CN111360784A - A rail mounted environment inspection robot for electric power system - Google Patents
A rail mounted environment inspection robot for electric power system Download PDFInfo
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- CN111360784A CN111360784A CN202010362816.4A CN202010362816A CN111360784A CN 111360784 A CN111360784 A CN 111360784A CN 202010362816 A CN202010362816 A CN 202010362816A CN 111360784 A CN111360784 A CN 111360784A
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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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention relates to a rail type environment inspection robot for an electric power system, which belongs to the technical field of environment inspection and comprises an I-shaped travelling rail, a travelling mechanism, a lifting rotating mechanism, a monitoring device and an electric control device, wherein the travelling mechanism travels on the travelling rail; in addition, the pressure regulating device is arranged below the power wheel, so that the friction force between the power wheel and the travelling track can be effectively regulated, the phenomenon of skidding in the travelling process is prevented, the robot can monitor an electric power system in an all-round mode through the cooperation of the travelling track, the travelling mechanism and carries the monitoring device, the inspection efficiency is high, and the inspection precision is high.
Description
Technical Field
The invention relates to the technical field of environment inspection, in particular to a rail type environment inspection robot for an electric power system.
Background
At present, most of electric power systems in China are regularly inspected by a manual meter reading mode, and the mode has many problems, such as large workload, scattered inspection points, low inspection efficiency and the like, so that many inspection operations are not timely and in place; moreover, manual inspection also has the human factors of negligence, omission and the like, so that the inspection result is inaccurate, and at the present day that the labor cost is increased day by day, the operation and maintenance cost of the power system can be increased by continuously adopting a manual mode to inspect the power system.
Although some power systems are equipped with automatic data feedback functionality, the cost of retrofitting is enormous for some older power systems.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a rail type environment inspection robot for a power supply system.
The technical scheme for realizing the purpose is as follows:
the invention provides a rail type environment inspection robot for an electric power system, which comprises an I-shaped travelling crane rail, a travelling crane mechanism travelling on the travelling crane rail, a travelling crane mechanism driving the travelling crane mechanism, a lifting rotating mechanism, a monitoring device and an electric control device, wherein the electric control device comprises an electric control bracket, the electric control bracket is provided with a power supply device, a hard disk, a main control board and an I/O device, the travelling crane mechanism comprises a travelling crane chassis positioned below the travelling crane rail, travelling crane frames positioned at two sides of the travelling crane rail are symmetrically arranged at two sides of the travelling crane chassis, the travelling crane frames are provided with suspension wheels positioned at two inner side surfaces of the travelling crane rail and guide wheels positioned at two outer side surfaces of the travelling crane rail, the weight of the travelling crane mechanism and the devices below the travelling crane mechanism are suspended and supported by the suspension wheels at two sides, and the robot can directionally travel along the direction, thereby comprehensively monitoring the whole power system;
the traveling mechanism comprises two power wheels which are attached to the bottom of the traveling rail in the front and back direction, a pressure regulating device which is installed on the traveling chassis is arranged below the power wheels, the friction force between the power wheels and the traveling rail is regulated, the two ends of the power wheels respectively protrude out of the traveling rail, the power wheels at one end are connected through a first synchronous belt, one power wheel at the other end is connected with a first speed reducing motor through a second synchronous belt, the first speed reducing motor drives one power wheel to rotate through the second synchronous belt, and then the first synchronous belt drives the other power wheel to rotate, so that the front power wheel and the rear power wheel are driving wheels, the sliding during the movement is prevented, the bottom of the traveling rail has a larger processing area, and larger friction force can be provided for the two sides of the traveling rail;
the monitoring device is arranged at the bottom end of the lifting rotating mechanism and comprises a camera, lighting equipment and a local player, field image information is collected by the camera under the cooperation of the lighting equipment, is fed back to the electric control device, and is recorded and stored in a hard disk after being processed;
the electric control device is respectively electrically connected with the first speed reducing motor, the lifting rotating mechanism and the monitoring device.
Further, a plurality of monitoring points are sequentially installed on the travelling crane track, a sensor for sensing the monitoring points is installed on the travelling crane frame, and the sensor is electrically connected with the electric control device so as to feed back the current position of the robot.
