CN113796224A - Tree obstacle removing robot - Google Patents
Tree obstacle removing robot Download PDFInfo
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- CN113796224A CN113796224A CN202111153358.4A CN202111153358A CN113796224A CN 113796224 A CN113796224 A CN 113796224A CN 202111153358 A CN202111153358 A CN 202111153358A CN 113796224 A CN113796224 A CN 113796224A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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Abstract
The invention discloses a tree obstacle clearing robot which comprises an opening and closing mechanism, a cutting mechanism capable of swinging up and down, a winding mechanism and a plurality of wiring mechanisms, wherein two cutting mechanisms are arranged on the front side of the opening and closing mechanism, the winding mechanism and the wiring mechanisms are respectively arranged on the rear side of the opening and closing mechanism, and the wiring mechanisms are distributed on two sides of the winding mechanism; the opening and closing mechanism is used for driving the two cutting mechanisms to perform relative opening and closing actions; when the tree barrier is cleared, the opening and closing mechanism controls the two cutting mechanisms to perform relative opening and closing movement to form a large-range cutting area surrounding the periphery of the distribution network line, and the cutting mechanism increases the space range of the cutting area by adjusting the amplitude of vertical swing, so that the cutting mechanism, the opening and closing mechanism and the routing mechanism are matched to form a barrier clearing channel surrounding the periphery of the distribution network line, and the clearing efficiency of the tree barrier close to the distribution network line is improved.
Description
Technical Field
The invention relates to the technical field of automatic robots, in particular to a tree obstacle removing robot.
Background
Join in marriage net twine way and often receive the puzzlement of tree obstacle in the open air, the faster trees of growing influence easily and join in marriage net twine way's transmission of electricity work, the branch and leaf that grows too fast can cause serious damage to joining in marriage net twine way, present tree obstacle clearance operation divide into manual cleaning and the automatic clearance of tree obstacle clearance robot, and manual cleaning is not only work efficiency low, there is great safety risk still, and the cutting range and the cutting distance that robot was clear away to current tree obstacle are limited, only can clear up the more outlying tree obstacle of joining in marriage net twine way usually, and the tree obstacle that is close to joining in marriage net twine way edge is then difficult to clear up, can't clear up the tree obstacle.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a tree obstacle removing robot which can be used for removing tree obstacles close to the edge of a distribution network line and has high safety and reliability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot for clearing tree obstacles comprises an opening and closing mechanism, a cutting mechanism capable of swinging up and down, a winding mechanism and a plurality of wiring mechanisms, wherein two cutting mechanisms are arranged on the front side of the opening and closing mechanism, the winding mechanism and the wiring mechanisms are respectively arranged on the rear side of the opening and closing mechanism, and the wiring mechanisms are distributed on two sides of the winding mechanism; the opening and closing mechanism is used for driving the two cutting mechanisms to do relative opening and closing actions.
The barrier removing robot further comprises a stopping mechanism arranged on the front side of the opening and closing mechanism, and the stopping mechanism is used for limiting the rotation angle of the cutting mechanism.
In the tree obstacle clearing robot, the opening and closing mechanism comprises a shell, two track toothed plates, a driving gear and a driving device, the two track toothed plates are respectively arranged in the shell through a rotating shaft, two ends of the rotating shaft are respectively and rotatably connected with the shell, the driving gear is arranged between the two track toothed plates and is respectively meshed with the two track toothed plates, the driving device is arranged on the inner side of the shell, and an output shaft of the driving device is fixedly connected with the driving gear; the cutting mechanisms are arranged on the outer side of the shell, and the bottoms of the two cutting mechanisms are respectively connected with the two rotating shafts.
In the tree obstacle removing robot, one end of the rotating shaft is provided with a rod sleeve; the cutting mechanism comprises a rotating part and a cutting part, the bottom of the rotating part is fixedly connected with the rod sleeve, and the cutting part is arranged at the top of the rotating part and is rotatably connected with the rotating part.
