CN113446458A - Intelligent pipeline walking robot - Google Patents
Intelligent pipeline walking robot Download PDFInfo
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- CN113446458A CN113446458A CN202110722317.6A CN202110722317A CN113446458A CN 113446458 A CN113446458 A CN 113446458A CN 202110722317 A CN202110722317 A CN 202110722317A CN 113446458 A CN113446458 A CN 113446458A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent pipeline walking robot, and belongs to the field of walking inside pipelines. The intelligent pipeline walking robot can detect the direction of a passage without adding any visual equipment, and can turn through corresponding actions under the condition of needing to turn, so that the walking of the passage inside the pipeline is realized.
Description
Technical Field
The invention belongs to the field of walking inside a pipeline, and particularly relates to a pipeline walking robot.
Background
The pipeline is very widely used in the existing life, but after the pipeline has problems, the internal operation is relatively difficult, the main reason is that the pipeline can be connected into any passage, the internal walking is difficult, the pipeline placed in the horizontal plane can be operated by using a trolley, but the pipeline placed in the vertical plane, especially the pipeline placed in the vertical plane and provided with a branch intersection, is very difficult to operate, and even if the existing pipeline robot structure can vertically walk, the walking of a tee joint and even any passage cannot be realized.
Disclosure of Invention
In order to improve the problems, the invention designs an intelligent pipeline walking robot. The technical scheme of the invention is as follows:
an intelligent pipeline walking robot is characterized in that the device can be divided into three parts, a main body power part 54 is a main body power part, a main body detection part 55 is a main body detection part, a power steering part 56 is a power steering part, and an articulated gasket 14 is only one gasket used for articulation and is not specifically described.
The main body power part 54 adopts a screw transmission structure, the angle support plate 1 is provided with a stepping motor 2 and a coupling platelet 3, the coupling platelet 3 and the tail support plate 13 are respectively provided with a small-size bearing 9 for ensuring the rotation center of a screw 5, the screw 5 is connected with the output shaft of the stepping motor 2 through a coupling 8, the angle support plate 1 and the tail support plate 13 are connected with one short connecting column 20 through two long connecting columns 4, the long connecting columns 4 and the short connecting columns 20 are respectively and uniformly distributed around the screw 5 for supporting the whole frame body, the long connecting columns 4, the short connecting columns 20, the angle support plate 1 and the tail support plate 13 are fixed through twelve check rings 15, the screw 5 drives the corresponding slide block 6 to move along the direction of the screw 5, the slide block 6 is in threaded connection with the angle adjustment plate 7, the angle adjustment plate 7 is connected with 3 legs 27 through six leg connecting rods 12, for adjusting the angle of the legs 27 with respect to the angle support plate 1.
The main body detection part 55 is similar to the main body power part 54 and adopts a screw transmission structure, the circular angle support inner plate 18 is provided with a detection-stepping motor 57 and a detection-coupling small plate 58, and the difference is that the circular angle support inner plate 18 is provided with a support inner plate bearing 10 which is connected with the circular angle support outer plate 19 to form a revolute pair; the probe-coupler small plate 58 and the probe-tail support plate 61 are respectively provided with a probe-small bearing 64 for ensuring the rotation center of the probe-screw 65, the probe-screw 65 is connected with the output shaft of the probe-stepping motor 57 through a probe-coupler 59, the circular angle support inner plate 18 and the probe-tail support plate 61 are respectively connected with a probe-short connecting column 62 through two probe-long connecting columns 63, the probe-long connecting columns 63 and the probe-short connecting columns 62 are respectively and evenly distributed around the probe-screw 65 for supporting the whole frame body, the probe-long connecting columns 63, the probe-short connecting columns 62, the circular angle support plate 18 and the probe-tail support plate 61 are fixed through twelve retaining rings 66, the probe-screw 65 drives the corresponding probe-slide block 60 to move along the direction of the probe-screw 65, the detecting-sliding block 60 is connected with the circular angle adjusting inner plate 16 through threads, the circular angle adjusting inner plate 16 is provided with an adjusting inner plate bearing 11 which is connected with the circular angle adjusting outer plate 17 to form a revolute pair, and the circular angle adjusting outer plate 17 is connected with the legs 27 through inertia leg connecting rods 21 and is used for adjusting the angles of the legs 27 and the circular angle supporting outer plate 19.