Furthermore, the front end and the rear end of the traveling crane frame protrude out of the power wheels and are provided with anti-collision blocks, so that the robot is prevented from being collided by mistake and protected.
Furthermore, the pressure regulating device comprises two lug supports symmetrically connected to the middles of two sides of the driving chassis, the lug supports are positioned below the driving chassis and are respectively hinged with two power wheel lugs, and the other ends of the power wheel lugs are respectively connected to two ends of the two power wheels;
still including two clamp plates and four pressure adjustment posts that the symmetry set up, one of them clamp plate and two pressure adjustment posts cooperate, the below of wherein two power wheel hangers is located perpendicularly to the clamp plate, the upper end of pressure adjustment post connect in driving chassis's bottom, the lower extreme of pressure adjustment post is equipped with the external screw thread, the external screw thread passes the spiro union has adjusting bolt behind the clamp plate, effectively supports front and back power wheel through clamp plate, hangers support and power wheel hangers to make two power wheel laminating in orbital bottom of driving, adjust the height of clamp plate through rotatory adjusting bolt to the hangers support is the rotation center, the degree of compaction of power wheel around the adjustment, thereby adjustment power wheel and orbital frictional force of driving, prevent that the power wheel from skidding on the driving track.
Furthermore, an elastic pressure pad is arranged between the pressure plate and the power wheel hanging lug to protect the pressure plate and the power wheel hanging lug, so that abrasion after long-time use is prevented, and the adjustment precision of the power wheel is improved.
Furthermore, the bottom of the first synchronous belt is provided with at least one idler wheel, the idler wheel can be vertically and adjustably mounted on the hanger bracket, so that the front power wheel and the rear power wheel are tensioned, and the first synchronous belt is prevented from falling off or slipping.
Furthermore, the power wheel is a rubber cylinder, so that the effective contact area between the power wheel and the travelling crane rail is increased.
Further, lifting and rotating mechanism includes multistage lead screw lift and rotatory slip table, multistage lead screw lift includes second gear motor and multistage lift lead screw and multistage screw of matched with, through the transmission form of lead screw, turns into multistage lead screw lift's elevating movement with second gear motor's rotation, the bottom of multistage lift lead screw is passed through worm gear transmission mode and is connected rotatory slip table turns into rotatory slip table with second gear motor's rotation to increase the contraction ratio of lift, improve the precision of lift, reduce the vibrations of function in-process, image stability when ensureing video acquisition.
Furthermore, power supply unit, hard disk, main control board and IO equipment all install in same one side of automatically controlled support, multistage lead screw lift is vertical to pass downwards the inside of automatically controlled support is installed lifting and rotating mechanism and electrically controlled device relatively independently simultaneously, and lifting and rotating mechanism's dismouting, maintenance and maintenance are convenient for, power supply unit is the battery, ensures the stability of power supply.
Furthermore, a plurality of sensor interfaces and a distributor interface are reserved on the monitoring device, so that the later-stage upgrading and transformation of the robot are facilitated, the illuminating equipment is an LED illuminating lamp with an adjustable illuminating angle, the illuminating angle can be manually adjusted, and targeted illumination is performed.