In the tree obstacle removing robot, the stop mechanism is arranged on the outer side of the shell, the rod sleeve is positioned between the stop mechanism and the shell, and a plurality of limiting rods are arranged between the stop mechanism and the shell; the limiting rod is used for limiting the rotation angle of the rod sleeve.
In the tree obstacle removing robot, the rotating part comprises a connecting rod and a rotating head, and the cutting part comprises a swinging rod, a cutting disc and a cutting motor; the bottom of connecting rod with the rod cover links firmly, it sets up to rotate the head the top of connecting rod, the bottom of swinging arms with it is articulated to rotate the head, the cutting dish with the cutting motor sets up respectively the top of swinging arms, the output shaft of cutting motor with the cutting dish links firmly.
In the tree obstacle removing robot, a plurality of anti-sputtering frames are distributed on the periphery of the cutting disc, and one end of each anti-sputtering frame is fixedly connected with the oscillating rod.
In the tree obstacle removing robot, the tree obstacle removing robot further comprises a rotation stopping mechanism, the rotation stopping mechanism is arranged on the inner side of the shell and connected with the rotating shaft, and the rotation stopping mechanism is electrically connected with the driving device; the rotation stopping mechanism is used for preventing the two cutting parts from being opened and closed in a transition mode.
In the robot for removing the tree obstacle, a convex ring is arranged in the rotation stopping mechanism, the convex ring is fixedly connected with the rotating shaft, and travel switches are respectively arranged on the upper side and the lower side of the convex ring; the two travel switches are respectively electrically connected with the driving device.
Among the barrier clearance machine people who states, barrier clearance machine people still include the bedplate, the mechanism that opens and shuts sets up one side of bedplate, hoist mechanism and a plurality of line mechanism of walking set up respectively on the bedplate, the both sides of hoist mechanism respectively through top strut with open and shut the mechanism with the bedplate reinforced connection.
Has the advantages that:
the invention provides a tree obstacle removing robot, wherein when tree obstacles are removed, the opening and closing mechanism controls two cutting mechanisms to perform relative opening and closing movement to form a large-range cutting area surrounding the periphery of a distribution network line, and the cutting mechanisms increase the space range of the cutting area by adjusting the vertical swing amplitude, so that the cutting mechanisms, the opening and closing mechanism and the routing mechanism are matched to form an obstacle removing channel surrounding the periphery of the distribution network line, and the removing efficiency of the tree obstacles close to the distribution network line is improved.
Drawings
Fig. 1 is a schematic overall structure diagram of a first tree obstacle removing robot provided by the invention;
fig. 2 is a schematic view of an overall structure of the tree obstacle removing robot according to the present invention;
fig. 3 is a schematic structural diagram of the cutting mechanism in the barrier removing robot provided by the invention;
fig. 4 is a schematic view of an internal structure of the opening and closing mechanism in the tree obstacle removing robot provided by the present invention;
fig. 5 is an enlarged view of the area a in fig. 4.
Description of the main element symbols: 1-opening and closing mechanism, 2-cutting mechanism, 3-hoisting mechanism, 4-wiring mechanism, 5-stopping mechanism, 6-rotation stopping mechanism, 7-seat plate, 8-equipotential mechanism, 9-in-place detection mechanism, 10-hanger, 101-distribution network line, 11-shell, 12-track toothed plate, 13-rotating shaft, 14-driving gear, 15-driving device, 21-rotating part, 22-cutting part, 41-wiring arm, 42-push-pull device, 51-limiting rod, 61-convex ring, 62-travel switch, 71-top support frame, 131-rod sleeve, 211-connecting rod, 212-rotating head, 221-swinging rod, 222-cutting disk, 223-cutting motor, 224-sputtering prevention frame, 212 a-swivel mount, 212 b-rotating motor.