The power steering portion 56 is a connecting portion of the main body power portion 54 and the main body detecting portion 55. The two long connecting columns 4 and the two detection-long connecting columns 63 extending out of the main body power part 54 and the main body detection part 55 are connected together through two universal joints 25, and the short connecting column 20 and the detection-short connecting column 62 are connected with two ends of a universal joint extension connecting rod 24; in addition, an electric pushing cylinder fixing seat 22 is installed on the angle supporting plate 1, the electric pushing cylinder fixing seat 22 is connected with the tail of the electric pushing cylinder 23 to form a column hinge, the output part of the electric pushing cylinder 23 is connected with an electric pushing cylinder connecting rod 26 to form a column hinge, the electric pushing cylinder connecting rod 26 is installed on two detection-length connecting columns 63 extending out of the main body detection part 55, and the electric pushing cylinder connecting rod 26 and the detection-length connecting columns 63 are fixed through six middle retaining rings 67.
The main body power part 54 and the main body detection part 55 both comprise legs 27, the legs 27 use an electric push rod structure, the long support rod 28 is connected with the angle support plate 1 and the round angle support outer plate 19 through a column hinge, a leg support block 37 is fixed on the long support rod 28, the leg support block 37 is a part directly hinged with the leg connecting rod 12 and the inertia leg connecting rod 21, the long support rod 28 forms a column hinge through a left connecting block 32 and a right connecting block 33 to be connected with the short connecting rod 30, electric push rod fixing seats 31 are respectively installed on the long support rod 28 and the short connecting rod 30 and are respectively used for fixing the head end and the tail end of the electric push rod 34 and forming two column hinges, wheel installation fixing frames 38 of two wheels 39 are symmetrically installed on the short support rod 30, the wheels 39 are driven by a gear pair formed by a motor 36 and a left bevel gear 42 and a right bevel gear 41, each wheel installation fixing frame 38 is provided with a wheel bearing 35 for fixing the gear shaft 40, the motor 36 is mounted on the motor fixing plate 29, and the motor fixing plate 29 is mounted on a wheel mounting bracket 38 on the side having the left connecting block 32 and the right connecting block 33.
The inertial leg connecting rod 21 is located on the main body detecting part 55 and used for connecting the leg 27 and the circular angle adjusting outer plate 17, the inertial leg connecting rod 21 and the main body detecting part form two column hinges, the inertial leg connecting rod 21 adopts a tension spring 46 for detecting whether three-way or multi-way is available in the walking process, the reinforcing pipe 44 fixes two supporting pieces 45 through a large long column 47 and a small long column 48, the tension spring 46 is hung on the large long column 47, the other end of the tension spring 46 is fixed on the large short column 49, the other two supporting pieces 45 are fixed through the large short column 49 and the small short column 50, the two supporting pieces 45 and the reinforcing pipe 44 form a sliding pair, and the inertial sensor 43 is installed on the inertial leg connecting rod 21.
The universal joint extension connecting rod 24 is adjusted on the basis of a universal transmission shaft, and only the universal transmission shaft is reserved to obtain an extension part and a universal part, and is characterized in that one end of a threaded universal joint 51 is connected with a threaded sliding rod 52 through threads, a sleeve 53 is sleeved on the sliding rod 52 to form a sliding pair and is fixedly connected with a short connecting column 20, and the other end of the universal joint adopts the same connecting mode.
The legs of the device can be opened to adapt to the inner diameter of an obstructed pipeline, the inertia leg connecting rod fully utilizes the existence of inertia force, and can detect the turnout of the pipeline in any direction by matching with the spiral pipeline inner wall walking method, and the angle of the device can be adjusted to realize the turning of any turnout in the pipeline.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the power section of the main body of the present invention;
FIG. 3 is a schematic structural view of a main body detecting part according to the present invention;
FIG. 4 is a schematic view of the power steering portion of the present invention;
FIG. 5 is a schematic view of a leg structure of the present invention;
FIG. 6 is a schematic view of an inertial leg link configuration of the present invention;
FIG. 7 is a schematic view of the universal joint extension link configuration of the present invention;
fig. 8 is a schematic view showing the pipeline running and unfolding of the present invention.