Has the advantages that: compared with the prior art, the track type environment inspection robot for the power supply system is different in that the track type environment inspection robot comprises an I-shaped travelling crane track, a travelling crane mechanism travelling on the travelling crane track, a travelling mechanism driving the travelling crane mechanism, a lifting rotating mechanism, a monitoring device and an electric control device, wherein the travelling mechanism comprises a front cylindrical power wheel and a rear cylindrical power wheel attached to the bottom of the travelling crane track, travelling power is provided through transmission of a first speed reducing motor, a first synchronous belt and a second synchronous belt, the contact area between the power wheels and the travelling crane track is effectively increased, friction is increased, and derailment of the travelling crane mechanism during turning is effectively avoided; a pressure regulating device is arranged below the power wheel and comprises a pressure plate, a pressure regulating column and a rotatable power wheel hanger, the height of the pressure plate can be correspondingly regulated by rotating a regulating bolt, so that the height of the power wheel is regulated, the friction force between the power wheel and a travelling rail is regulated, the phenomenon of skidding of the robot in the walking process is effectively prevented, the friction force is correspondingly regulated according to the service life, and the service life of the robot is prolonged; the lifting rotating mechanism and the electric control device are independently installed, so that the lifting rotating mechanism is convenient to disassemble, repair and maintain; in addition, the lifting and rotating mechanism comprises a multi-stage lifting screw rod, a multi-stage screw nut and a rotating sliding table, the lifting contraction ratio is effectively increased, the clearance height of rail installation is reduced, equipment such as a line bridge above an inspection environment can be avoided, the positioning precision reaches 0.02mm, vibration is reduced, the image stability during video acquisition is ensured, and the accuracy of inspection operation is improved; this robot is through the cooperation of driving track and driving mechanism, running gear to carry on monitoring devices, can all-round monitoring power system, it is efficient to patrol and examine, and it is high to patrol and examine the precision, is applicable to most of power system environment, and the effectual cost of patrolling and examining that has reduced staff's safety risk and intensity of labour.
Drawings
Fig. 1 is a schematic structural diagram of a rail-type environment inspection robot for an electric power system according to a preferred embodiment of the present application.
Fig. 2 is a schematic structural diagram of a traveling mechanism according to a preferred embodiment of the present application.
Fig. 3 is a schematic structural diagram of a traveling mechanism according to a preferred embodiment of the present application.
Fig. 4 is an assembly view of the traveling mechanism and the traveling mechanism according to a preferred embodiment of the present application.
Fig. 5 is a schematic structural view of a lifting and rotating mechanism according to a preferred embodiment of the present application.
Fig. 6 is a schematic structural diagram of an electric control device according to a preferred embodiment of the present application.
The system comprises a traveling track 1, a traveling mechanism 2, a traveling chassis 21, a traveling frame 22, a sensor 221, an anti-collision block 222, a suspension wheel 23, a guide wheel 24, a traveling mechanism 3, a power wheel 31, a first synchronous belt 32, an idler wheel 321, a second synchronous belt 33, a first speed reducing motor 34, a 4-lifting rotating mechanism 41, a multistage screw rod lifter 411, a second speed reducing motor 42, a rotary sliding table 42, a monitoring device 5, a camera 51, a lighting device 52, an electric control device 6, an electric control bracket 61, a pressure regulating device 7, an ear hanging bracket 71, a power wheel ear 72, a pressure plate 73 and a pressure regulating column 74.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1 to 6, the invention provides a rail-mounted environment inspection robot for an electric power system, which comprises an I-shaped travelling rail 1, a travelling mechanism 2 travelling on the travelling rail 1, a travelling mechanism 3 driving the travelling mechanism 2, a lifting rotating mechanism 4, a monitoring device 5 and an electric control device 6, wherein the travelling rail 1 is preferably made of standard aluminum alloy I-shaped aluminum, the travelling rail 1 is cut off or bent according to the requirement of a field path, each section of the rail is connected with each other through a standard connecting piece, the travelling rail 1 is hung at a high position of a working field through a standard I-shaped steel hoisting tool, the travelling rail 1 is hung in the air with a height of 2.4 meters from the ground and without a horizontal slope, the electric control device 6 comprises an electric control bracket 61, the electric control bracket 61 is provided with a power supply device, a hard disk, a main control board and an I/O device, the, traveling frames 22 are symmetrically installed on two sides of the traveling chassis 21, the two traveling frames 22 are respectively located on two sides of the traveling rail 1, the traveling frames 22 are provided with suspension wheels 23 located on two inner side surfaces of the traveling rail 1 and guide wheels 24 located on two outer side surfaces of the traveling rail 1, the four suspension wheels 23 and the four guide wheels 24 are respectively arranged in a front-back manner, the two suspension wheels are symmetrically distributed in a front-back and left-right manner, the weight of the traveling mechanism 2 and equipment below the traveling mechanism is suspended and supported through the suspension wheels 23 on the two sides, and the robot is enabled to directionally travel along the direction of the traveling rail 1 through the guide wheels 24 on;