Detailed Description
The invention provides a tree obstacle removing robot, which is further described in detail below by referring to the accompanying drawings and embodiments in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be understood that the terms "middle", "inside", "outside", and the like indicate orientations or positional relationships based on the drawings, and are only for convenience of describing the present invention and for simplification of description. Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
Referring to fig. 1 to 5, the invention provides a barrier clearing robot, which includes an opening and closing mechanism 1, a cutting mechanism 2 capable of swinging up and down, a winding mechanism 3 and a plurality of routing mechanisms 4, wherein two cutting mechanisms 2 are arranged on the front side of the opening and closing mechanism 1, the winding mechanism 3 and the routing mechanisms 4 are respectively arranged on the rear side of the opening and closing mechanism 1, and the routing mechanisms 4 are distributed on two sides of the winding mechanism 3; the opening and closing mechanism 1 is used for driving the two cutting mechanisms 2 to do relative opening and closing actions.
In practical use, a hauling rope (not shown in the figure) is coiled in the hoisting mechanism 3, the hauling rope is reeled and released through the hoisting mechanism 3 to realize the lifting on the distribution network line 101, when the cable is lifted to the distribution network line 101, the cable hanging action is finished by the routing mechanism 4 embracing the distribution network line 101, and the cable runs along the distribution network line 101 through the routing mechanism 4, when the tree barrier is cleaned, the opening and closing mechanism 1 controls the two cutting mechanisms 2 to perform relative opening and closing movement to form a large-range cutting area surrounding the periphery of the distribution network line 101, and the cutting mechanism 2 increases the spatial range of the cutting area by adjusting the amplitude of the up-and-down swing, therefore, the cutting mechanism 2, the opening and closing mechanism 1 and the routing mechanism 4 are matched to form a barrier removing channel surrounding the periphery of the distribution network line, and the efficiency of removing the tree barrier close to the distribution network line is improved.
In this embodiment, as shown in fig. 2, the robot for removing the tree obstacle further includes a hanger 10, a hook portion for hooking the distribution network line 101 is arranged at the top of the hanger 10, the hanger 10 is arranged above the winding mechanism 3 and connected with the winding mechanism 3 through a traction rope, the hanger 10 is hung on the distribution network line 101 through an unmanned aerial vehicle, namely, the traction rope is hung on the distribution network line 101 through the hanger 10, so that the hanging of the traction rope is realized, and the winding mechanism 3 enables the robot for removing the tree obstacle to lift along the traction rope by winding and unwinding the traction rope.
In this embodiment, as shown in fig. 1 and fig. 2, the tree obstacle clearing robot further includes an equipotential mechanism 8, where the equipotential mechanism 8 is disposed at the top of the hoisting mechanism 3, and when the equipotential mechanism 8 contacts the distribution network line 101 during use, the equipotential mechanism 8 enables an equipotential field to be rapidly formed between the tree obstacle clearing robot and the distribution network line 101, so that influence of electromagnetic interference generated by high voltage electricity on the tree obstacle clearing robot is reduced, and the operation stability of the tree obstacle clearing robot is improved.
In this embodiment, as shown in fig. 2, the tree obstacle clearing robot further includes an in-place detection mechanism 9, the in-place detection mechanism 9 is disposed at the top of the hoisting mechanism 3, the in-place detection mechanism 9 is electrically connected to the hoisting mechanism 3 and the routing mechanism 4, the in-place detection mechanism 9 is configured to detect an in-place condition of the distribution network line 101, and when the in-place detection mechanism 9 detects the distribution network line 101 above the in-place detection mechanism 9, the in-place detection mechanism 9 sends a control signal to the hoisting mechanism 3 and the routing mechanism 4, so that the hoisting mechanism 3 stops climbing, and the routing mechanism 4 is controlled to complete a wire hanging action, thereby implementing an automatic wire hanging task of the tree obstacle clearing robot.
As shown in fig. 1 and 3, further, the barrier clearing robot further includes a stopping mechanism 5 disposed at a front side of the opening and closing mechanism 1, and the stopping mechanism 5 is used for limiting a rotation angle of the cutting mechanism 2; if mechanism 1 that opens and shuts receives when strong electromagnetic interference control is malfunctioning, mechanism 1 that opens and shuts has the problem of excessively opening and shutting, leads to two easily cutting mechanism 2 bumps, so through backstop mechanism 5 is right cutting mechanism 2's rotation angle limits, avoids two cutting mechanism 2 takes place the problem of excessively opening and shutting, has improved the security of using.
