CN111555203A - Double-arm cooperative high-voltage doubling robot - Google Patents
Double-arm cooperative high-voltage doubling robot Download PDFInfo
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- CN111555203A CN111555203A CN202010497911.5A CN202010497911A CN111555203A CN 111555203 A CN111555203 A CN 111555203A CN 202010497911 A CN202010497911 A CN 202010497911A CN 111555203 A CN111555203 A CN 111555203A
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- mechanical arm
- robot
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- trolley
- doubling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
- H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
- H02G1/1248—Machines
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Abstract
The invention relates to a high-voltage doubling robot with two cooperative arms, belonging to the technical field of high-voltage operation robots; comprises a trolley, a lifting bracket, a remote control console and a robot platform; one end of a lifting support is arranged in a carriage behind the trolley cab, and the other end of the lifting support is provided with a robot platform for high-voltage wire parallel operation; a remote control platform which can be carried by the trolley and is used for realizing remote control and monitoring of the robot platform is arranged near the trolley; the robot platform includes: aerial platform, arm A, arm B, scanner, coil former, high definition digtal camera, signal lamp, vision profile sensor, quick change device, centre gripping are held in hand, force sensor and doubling winder. The robot reduces the risk of constructors in the parallel operation and reduces the difficulty of training the constructors; the high-voltage doubling robot is used for completing high-altitude high-voltage doubling operation tasks, and is simple in equipment structure, convenient to use and high in safety.
Description
Technical Field
The invention relates to a high-voltage doubling robot with two cooperative arms, and belongs to the technical field of high-voltage operation robots.
Background
In the current task of high-voltage wire doubling, constructors need to complete wire stripping and other operations of high-voltage main guide wires and drainage wires under the conditions of high altitude and electrification. The wire stripping task is complex in operation process in the whole high-voltage wire doubling task, the operation project is high-altitude and high-voltage live-line operation, and high-voltage electric shock and falling risks are caused to constructors. Therefore, the risk of the constructors in the doubling operation is reduced, the training difficulty of the constructors is reduced, and the like. In the prior art, when the constructor is trained, the main wire stripper is used for directly stripping the existing uncharged cable, so that the training of the constructor cannot reduce and eliminate the risk of high-voltage charged wire stripping.
Therefore, how to provide a high-voltage parallel operation robot with simple structure, convenient use, low cost and high safety is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to solve the technical problem of avoiding the risk of high-voltage live wire stripping operation in high-voltage parallel operation.
In order to solve the problems, the technical scheme adopted by the invention is to provide a double-arm-cooperated high-voltage doubling robot, which comprises a trolley, a lifting support, a remote control console and a robot platform; one end of a lifting support used for lifting and moving the robot platform is arranged in a carriage behind the trolley cab, and the other end of the lifting support is provided with the robot platform used for high-voltage wire parallel operation; and a remote control console which can be carried by the trolley and is used for realizing remote control and monitoring of the robot platform is arranged on the ground near the trolley.
Preferably, the robot platform comprises an aerial platform, a mechanical arm A, a mechanical arm B, a scanner, a coil rack, a high-definition camera A, a clamping hand grip, a force sensor and a wire combiner; an aerial platform is arranged on the robot platform, and a mechanical arm A and a mechanical arm B which are used for replacing manual high-voltage wire doubling operation are arranged on the aerial platform side by side and close to the tail of the trolley; a scanner for scanning the cable position and transmitting the length image of the cable to the remote control console is arranged at one side, close to the head part of the trolley, in front of the mechanical arm A and the mechanical arm B; a high-definition camera A for remote video acquisition and real-time monitoring is arranged at one side adjacent to the scanner; coil racks are arranged on one sides, close to the tail of the trolley, of the rear parts of the mechanical arm A and the mechanical arm B; the tail end of the mechanical arm A is provided with a force sensor for feeding back the wire-combining force in real time and a wire combiner for cable wire-combining operation; and the tail end of the mechanical arm B is provided with a clamping hand-grasping device for clamping a cable.
Preferably, a quick-change device a for quickly changing an operating tool at the tail end of the mechanical arm a is arranged on a force sensor arranged at the tail end of the mechanical arm a, and the doubling winder is arranged on the quick-change device a arranged on the mechanical arm a.
