on instrument position (602).
2. the outdoor live working robot operating system of the automatic switching tool as claimed in claim 1, wherein the cross section of the locking block (403) is long and the two ends along the long side are arc-shaped which are matched with the circular groove;
The butt joint groove (304) comprises an inlet groove and an accommodating groove which are communicated, the inlet groove is in a long strip shape, and the lower end of the inlet groove extends to the bottom of the connecting sleeve (303); the width of the inlet groove is not less than the width of the locking block (403) but less than the length of the locking block (403), and the accommodating groove forms a space capable of accommodating the locking block (403) to rotate freely.
3. The outdoor live working robot working system of the automatic change-over tool according to claim 2, characterized in that a torsion spring for realizing horizontal return of the locking block (403) is arranged on the rotating sheet.
4. The outdoor live working robot operating system of the automatic switching tool is characterized in that a limiting sheet is arranged on the outer side wall of the sleeving ring (402), a limiting groove is formed in the limiting sheet, and the limiting sheet is used for achieving rotation limitation of the claw shifting block (404) within a 90-degree range and further achieving rotation limitation of the locking block (403) from horizontal to vertical.
5. The outdoor live working robot operating system of the automatic switching tool is characterized in that the transmission assembly comprises a transmission gear set (501) and a transmission shaft (505), the transmission shaft (505) is arranged on the rear side of the pusher dog mounting seat (506) through bearing seats at two ends, and the driving motor (504) drives the transmission shaft (505) to rotate through the transmission gear set (501); the axes of the transmission shaft (505) and the rotation shaft (502) are arranged in a staggered mode, and the transmission of the transmission shaft (505) and the rotation shaft (502) is realized through gear transmission.
6. the outdoor live working robot working system of the automatic switching tool according to claim 1, characterized in that the gear transmission between the transmission shaft (505) and the rotating shaft (502) is realized by a taper tooth matching structure or a worm and gear matching structure.
7. the outdoor live working robot working system of the automatic switching tool according to claim 1, characterized in that the pusher dog block (404) comprises two bar-shaped blocks arranged in an up-down symmetrical manner, and the pusher dog (503) comprises two fan-shaped blocks arranged in a left-right symmetrical manner;
the distance between the vertexes of the fan-shaped blocks is larger than the width of the strip-shaped blocks, and the fan-shaped blocks and the strip-shaped blocks are in transmission through the matching of the fan-shaped blocks and the side faces of the strip-shaped blocks during rotation.
8. The outdoor live working robot working system of the automatic switching tool according to claim 1, wherein a connecting shaft (305) extending into the connecting sleeve (303) is arranged in the connecting pipe (302), and the mechanical front arm further comprises a stepping motor (301) arranged at the front end of the connecting pipe (302) and used for driving the connecting shaft (305);
a central shaft (405) which penetrates through the connecting seat (401) and is in driving connection with the tool part is arranged in the sleeving ring (402), and a positioning pin (406) is arranged at the top of the central shaft (405) in a penetrating manner; the bottom of the connecting shaft (305) is provided with a positioning groove (306), and the transmission of the connecting shaft (305) and the central shaft (405) is realized through the matching of the positioning groove (306) and the positioning pin (406), so that the driving control of the tool part is realized.
9. The outdoor live working robot working system of an automatic changing tool according to claim 8, characterized in that the positioning groove (306) comprises a central circular groove adapted to the central shaft (405) and opposite side fan-shaped grooves, and the two side fan-shaped grooves are communicated with the central circular groove.
10. the outdoor live working robot working system of the automatic switching tool as claimed in claim 1, wherein positioning nails (603) are arranged on two sides of the tool position (602), and corresponding positioning holes are arranged on two sides of the connecting seat (401), so that the connecting seat (401) is positioned on the tool position (602) through the matching of the positioning holes and the positioning nails (603).
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| CN201910825727.6A CN110539298B (en) | 2019-09-03 | 2019-09-03 | Outdoor live working robot operating system of automatic switching tool |
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|---|---|---|---|
| CN201910825727.6A CN110539298B (en) | 2019-09-03 | 2019-09-03 | Outdoor live working robot operating system of automatic switching tool |
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| CN110539298A true CN110539298A (en) | 2019-12-06 |
| CN110539298B CN110539298B (en) | 2021-03-26 |
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| CN114454215A (en) * | 2022-03-01 | 2022-05-10 | 南通新蓝机器人科技有限公司 | Quick change tool magazine of robot |
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| CN111618877A (en) * | 2020-06-12 | 2020-09-04 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-changing device and control system and method thereof |
| CN111952801A (en) * | 2020-08-07 | 2020-11-17 | 中国电力科学研究院有限公司 | Insulation recovery tool |
| CN111952801B (en) * | 2020-08-07 | 2021-10-08 | 中国电力科学研究院有限公司 | Insulation recovery tool |
| WO2022047811A1 (en) * | 2020-09-01 | 2022-03-10 | 亿嘉和科技股份有限公司 | Robot end docking mechanism |
| CN114454215A (en) * | 2022-03-01 | 2022-05-10 | 南通新蓝机器人科技有限公司 | Quick change tool magazine of robot |
| CN114454215B (en) * | 2022-03-01 | 2022-11-18 | 南通新蓝机器人科技有限公司 | Quick change tool magazine of robot |
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| CN110539298B (en) | 2021-03-26 |
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