As shown in fig. 1 to 4, further, the opening and closing mechanism 1 includes a housing 11, two orbital toothed plates 12, a driving gear 14 and a driving device 15, where the two orbital toothed plates 12 are respectively disposed in the housing 11 through a rotating shaft 13, two ends of the rotating shaft 13 are respectively rotatably connected to the housing 11, the driving gear 14 is disposed between the two orbital toothed plates 12 and respectively engaged with the two orbital toothed plates 12, the driving device 15 is disposed inside the housing 11, and an output shaft of the driving device 15 is fixedly connected to the driving gear 14; the cutting mechanisms 2 are arranged on the outer side of the shell 11, and the bottoms of the two cutting mechanisms 2 are respectively connected with the two rotating shafts 13; through the arrangement, the opening and closing mechanism 1 can drive the two cutting mechanisms 2 to rotate at the same time, so that the relative opening and closing actions of the two cutting mechanisms 2 are realized, and only one driving device 15 is equipped to drive the two cutting mechanisms 2 at the same time, so that the overall weight of the tree obstacle clearing robot is greatly reduced, the design of the tree obstacle clearing robot is more reasonable, and the burden on the distribution network line 101 is reduced; in one embodiment, the drive means 15 is a servo motor.
As shown in fig. 1 to 4, further, one end of the rotating shaft 13 is provided with a rod sleeve 131; the cutting mechanism 2 comprises a rotating part 21 and a cutting part 22, the bottom of the rotating part 21 is fixedly connected with the rod sleeve 131, and the cutting part 22 is arranged at the top of the rotating part 21 and is rotatably connected with the rotating part 21; the cutting part 22 is driven to swing up and down by the rotating part 21, so that the cutting angle and the cutting range of the cutting part 22 are adjusted.
As shown in fig. 1 and 3, further, the stopping mechanism 5 is disposed outside the housing 11, the rod sleeve 131 is located between the stopping mechanism 5 and the housing 11, and a plurality of limiting rods 51 are disposed between the stopping mechanism 5 and the housing 11; the limiting rod 51 is used for limiting the rotation angle of the rod sleeve 131; the limiting rods 51 are respectively positioned above the inner side and below the inner side of the rod sleeve 131, and the rod sleeve 131 is stopped by the limiting rods 51, so that the two cutting mechanisms 2 are prevented from colliding due to the fact that the rod sleeve 131 is opened and closed in a transition mode, and the use safety is improved.
As shown in fig. 3, further, the rotating part 21 includes a connecting rod 211 and a rotating head 212, and the cutting part 22 includes a swing rod 221, a cutting disk 222 and a cutting motor 223; the bottom of the connecting rod 211 is fixedly connected with the rod sleeve 131, the rotating head 212 is arranged at the top of the connecting rod 211, the bottom of the swinging rod 221 is hinged with the rotating head 212, the cutting disc 222 and the cutting motor 223 are respectively arranged at the top of the swinging rod 221, and the output shaft of the cutting motor 223 is fixedly connected with the cutting disc 222; the cutting part 22 is driven to swing up and down through the rotating head 212, so that the cutting angle and the cutting range of the cutting disc 222 are adjusted; the cutting disc 222 can cut the tree barrier, so that the moment can be reduced, the load borne by the rotating part 21 and the cutting part 22 during cutting can be reduced, the cutting part 22 is prevented from shaking during cutting, and the stability of the cutting part 22 is improved, for example: if the saw chain is adopted to cut the tree barrier, the force arm of the saw chain is large, so that the moment is increased, the saw chain can shake during cutting, and the cutting precision and efficiency are reduced.
As shown in fig. 3, the rotating head 212 includes a rotating base 212a, a rotating motor 212b, a driving wheel (not shown), a toothed belt (not shown), a driven wheel (not shown), and a worm (not shown), the rotating motor 212b is disposed on one side of the rotating base 212a, the worm is disposed in the rotating base 212a, the driving wheel is fixedly connected to an output shaft of the rotating motor 212b, the driven wheel is engaged with the worm, the driving wheel and the driven wheel are connected through the toothed belt, and a bottom of the swinging rod 221 is connected to the worm; the upward and downward swinging of the cutting part 22 is realized by the above arrangement.