Preferably, the tail end of the mechanical arm B is provided with a quick-change device B for quickly changing an operation tool at the tail end of the mechanical arm B; and the tail end of the quick-change device B is provided with a clamping hand-grasping device.
Preferably, the quick-change device B is provided with a high-definition camera B for remote video acquisition and real-time monitoring.
Preferably, the aerial platform is provided with a signal lamp for displaying the operation state and playing a role of alarming.
Preferably, a tool cabinet for placing operation tools is arranged below the mechanical arm A and the mechanical arm B.
The invention also provides a use control method of the double-arm cooperative high-voltage doubling robot, which comprises the following steps:
step 1: stripping the drainage wire and the main guide wire;
step 1.1: the trolley moves to a proper position, and the lifting support supports the robot platform;
step 1.2: the coil rack automatically leads out;
step 1.3: the scanner scans the cable position and transmits information to the remote console;
step 1.4: determining the stripping lengths of the drainage wire and the main guide wire through a remote control console;
step 1.5: one end of the drainage wire cable is clamped by a clamping hand on the mechanical arm B;
step 1.6: a wire stripper on the mechanical arm A is used for stripping the drainage wire;
step 1.7: repeating the step 1.5 and the step 1.6 to carry out wire stripping operation on the main conductor;
step 2: the drainage wire and the main guide wire are connected in parallel;
step 2.1: replacing a wire-combining tool at the tail end of the mechanical arm A;
step 2.2: the mechanical arm B clamps one end of the drainage wire;
step 2.3: and the main guide wire and the drainage wire are doubled by the mechanical arm A doubling tool.
Compared with the prior art, the invention has the following beneficial effects:
the invention aims to provide a high-voltage doubling robot with two arms cooperating with each other, which is simple in structure, convenient to use, low in cost and high in safety, and can reduce risks of constructors in doubling operation and reduce training difficulty of the constructors. According to the robot for stripping the high-voltage wire, the double mechanical arms are fused with the multiple sensors, so that the robot can help constructors to complete operations of stripping the high-voltage main conductor wire and the drainage wire under high-altitude and electrified conditions in a high-voltage wire doubling task, and the high-voltage electric shock and falling risks of the constructors are avoided. The tail end of the mechanical arm uses a quick-change device, so that different tail ends can be compatible to perform different operations. Under the assistance of a robot, a high-voltage doubling worker only needs to perform software operation on the ground to determine the length of the wire stripping; the wire stripping and doubling tasks can be automatically completed, and the whole robot equipment is simple in structure, convenient to use and high in safety.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a double-arm cooperative high-voltage doubling robot according to the present invention;
FIG. 2 is a schematic structural diagram of an aerial platform of a double-arm cooperative high-voltage doubling robot according to the present invention;
fig. 3 is a drawing of a doubling flow chart of a double-arm cooperative high-voltage doubling robot according to the present invention.
Reference numerals: 1. a trolley; 2. a lifting support; 3. a remote console; 4. a robot platform; 5. an aerial platform; 6. a mechanical arm A; 7. a mechanical arm B; 8. a scanner; 9. a bobbin; 10. a high-definition camera A; 11. a signal lamp; 12. a high-definition camera B; 13. a quick-change device A; 14. a quick-change device B; 15. a clamping hand is grabbed; 16. a force sensor; 17. a doubling device; 18. a tool cabinet;
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings: in the position description of the invention, the position close to the head of the trolley is taken as the front position, and the position close to the tail of the trolley is taken as the rear position.