running gear 3 include two around laminate in the power wheel 31 of driving track 1 bottom, the below of power wheel 31 be equipped with install in driving chassis 21's pressure regulating device 7 for the frictional force between adjustment power wheel 31 and the driving track 1, the both ends of power wheel 31 bulge respectively in driving track 1, wherein connect through first hold-in range 32 between the power wheel 31 of right-hand member, be used for the transmission, one of them power wheel 31 of left end passes through second hold-in range 33 and connects first gear motor 34, first gear motor 34 passes through second hold-in range 33 and drives one of them power wheel 31 and rotate, then drive the rotation of another power wheel 31 through first hold-in range 32, make two front and back power wheels 31 be the action wheel, skid when preventing the motion, and the bottom of driving track 1 has great processing area, can provide bigger area of contact for the both sides of driving track 1, thereby providing greater friction;
the lifting and rotating mechanism 4 is arranged at the bottom of the travelling crane chassis 1, the monitoring device 5 is arranged at the bottom end of the lifting and rotating mechanism 4 and comprises a camera 51, a lighting device 52 and a local player, under the cooperation of the lighting device 52, field image information is acquired through the camera 51 and fed back to the electric control device 6, and the field image information is recorded and stored in a hard disk after being processed;
the electric control device 6 is electrically connected with the first speed reducing motor 34, the lifting and rotating mechanism 4 and the monitoring device 5 respectively.
Preferably, a plurality of monitoring points are sequentially installed on the travelling crane track 1, a sensor 221 for sensing the monitoring points is installed on the travelling crane frame 22, the sensor 221 is electrically connected with the electric control device 6, and in the walking process, the current position of the robot is fed back by sensing different monitoring points through the sensor 221.
Preferably, the front end and the rear end of the traveling crane frame 22 protrude out of the power wheel 31 and are provided with anti-collision blocks 222, so that the robot is prevented from being collided by mistake, and the robot is protected.
As a preferred embodiment of the present invention, the pressure regulating device 7 includes two suspension loop brackets 71 symmetrically connected to the middle of two sides of the traveling chassis 21, the suspension loop brackets 71 are located below the traveling chassis 21 and are respectively hinged with two power wheel suspension loops 72, and the other ends of the power wheel suspension loops 72 are respectively connected to two ends of the two power wheels 31, so that the front and rear power wheels 31 can respectively rotate around the suspension loop brackets 71 through the two power wheel suspension loops 72;
and two pressure plates 73 and four pressure adjusting columns 74, which are symmetrically arranged, wherein each pressure plate 73 is matched with two pressure adjusting columns 74, the pressure plate 73 is vertically arranged below two power wheel hangers 72, the upper end of the pressure adjusting column 74 is connected with the bottom of the travelling crane chassis 21, the lower end of the pressure adjusting column 74 is provided with an external thread, the external thread penetrates through the pressure plate 73 and is then screwed with an adjusting bolt 75, the front and rear power wheels 31 are effectively supported by the pressure plate 73, the suspension loop bracket 71 and the power wheel suspension loop 72, and the two power wheels 31 are attached to the bottom of the driving track 1, the height of the pressure plate 73 is adjusted by rotating the adjusting bolt 75, the compression degree of the front and rear power wheels 31 is adjusted by taking the hanger bracket 71 as a rotating center, thereby, the friction force between the power wheel 31 and the running rail 1 is adjusted, and the power wheel 31 is prevented from slipping on the running rail 1.
Preferably, an elastic pressure pad is arranged between the pressure plate 73 and the power wheel hanging lug 72 to protect the pressure plate 73 and the power wheel hanging lug 72 and prevent abrasion after long-time use, after the pressure plate 73 is extruded, the elastic pressure pad is firstly extruded, the elastic pressure pad is elastically deformed and is transmitted to the power wheel hanging lug 72 and then to the power wheel 31, and the compression adjustment precision of the power wheel 31 can be effectively improved.