Detailed Description
The track route of the single wheel 39 is a spiral line, namely the track of each wheel 39 is a spiral line, when the device is in a straight line, the relation of each spiral line in space is parallel, when the device is in a straight line, the spiral lift angles are different, namely, the spiral lines are not parallel in space, and the purpose of adjusting the power steering part 56 is achieved; each leg having only a single wheel 39, the tangent of the pitch angle is less than or equal to
Wherein D is the diameter of the pipeline during normal walking, and D is the diameter of the pipeline at the fork.
When the pipeline runs straight, the main body detection part 55 is in the front, the main body power part 54 is in the back, the three legs 27 of the main body power part 54 drive the sliding block 6 through the screw rod 5, the three legs 27 of the main body detection part 55 drive the detection sliding block 60 through the detection screw rod 65, the legs 27 are spread to the wheels 39 to be tightly attached to the inner wall of the pipeline, and meanwhile, the angles of the long supporting rod 28 and the short supporting rod 30 are adjusted through the electric push rods 34 of the legs 27, so that the track of the wheels is a spiral line meeting the requirement of a helix angle.
When meeting a branch junction, the leg 27 of the main body detection part 55 suddenly generates acceleration due to the existence of inertia force, so that the angle of the leg 27 relative to the circular angle support outer plate 19 suddenly changes, the leg is restored to the original angle in a short time due to the existence of the tension spring 46 in the inertia leg connecting rod 21, and the control system calculates the relative position of the device and the direction of the branch junction according to the dynamic condition; after the relative position is detected, the main body power part 54 and the main body detection part 55 move forward or back for a certain distance by adjusting the helix angle of the two parts of helices, so as to adjust the relative angle relative to the intersection, and the electric push cylinder 23 in the power steering part 56 in the device is over against the pipeline opening; the three legs 27 of the main body detection part 55 are expanded and contracted, the electric pushing cylinder 23 of the power steering part 56 starts to slowly adjust the relative angle between the main body detection part 55 and the main body power part 54, meanwhile, the main body power part 54 starts to move upwards to approach the fork until the main body detection part 55 is sent into the pipeline by the main body power part 54, after the main body detection part 55 enters the pipeline, the three legs 27 of the main body detection part 55 are expanded, the expansion angle of the three legs 27 of the main body power part 54 is contracted, at the moment, the electric pushing cylinder 23 of the power steering part 56 is restored to the original state, at the same time, the main body detection part 55 starts to move forwards until the main body power part 54 enters the fork, the legs 27 of the main body power part 54 are expanded to the pipe wall, and at the moment, the normal walking state is restored.
Claims (9)
1. An intelligent pipeline walking robot is characterized in that the device can be divided into three parts, namely a main body power part (54), a main body detection part (55) and a power steering part (56); the hinged gasket (14) is used for a gasket when hinged.
2. The main body power part (54) of the intelligent pipeline walking robot as claimed in claim 1, wherein the main body power part (54) adopts a screw transmission structure, the angle support plate (1) is provided with the stepping motor (2) and the small coupling plate (3), the small coupling plate (3) and the tail support plate (13) are respectively provided with a small bearing (9) for ensuring the rotation center of the screw (5), the screw (5) is connected with the output shaft of the stepping motor (2) through the coupling (8), the angle support plate (1) and the tail support plate (13) are connected with a short connecting column (20) through two long connecting columns (4), the long connecting columns (4) and the short connecting columns (20) are respectively and uniformly distributed around the screw (5) to support the whole frame body, the long connecting columns (4), the short connecting columns (20), the angle support plate (1) and the tail support plate (13) are fixed through twelve check rings (15), the lead screw (5) drives the corresponding sliding block (6) to move along the direction of the lead screw (5), the sliding block (6) is in threaded connection with the angle adjusting plate (7), and the angle adjusting plate (7) is connected with 3 legs (27) through six leg connecting rods (12) and is used for adjusting the angles of the legs (27) and the angle supporting plate (1).