As shown in fig. 1-3, the invention provides a double-arm cooperative high-voltage doubling robot, which comprises a trolley 1, a lifting support 2, a remote control console 3 and a robot platform 4; one end of a lifting support 2 used for lifting and moving a robot platform 4 is arranged in a carriage behind a cab of the trolley 1, and the other end of the lifting support 2 is provided with the robot platform 4 used for high-voltage wire parallel operation; a remote control platform 3 which can be carried by the trolley and is used for realizing remote control and monitoring of the robot platform is arranged on the ground near the trolley 1. The robot platform 4 comprises an aerial platform 5, a mechanical arm A6, a mechanical arm B7, a scanner 8, a coil frame 9, a high-definition camera A10, a clamping hand grip 15, a force sensor 16 and a doubling winder 17; an aerial platform 5 is arranged on the robot platform 4, and a mechanical arm A6 and a mechanical arm B7 which are used for replacing manual high-voltage wire doubling operation are arranged on the aerial platform 5 side by side and close to the tail of the trolley; a scanner 8 for scanning the position of the cable and transmitting the length image of the cable to the remote control console 3 is arranged at one side of the front of the mechanical arm A6 and the mechanical arm B7, which is close to the head of the trolley; a high-definition camera A10 for remote video acquisition and real-time monitoring is arranged at one side adjacent to the scanner 8; a coil rack 9 is arranged at one side of the rear parts of the mechanical arm A6 and the mechanical arm B7 close to the tail part of the trolley; the tail end of the mechanical arm A6 is provided with a force sensor 16 for real-time feedback of the doubling force and a doubling device 17 for cable doubling operation; the end of the mechanical arm B7 is provided with a clamping hand-grasping device 15 for clamping the cable. The force sensor 16 arranged at the tail end of the mechanical arm A6 is provided with a quick-change device A13 for quickly changing the operating tool at the tail end of the mechanical arm A, and the doubling winder 17 is arranged on a quick-change device A13 arranged on the mechanical arm A6. The tail end of the mechanical arm B7 is provided with a quick-change device B14 for quickly changing an operation tool at the tail end of the mechanical arm B; the end of the quick-change device B14 is provided with a clamping hand-holding device 15. And a high-definition camera B12 for remote video acquisition and real-time monitoring is arranged on the quick-change device B14. And a signal lamp 11 for displaying the operation state and playing a role of alarming is arranged on the aerial platform 5. Below the robot arm a6 and the robot arm B7, a tool cabinet 18 for placing an operating tool is provided.
The invention aims to provide a double-arm-cooperated high-voltage doubling robot which is simple in structure, convenient to use, low in cost and high in safety, reduces risks of constructors in doubling operation and training difficulty of the constructors, and completes a high-altitude high-voltage doubling task.
As shown in fig. 1, the embodiment provides a double-arm-cooperated high-voltage doubling robot, which comprises a trolley 1, a lifting bracket 2, a remote control console 3 and a robot platform 4.
One end of the lifting bracket 2 is arranged on the trolley 1 and is used for controlling the robot platform 4 to lift; the robot platform 4 is arranged at the other end of the lifting bracket 2 and is used for high-voltage wire doubling operation; the remote control console 3 is placed at a remote position to realize remote control and monitoring of the robot platform 4; the trolley 1 drives the lifting support 2, the remote control platform 3 and the robot platform 4 to move.
When the lifting device is used, the trolley 1 drives the lifting support 2, the remote control platform 3 and the robot platform 4 to move to proper positions, the trolley 1 is jacked up, and the positions are kept still; the lifting support 2 is lifted to a proper position, and high-voltage wire connection is carried out through the remote control console 3 for monitoring and operating the robot platform 4 in real time.
For convenient operation, the robot platform of the present embodiment includes: the aerial platform 5, the mechanical arm A6, the mechanical arm B7, the scanner 8, the coil rack 9, the high-definition camera A10, the signal lamp 11, the high-definition camera B12, the quick-change device A13, the quick-change device B14, the clamping hand grip 15, the force sensor 16, the doubling winder 17 and the tool cabinet 18.
The mechanical arm A6 and the mechanical arm B7 are arranged on the aerial platform 5 to replace manual wire stripping and doubling; the scanner 8 is arranged at the front right position on the aerial platform 5, scans the position of the cable and transmits the length image of the cable to the remote control console 3; the coil rack 9 is arranged at the rear position of the aerial platform 5 to help the drainage wire to be led out; the high-definition camera A10 is installed at the front left position of the aerial platform 5, and remote video acquires information to realize real-time monitoring; the signal lamp 11 is arranged at the front position of the aerial platform 5 and can give an alarm in operation; the high-definition camera B12 is installed on the quick-change position B14, and the operation processes of wire stripping and wire doubling are monitored in real time; the quick-change device B14 is arranged at the tail end of the mechanical arm B7, so that a tail end tool can be conveniently changed; the clamping hand grip 15 is arranged at the tail end of the quick-change position B14 and is used for clamping the drainage wire and the main guide wire; the force sensor 16 is arranged at the tail end of the mechanical arm A6, and is used for detecting the force in the operation process in real time to play a role in protection; the doubling device 17 is arranged on a quick-change device A13 of a mechanical arm A6 and is used for doubling the drainage wire and the main guide wire; the quick-change device A13 is arranged on the force sensor 16, so that the mechanical arm A6 can change the end tool conveniently; the tool cabinet 18 is mounted below the robotic arm A6/B7 to place operational end tools for use in construction.