Preferably, an idle wheel 321 is disposed at a position near the middle of the bottom of the first synchronous belt 32, the idle wheel 321 is vertically adjustably mounted on the hanger bracket 71 to tension the front and rear power wheels 31 to prevent the first synchronous belt 32 from falling off or slipping, the idle wheel 321 is mounted in a non-limiting manner, a kidney-shaped hole may be formed in the hanger bracket 71, a rotating shaft of the idle wheel 321 passes through the kidney-shaped hole and then is connected with a fastening bolt, and the idle wheel 321 is vertically adjustable in the kidney-shaped hole.
Preferably, the power wheel 31 is a rubber cylinder to increase the effective contact area with the running rail 1.
As a preferred embodiment of the present invention, the lifting and rotating mechanism 4 includes a multi-stage lead screw lifter 41 and a rotating sliding table 42, the multi-stage lead screw lifter 41 includes a second speed reduction motor 411 and a multi-stage lifting lead screw and a multi-stage screw nut which are matched with the second speed reduction motor 411, the rotation of the second speed reduction motor 411 is converted into the lifting movement of the multi-stage lead screw lifter 41 through the transmission form of the lead screw nut, the bottom end of the multi-stage lifting lead screw is connected to the rotating sliding table 42 through a worm and gear transmission form, and the rotation of the second speed reduction motor 411 is converted into the rotation of the rotating sliding table 42, so as to increase the contraction ratio of lifting, reduce the clearance height of the installation of the traveling rail 1, reduce the vibration during the operation, and ensure the.
Preferably, power supply unit, hard disk, main control board and IO equipment all install in same one side of automatically controlled support 61, the vertical downward pass of multistage lead screw lift 41 the inside of automatically controlled support 61 makes rotatory slip table 42 bare the outside of leaking at automatically controlled support 61, simultaneously with lifting and drop rotating mechanism 4 and 6 relatively independent installations of electrically controlled device, the dismouting, the maintenance and the maintenance of the lifting and drop rotating mechanism 4 of being convenient for, power supply unit is the battery, ensures the stability of power supply, and before the electric energy exhausts, the robot returns the tip of driving track 1 automatically and charges.
Preferably, a plurality of sensor interfaces and a distributor interface are reserved on the monitoring device 5, which is convenient for later upgrading and transformation of the robot, and the lighting device 52 is an LED lighting lamp with adjustable lighting angle, which can adjust the lighting angle manually and perform targeted lighting.
The inspection robot can set an automatic inspection mode and a temporary inspection mode, wherein the automatic inspection mode is used for daily inspection, and inspection data information is automatically sorted without intervention of an operator; the temporary inspection mode is used for inspecting tasks with pertinence to abnormal conditions, and needs intervention of operators to judge the conditions of the field environment.
It should be noted that the multi-stage screw rod lifter in the application is referred to the invention patent publication No. CN206288909U, and belongs to an application in the field of power system environment inspection.
It should be noted that the terms "first and second" in the present invention are used for descriptive purposes only, do not denote any order, are not to be construed as indicating or implying any relative importance, and are to be interpreted as names.
In the present application, the terms "front" and "rear" are distinguished according to the direction in which the robot travels, and refer to the front and rear positions.
The above embodiments are merely preferred embodiments of the present disclosure, which are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like, which are within the spirit and principle of the present disclosure, should be included in the scope of the present disclosure.
Claims (10)
1. A rail mounted environment inspection robot for power system, including I-shaped driving orbit, walking in the orbital running gear of this driving, running gear, lifting rotary mechanism and monitoring devices and the electric control unit of this driving gear of drive, the said electric control unit includes the electronic control support, the said electronic control support is fitted with power supply unit, hard disk, main control board and I/O apparatus, characterized by that, the said driving gear includes the chassis of the said driving orbit below, the bilateral symmetry of the said chassis has driving racks located on both sides of said driving orbit, the said driving rack is fitted with the suspension wheel located on two medial surfaces of said driving orbit and the leading wheel located on two lateral surfaces of said driving orbit;
the travelling mechanism comprises two power wheels which are attached to the bottom of the travelling track in a front-back mode, a pressure regulating device mounted on the travelling chassis is arranged below the power wheels, two ends of the power wheels protrude out of the travelling track respectively, the power wheels at one end are connected through a first synchronous belt, and one power wheel at the other end is connected with a first speed reducing motor through a second synchronous belt;
the monitoring device is arranged at the bottom end of the lifting and rotating mechanism and comprises a camera, lighting equipment and a distributor;
the electric control device is respectively electrically connected with the first speed reducing motor, the lifting rotating mechanism and the monitoring device.