3. The main body detecting part (55) of an intelligent pipeline walking robot as claimed in claim 1, wherein the main body detecting part (55) is similar to the main body power part (54) and adopts a screw transmission structure, the circular angle support inner plate (18) is provided with a detection-stepping motor (57) and a detection-coupling small plate (58), except that the circular angle support inner plate (18) is provided with a support inner plate bearing (10) connected with the circular angle support outer plate (19) to form a rotating pair; the small probe-coupler plate (58) and the probe-tail support plate (61) are respectively provided with a probe-small bearing (64) for ensuring the rotation center of a probe-screw rod (65), the probe-screw rod (65) is connected with an output shaft of a probe-stepping motor (57) through a probe-coupler (59), the circular angle support inner plate (18) and the probe-tail support plate (61) are respectively connected with a probe-short connecting column (62) through two probe-long connecting columns (63), the probe-long connecting columns (63) and the probe-short connecting columns (62) are respectively and uniformly distributed around the probe-screw rod (65) for supporting the whole frame body, the probe-long connecting columns (63), the probe-short connecting columns (62), the circular angle support plate (18) and the probe-tail support plate (61) are fixed through twelve retaining rings (66), the detection-screw rod (65) drives the corresponding detection-slide block (60) to move along the direction of the detection-screw rod (65), the detection-slide block (60) is connected with the circular angle adjusting inner plate (16) through threads, the circular angle adjusting inner plate (16) is provided with an adjusting inner plate bearing (11) which is connected with the circular angle adjusting outer plate (17) to form a revolute pair, and the circular angle adjusting outer plate (17) is connected with the legs (27) through inertia leg connecting rods (21) and is used for adjusting the angles of the legs (27) and the circular angle supporting outer plate (19).
4. The power steering part (56) of an intelligent pipeline walking robot as claimed in claim 1, which is a connecting part of the main body power part (54) and the main body detection part (55). The device is characterized in that two long connecting columns (4) and two detection-long connecting columns (63) extending out of a main body power part (54) and a main body detection part (55) are connected together through two universal joints (25), and a short connecting column (20) and a detection-short connecting column (62) are connected with two ends of a universal joint extension connecting rod (24); in addition, an electric pushing cylinder fixing seat (22) is installed on the angle supporting plate (1), the electric pushing cylinder fixing seat (22) is connected with the tail of the electric pushing cylinder (23) to form a column hinge, the output part of the electric pushing cylinder (23) is connected with an electric pushing cylinder connecting rod (26) to form a column hinge, the electric pushing cylinder connecting rod (26) is installed on two detection-long connecting columns (63) extending out of the main body detection part (55), and the electric pushing cylinder connecting rod (26) and the detection-long connecting columns (63) are fixed through six middle retaining rings (67).
5. The main body power part (54) and the main body detection part (55) of the intelligent pipeline walking robot of claim 1 both comprise legs (27), the legs (27) use an electric push rod structure, characterized in that, a long support rod (28) is connected with an angle support plate (1) and a round angle support outer plate (19) through a column hinge, a leg support block (37) is fixed on the long support rod (28), the leg support block (37) is a part directly hinged with a leg link (12) and an inertia leg link (21), the long support rod (28) is connected with a short link (30) through a left connection block (32) and a right connection block (33) forming a column hinge, electric push rod fixing seats (31) are installed on the long support rod (28) and the short link (30) for fixing the head end and the tail end of the electric push rod (34) and forming two column hinges, wheel fixing seats (38) of two wheels (39) are symmetrically installed on the short link (30), the wheels (39) are driven by a gear pair formed by a motor (36) and a left bevel gear (42) and a right bevel gear (41), each wheel mounting fixing frame (38) is provided with a wheel bearing (35) for fixing a gear shaft (40), the motor (36) is mounted on a motor fixing plate (29), and the motor fixing plate (29) is mounted on the wheel mounting fixing frame (38) on one side of a left connecting block (32) and a right connecting block (33).
6. The inertial leg link (21) part of an intelligent pipeline walking robot as claimed in claim 1, located in the main body detecting part (55) for connecting the leg (27) and the round angle adjusting outer plate (17) to form two cylindrical hinges, the inertial leg link (21) structure using a tension spring (46) for detecting whether there is a tee joint or a multi-pass in the walking process, it is characterized in that the reinforcing tube (44) is fixed with two supporting sheets (45) through a big long column (47) and a small long column (48), a tension spring (46) is hung on the big long column (47), the other end of the tension spring (46) is fixed on a big short column (49), the other two supporting pieces (45) are fixed by a large short column (49) and a small short column (50), the two support pieces (45) and the reinforcing tube (44) form a sliding pair, and an inertial sensor (43) is inertial-mounted on the inertial leg connecting rod (21).