When in use, the trolley 1 moves to a proper position, and the lifting bracket 2 is lifted; the coil rack 9 automatically outputs wires; the scanner 8 scans the cable position and transmits information; determining the length of the stripping wire through a remote control console 3; the mechanical arm B7 clamps the gripper 15 to clamp one end of the drainage wire cable; performing wire stripping operation on the drainage wire and the main guide wire through a wire stripper on the mechanical arm A6; the tail end of the mechanical arm A6 is replaced with a wire-merging tool; the mechanical arm B7 clamps one end of the drainage wire and the leading cable; and the main guide wire and the drainage wire are doubled by a wire clamp through a mechanical arm A6 doubling tool.
The invention provides a use control method of a double-arm cooperative high-voltage doubling robot, which comprises the following steps:
step 1: stripping the drainage wire and the main guide wire;
step 1.1: the trolley moves to a proper position, and the lifting support supports the robot platform;
step 1.2: the coil rack automatically leads out;
step 1.3: the scanner scans the cable position and transmits information to the remote console;
step 1.4: determining the stripping lengths of the drainage wire and the main guide wire through a remote control console;
step 1.5: one end of the drainage wire cable is clamped by a clamping hand on the mechanical arm B;
step 1.6: a wire stripper on the mechanical arm A is used for stripping the drainage wire;
step 1.7: repeating the step 1.5 and the step 1.6 to carry out wire stripping operation on the main conductor;
step 2: the drainage wire and the main guide wire are connected in parallel;
step 2.1: replacing a wire-combining tool at the tail end of the mechanical arm A;
step 2.2: the mechanical arm B clamps one end of the drainage wire;
step 2.3: and the main guide wire and the drainage wire are doubled by the mechanical arm A doubling tool.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention. In the description of the present invention, it is to be understood that the terms "middle", "upper", "lower", "front", "rear", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be interpreted broadly, e.g., as being either a fixed connection or a removable connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Claims (8)
1. The utility model provides a high pressure doubling robot that both arms are cooperative which characterized in that: comprises a trolley, a lifting bracket, a remote control console and a robot platform; one end of a lifting support used for lifting and moving the robot platform is arranged in a carriage behind the trolley cab, and the other end of the lifting support is provided with the robot platform used for high-voltage wire parallel operation; and a remote control console which can be carried by the trolley and is used for realizing remote control and monitoring of the robot platform is arranged on the ground near the trolley.
2. A double-arm cooperative high-voltage doubling robot as claimed in claim 1, wherein: the robot platform comprises an aerial platform, a mechanical arm A, a mechanical arm B, a scanner, a coil rack, a high-definition camera A, a clamping hand grip, a force sensor and a wire combiner; an aerial platform is arranged on the robot platform, and a mechanical arm A and a mechanical arm B which are used for replacing manual high-voltage wire doubling operation are arranged on the aerial platform side by side and close to the tail of the trolley; a scanner for scanning the cable position and transmitting the length image of the cable to the remote control console is arranged at one side, close to the head part of the trolley, in front of the mechanical arm A and the mechanical arm B; a high-definition camera A for remote video acquisition and real-time monitoring is arranged at one side adjacent to the scanner; coil racks are arranged on one sides, close to the tail of the trolley, of the rear parts of the mechanical arm A and the mechanical arm B; the tail end of the mechanical arm A is provided with a force sensor for feeding back the wire-combining force in real time and a wire combiner for cable wire-combining operation; and the tail end of the mechanical arm B is provided with a clamping hand-grasping device for clamping a cable.