2. The orbital environmental inspection robot for the power system according to claim 1, wherein: the crane track is sequentially provided with a plurality of monitoring points, the crane frame is provided with a sensor for sensing the monitoring points, and the sensor is electrically connected with the electric control device.
3. The orbital environmental inspection robot for the power system according to claim 1, wherein: the front end and the rear end of the traveling crane frame protrude out of the power wheels and are provided with anti-collision blocks.
4. The orbital environmental inspection robot for the power system according to claim 1, wherein: the pressure regulating device comprises two lug supports symmetrically connected to the middles of two sides of the travelling crane chassis, the lug supports are positioned below the travelling crane chassis and are respectively hinged with two power wheel lugs, and the other ends of the power wheel lugs are respectively connected to two ends of the two power wheels;
the automobile chassis pressure adjusting device is characterized by further comprising two pressure plates and four pressure adjusting columns, wherein the two pressure plates and the four pressure adjusting columns are symmetrically arranged, each pressure plate is matched with the two pressure adjusting columns, the pressure plates are perpendicularly arranged below the two power wheel hangers, the upper ends of the pressure adjusting columns are connected to the bottom of the automobile chassis, external threads are arranged at the lower ends of the pressure adjusting columns, and adjusting bolts are screwed behind the pressure plates.
5. The orbital environmental inspection robot for the power system according to claim 4, wherein: an elastic pressure pad is arranged between the pressure plate and the power wheel hanger.
6. The orbital environmental inspection robot for the power system according to claim 4, wherein: the bottom of the first synchronous belt is provided with at least one idler wheel, and the idler wheel can be vertically adjusted and installed on the hanger bracket.
7. The orbital environmental inspection robot for the power system according to claim 1, wherein: the power wheel is a rubber cylinder.
8. The orbital environmental inspection robot for the power system according to claim 1, wherein: lifting and drop rotating mechanism includes multistage lead screw lift and rotatory slip table, multistage lead screw lift includes second gear motor and multistage lift lead screw of matched with and multistage screw, the bottom of multistage lift lead screw is passed through worm gear drive mode and is connected rotatory slip table.
9. The orbital environmental inspection robot for the power system according to claim 8, wherein: the power supply equipment, the hard disk, the main control board and the I/O equipment are all installed on the same side of the electric control support, the multistage screw rod lifter vertically penetrates through the inside of the electric control support downwards, and the power supply equipment is a battery.
10. The orbital environmental inspection robot for the power system according to claim 1, wherein: a plurality of sensor interfaces and a distributor interface are reserved on the monitoring device, and the illuminating equipment is an LED illuminating lamp with an adjustable illuminating angle.
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| CN202010362816.4A CN111360784B (en) | 2020-04-30 | 2020-04-30 | A rail mounted environment inspection robot for electric power system |
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| CN202010362816.4A CN111360784B (en) | 2020-04-30 | 2020-04-30 | A rail mounted environment inspection robot for electric power system |
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Cited By (5)
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| CN112003176A (en) * | 2020-08-24 | 2020-11-27 | 山东梅格彤天电气有限公司 | Intelligent power distribution room inspection device based on artificial intelligence and edge computing technology |
| CN114012697A (en) * | 2021-10-18 | 2022-02-08 | 北京华能新锐控制技术有限公司 | Positioning mechanism of track type inspection robot |
| CN114216023A (en) * | 2021-11-25 | 2022-03-22 | 国网山东省电力公司日照供电公司 | Power transmission line operation safety monitoring system |
| CN115716260A (en) * | 2023-01-10 | 2023-02-28 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type inspection industrial robot |
| CN116830899A (en) * | 2023-06-15 | 2023-10-03 | 北京易同云网科技有限公司 | Picking robot and picking system |
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