As shown in fig. 3, further, a plurality of anti-sputtering frames 224 are distributed on the periphery of the cutting disc 222, and one end of each anti-sputtering frame 224 is fixedly connected with the swing rod 221; the cutting disk 222 may be broken after being used for a long time, and the fragments in high-speed rotation are easy to sputter outwards, so that the fragments of the cutting disk 222 are prevented from sputtering outwards by the sputtering prevention frame 224, and the use safety of the cutting disk 222 is improved.
As shown in fig. 2, 4 and 5, the tree obstacle clearing robot further includes a rotation stopping mechanism 6, the rotation stopping mechanism 6 is disposed inside the housing 11 and connected to the rotating shaft 13, and the rotation stopping mechanism 6 is electrically connected to the driving device 15; the rotation stopping mechanism 6 is used for preventing the two cutting parts 22 from being opened and closed in a transition way; through it further prevents two to splines mechanism 6 cutting mechanism 2 takes place the problem of excessive cohesion, works as when pivot 13 excessively rotates, pivot 13 then triggers spline mechanism 6, spline mechanism 6 then controls drive arrangement 15 stop work avoids two cutting mechanism 2 bumps.
As shown in fig. 5, further, a convex ring 61 is arranged in the rotation stopping mechanism 6, the convex ring 61 is fixedly connected with the rotating shaft 13, and travel switches 62 are respectively arranged on the upper side and the lower side of the convex ring 61; the two travel switches 62 are electrically connected to the driving device 15 respectively; the upper travel switch 62 and the lower travel switch 62 are triggered by the convex ring 61, and if the convex ring 61 touches any one of the travel switches 62, it indicates that the cutting mechanism 2 is to be opened and closed in a transition manner, so that the travel switches 62 send a stop command to the driving device 15, thereby avoiding collision of the two cutting mechanisms 2 and improving the use safety.
As shown in fig. 1 and 2, the tree obstacle removing robot further includes a seat plate 7, the opening and closing mechanism 1 is disposed on one side of the seat plate 7, the winding mechanism 3 and the routing mechanisms 4 are respectively disposed on the seat plate 7, and two sides of the winding mechanism 3 are respectively connected to the opening and closing mechanism 1 and the seat plate 7 through a top bracket 71; the top support frame 71 can counteract the reaction force generated when the cutting mechanism 2 cuts the tree barrier, so that the opening and closing mechanism 1 is prevented from bending backwards.
As shown in fig. 2, the routing mechanism 4 includes a routing arm 41 and a push-pull device 42, bottoms of the routing arm 41 and the push-pull device 42 are respectively hinged to the seat plate 7, and an output shaft of the push-pull device 42 is hinged to the routing arm 41; the clasping action of the routing arm 41 to the distribution network line 101 is realized by the extension or retraction of the push-pull device 42; in one embodiment, the push-pull device 42 is a telescopic cylinder.
To sum up, when clearing up the tree barrier, open and shut 1 control of mechanism two cutting mechanism 2 carries out the relative motion that opens and shuts, forms one and encircles and join in marriage the peripheral cutting area on a large scale of net twine way 101, and cutting mechanism 2 is through the space range of adjusting luffing motion's range increase cutting area, so cutting mechanism 2 open and shut 1 with walk line mechanism 4 cooperation and use and form one and encircle at the peripheral clear barrier passageway of joining in marriage net twine way, improve the efficiency of cleaing away of the tree barrier that closes on joining in marriage net twine way.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. A robot for clearing tree obstacles is characterized by comprising an opening and closing mechanism, a cutting mechanism capable of swinging up and down, a winding mechanism and a plurality of wiring mechanisms, wherein two cutting mechanisms are arranged on the front side of the opening and closing mechanism, the winding mechanism and the wiring mechanisms are respectively arranged on the rear side of the opening and closing mechanism, and the wiring mechanisms are distributed on two sides of the winding mechanism; the opening and closing mechanism is used for driving the two cutting mechanisms to do relative opening and closing actions.