3. A double-arm cooperative high-voltage doubling robot as claimed in claim 2, wherein: the quick-change device A for quickly changing the operation tool at the tail end of the mechanical arm A is arranged on the force sensor arranged at the tail end of the mechanical arm A, and the doubling winder is arranged on the quick-change device A arranged on the mechanical arm A.
4. A double-arm cooperative high-voltage doubling robot as claimed in claim 3, wherein: the tail end of the mechanical arm B is provided with a quick-change device B for quickly changing an operation tool at the tail end of the mechanical arm B; and the tail end of the quick-change device B is provided with a clamping hand-grasping device.
5. The double-arm cooperative high-voltage doubling robot as claimed in claim 4, wherein: and the quick-change device B is provided with a high-definition camera B for remote video acquisition and real-time monitoring.
6. The double-arm cooperative high-voltage doubling robot as claimed in claim 5, wherein: and the aerial platform is provided with a signal lamp which is used for displaying the operation state and playing a role of alarming.
7. The double-arm cooperative high-voltage doubling robot as claimed in claim 6, wherein: and a tool cabinet for placing operating tools is arranged below the mechanical arm A and the mechanical arm B.
8. A use control method of a high-voltage doubling robot with two cooperative arms is characterized by comprising the following steps: the method comprises the following steps:
step 1: stripping the drainage wire and the main guide wire;
step 1.1: the trolley moves to a proper position, and the lifting support supports the robot platform;
step 1.2: the coil rack automatically leads out;
step 1.3: the scanner scans the cable position and transmits information to the remote console;
step 1.4: determining the stripping lengths of the drainage wire and the main guide wire through a remote control console;
step 1.5: one end of the drainage wire cable is clamped by a clamping hand on the mechanical arm B;
step 1.6: a wire stripper on the mechanical arm A is used for stripping the drainage wire;
step 1.7: repeating the step 1.5 and the step 1.6 to carry out wire stripping operation on the main conductor;
step 2: the drainage wire and the main guide wire are connected in parallel;
step 2.1: replacing a wire-combining tool at the tail end of the mechanical arm A;
step 2.2: the mechanical arm B clamps one end of the drainage wire;
step 2.3: and the main guide wire and the drainage wire are doubled by the mechanical arm A doubling tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010497911.5A CN111555203A (en) | 2020-06-04 | 2020-06-04 | Double-arm cooperative high-voltage doubling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010497911.5A CN111555203A (en) | 2020-06-04 | 2020-06-04 | Double-arm cooperative high-voltage doubling robot |
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| CN111555203A true CN111555203A (en) | 2020-08-18 |
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| CN202010497911.5A Pending CN111555203A (en) | 2020-06-04 | 2020-06-04 | Double-arm cooperative high-voltage doubling robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894831A (en) * | 2021-04-21 | 2021-06-04 | 广东电网有限责任公司电力科学研究院 | Double-arm robot insulated wire stripping system and method |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
| CN115189298A (en) * | 2022-09-09 | 2022-10-14 | 国网浙江慈溪市供电有限公司 | Bypass live-wire work vehicle-mounted robot, method and vehicle |
| CN116512216A (en) * | 2023-06-29 | 2023-08-01 | 国网瑞嘉(天津)智能机器人有限公司 | Double-arm robot lead connecting operation method and live working system |
-
2020
- 2020-06-04 CN CN202010497911.5A patent/CN111555203A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894831A (en) * | 2021-04-21 | 2021-06-04 | 广东电网有限责任公司电力科学研究院 | Double-arm robot insulated wire stripping system and method |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
| CN115189298A (en) * | 2022-09-09 | 2022-10-14 | 国网浙江慈溪市供电有限公司 | Bypass live-wire work vehicle-mounted robot, method and vehicle |
| CN116512216A (en) * | 2023-06-29 | 2023-08-01 | 国网瑞嘉(天津)智能机器人有限公司 | Double-arm robot lead connecting operation method and live working system |
| CN116512216B (en) * | 2023-06-29 | 2023-10-20 | 国网瑞嘉(天津)智能机器人有限公司 | Double-arm robot lead connecting operation method and live working system |
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