7. The joint extension link (24) of an intelligent pipeline walking robot as claimed in claim 1, wherein one end of the screw joint (51) is connected with the screw slide rod (52) through screw threads, the sleeve (53) is sleeved on the slide rod (52) to form a sliding pair and is fixedly connected with the short connecting column (20), and the other end of the joint adopts the same connection mode.
8. An intelligent pipeline walking robot as claimed in claim 1, wherein the path of the single wheel (39) is a spiral line, that is, the path of each wheel (39) is a spiral line, each spiral line is parallel in the spatial relationship when the robot moves straight in the pipeline, and the spiral lift angle is different when the robot adjusts the attitude, that is, the spiral lines are not parallel in the spatial relationship, thereby achieving the purpose of adjusting the power steering part (56); each leg has only a single wheel (39), the tangent of the helix angle is less than or equal to
Wherein D is the diameter of the pipeline during normal walking, and D is the diameter of the pipeline at the fork.
9. The intelligent pipeline walking robot as claimed in claim 1, wherein when the pipeline runs straight, the main body detection part (55) is in front, the main body power part (54) is in back, the three legs (27) of the main body power part (54) drive the sliding block (6) through the lead screw (5), the three legs (27) of the main body detection part (55) drive the detection sliding block (60) through the detection lead screw (65), the legs (27) are spread to the wheels (39) to be attached to the inner wall of the pipeline, and the angles of the long support rod (28) and the short support rod (30) are adjusted through the electric push rods (34) of the legs (27), so that the track of the wheels is a spiral line meeting the requirement of a helix angle; when meeting a branch junction, the leg (27) of the main body detection part (55) suddenly generates acceleration due to the existence of inertia force, so that the angle of the leg (27) relative to the circular angle support outer plate (19) suddenly changes, the leg is restored to the original angle in a short time due to the existence of a tension spring (46) in the inertia leg connecting rod (21), and the control system calculates the relative position of the device and the direction of the branch junction according to the dynamic condition; after the relative position is detected, the main body power part (54) and the main body detection part (55) advance or retreat for a certain distance by adjusting the helix angle of the two parts of helical lines, so that the relative angle of the main body power part and the main body detection part relative to a turnout is adjusted, and an electric push cylinder (23) in a power steering part (56) in the device is over against a pipeline opening; the three legs (27) of the main body detection part (55) are expanded and contracted, the electric pushing cylinder (23) of the power steering part (56) starts to slowly adjust the relative angle of the main body detection part (55) and the main body power part (54), meanwhile, the main body power part (54) starts to approach upwards to the fork until the main body power part (54) sends the main body detection part (55) to enter the pipeline, after the main body detection part (55) enters the pipeline, the three legs (27) of the main body detection part (55) are opened, the opening angle of the three legs (27) of the main body power part (54) is contracted, at the same time, the electric push cylinder (23) of the power steering part (56) is restored to the original state, meanwhile, the main body detection part (55) starts to move forwards until the main body power part (54) enters the branch opening, the legs (27) of the main body power part (54) are spread to the pipe wall, and the normal walking state is recovered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110722317.6A CN113446458A (en) | 2021-06-28 | 2021-06-28 | Intelligent pipeline walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110722317.6A CN113446458A (en) | 2021-06-28 | 2021-06-28 | Intelligent pipeline walking robot |
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| Publication Number | Publication Date |
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| CN113446458A true CN113446458A (en) | 2021-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110722317.6A Pending CN113446458A (en) | 2021-06-28 | 2021-06-28 | Intelligent pipeline walking robot |
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| CN (1) | CN113446458A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878418A (en) * | 2021-10-28 | 2022-01-04 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
| CN114962851A (en) * | 2022-06-15 | 2022-08-30 | 哈尔滨理工大学 | Be used for non-excavation ultraviolet pipeline to restore telescoping device of crawling |
| CN115432082A (en) * | 2022-09-09 | 2022-12-06 | 北京合聚数字技术有限公司 | Communication cable is robot for use |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN115432082A (en) * | 2022-09-09 | 2022-12-06 | 北京合聚数字技术有限公司 | Communication cable is robot for use |
| CN115432082B (en) * | 2022-09-09 | 2023-08-15 | 北京合聚数字技术有限公司 | Communication cable is with operation robot |
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Application publication date: 20210928 |
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