2. The barrier removing robot as claimed in claim 1, further comprising a stopping mechanism disposed in front of the opening and closing mechanism, wherein the stopping mechanism is configured to limit a rotation angle of the cutting mechanism.
3. The barrier clearing robot as claimed in claim 2, wherein the opening and closing mechanism comprises a housing, two rail tooth plates, a driving gear and a driving device, the two rail tooth plates are respectively disposed in the housing through a rotating shaft, two ends of the rotating shaft are respectively rotatably connected with the housing, the driving gear is disposed between the two rail tooth plates and respectively engaged with the two rail tooth plates, the driving device is disposed inside the housing, and an output shaft of the driving device is fixedly connected with the driving gear; the cutting mechanisms are arranged on the outer side of the shell, and the bottoms of the two cutting mechanisms are respectively connected with the two rotating shafts.
4. A barrier removing robot as claimed in claim 3, wherein a rod housing is provided at one end of said rotary shaft; the cutting mechanism comprises a rotating part and a cutting part, the bottom of the rotating part is fixedly connected with the rod sleeve, and the cutting part is arranged at the top of the rotating part and is rotatably connected with the rotating part.
5. The barrier removing robot as claimed in claim 4, wherein the stopping mechanism is disposed outside the housing, the rod sleeve is disposed between the stopping mechanism and the housing, and a plurality of position limiting rods are disposed between the stopping mechanism and the housing; the limiting rod is used for limiting the rotation angle of the rod sleeve.
6. The barrier removal robot of claim 4, wherein the rotating portion comprises a connecting rod and a rotating head, and the cutting portion comprises a swing rod, a cutting disc, and a cutting motor; the bottom of connecting rod with the rod cover links firmly, it sets up to rotate the head the top of connecting rod, the bottom of swinging arms with it is articulated to rotate the head, the cutting dish with the cutting motor sets up respectively the top of swinging arms, the output shaft of cutting motor with the cutting dish links firmly.
7. The barrier removing robot as claimed in claim 6, wherein a plurality of sputtering prevention frames are distributed around the cutting disc, and one end of each sputtering prevention frame is fixedly connected with the swing rod.
8. The barrier removing robot as claimed in claim 4, further comprising a rotation stopping mechanism, wherein the rotation stopping mechanism is disposed inside the housing and connected to the rotating shaft, and the rotation stopping mechanism is electrically connected to the driving device; the rotation stopping mechanism is used for preventing the two cutting parts from being opened and closed in a transition mode.
9. The barrier removing robot as claimed in claim 8, wherein a protruding ring is provided in the rotation stopping mechanism, the protruding ring is fixedly connected to the rotating shaft, and travel switches are provided on upper and lower sides of the protruding ring respectively; the two travel switches are respectively electrically connected with the driving device.
10. The barrier removing robot as claimed in claim 1, further comprising a base plate, wherein the opening and closing mechanism is disposed on one side of the base plate, the winding mechanism and the routing mechanisms are disposed on the base plate, and two sides of the winding mechanism are connected to the opening and closing mechanism and the base plate through a top bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153358.4A CN113796224B (en) | 2021-09-29 | 2021-09-29 | Robot for removing tree obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153358.4A CN113796224B (en) | 2021-09-29 | 2021-09-29 | Robot for removing tree obstacle |
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| CN113796224A true CN113796224A (en) | 2021-12-17 |
| CN113796224B CN113796224B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111153358.4A Active CN113796224B (en) | 2021-09-29 | 2021-09-29 | Robot for removing tree obstacle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114847027A (en) * | 2022-05-25 | 2022-08-05 | 武汉戎汇电通科技有限公司 | Folding flexible integral type transmission and distribution lines roadblock clearance robot |
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| CN114847027B (en) * | 2022-05-25 | 2024-01-23 | 武汉戎汇电通科技有限公司 | Folding and telescopic integrated power transmission and distribution line tree obstacle removing robot |
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| CN113796224B (en) | 2023-06-16 |
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