CN114348898A - Maintenance lifting device for rail hanging robot - Google Patents
Maintenance lifting device for rail hanging robot Download PDFInfo
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- CN114348898A CN114348898A CN202111445203.8A CN202111445203A CN114348898A CN 114348898 A CN114348898 A CN 114348898A CN 202111445203 A CN202111445203 A CN 202111445203A CN 114348898 A CN114348898 A CN 114348898A
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Abstract
The invention relates to a rail hanging robot repairing and lifting device. The rail hanging robot repairing lifting device comprises a lifting mechanism and a longitudinal guide rail. The lifting mechanism comprises a lifting base, two lifting clamping claws and a top support piece. The two lifting clamping claws are oppositely arranged. When the two lifting clamping claws are in a clamping state, the two lifting clamping claws clamp the rail hanging robot. When two lifting clamping claws clamp the rail hanging robot: the top support piece moves upwards to drive the two robot clamping claws to open, and the rail hanging robot is separated from the transverse guide rail. Or the top support piece moves downwards, the two robot clamping claws are closed, and the rail hanging robot is hung on the transverse guide rail. The rail hanging robot maintenance lifting device has the advantages that the rail hanging robot can be separated from the transverse guide rail and moved downwards to a position with a certain height away from the ground, and the rail hanging robot is sent back to be hung on the transverse guide rail after being checked and maintained, so that the rail hanging robot can be checked and maintained conveniently.
Description
Technical Field
The invention relates to the technical field of rail hanging robots, in particular to a rail hanging robot repairing and lifting device.
Background
The rail hanging robot is a movable inspection robot and is suitable for various occasions such as cables, warehouses, workshops and the like. For the increase range of patrolling and examining of hanging rail robot, generally set up its high department apart from ground several meters, when needing inspection or maintenance hanging rail robot, need artifical climbing to the setting department of hanging rail robot, this process operation is inconvenient and has certain danger.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and shortcomings of the prior art, the present invention provides an inspection and lifting device for a rail-mounted robot, which solves the technical problem that the rail-mounted robot is not convenient to maintain and inspect due to a high installation position.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, an embodiment of the present invention provides a rail hanging robot maintenance lifting device, where a rail hanging robot includes two robot grippers, and the two robot grippers are arranged oppositely and slidably on a transverse guide rail;
the rail hanging robot repairing lifting device comprises a lifting mechanism and a longitudinal guide rail, wherein the lifting mechanism is arranged on the longitudinal guide rail in a sliding manner;
the lifting mechanism comprises a lifting base, two lifting clamping claws and a top support piece;
the two lifting clamping claws are oppositely arranged and can be arranged at the top of the lifting base in a switching manner between a clamping state and a loosening state;
when the two lifting clamping claws are in a clamping state, the two lifting clamping claws clamp the rail hanging robot;
the top support piece can be arranged on the lifting base in a vertically moving mode:
when two lifting clamping claws clamp the rail hanging robot:
the top supporting piece moves upwards to drive the two robot clamping claws to open, and the rail hanging robot is separated from the transverse guide rail; or
The top supporting piece moves downwards to drive the two robot clamping claws to be closed, and the rail hanging robot is hung on the transverse guide rail.
According to the invention, the rail-mounted robot further comprises a robot base and a traction piece; the lower ends of the two robot clamping claws are hinged to the top of the robot base; the lower parts of the two robot clamping claws respectively extend oppositely to form connecting arms, and sliding grooves are respectively arranged on the connecting arms along the extending direction of the connecting arms;
the traction piece is vertically arranged and can be arranged on the robot base in a vertically moving mode;
the upper part of the traction piece is provided with a traction sliding block which is arranged in the sliding grooves of the two robot gripper jaws in a sliding manner.
According to the invention, the bottom of the traction piece extends outwards along the width direction to form a traction limiting part, and the periphery of the traction piece is sleeved with the traction elastic piece;
the traction piece can be arranged in a cavity of the robot base in a vertically movable manner, and the cavity is communicated up and down;
the upper part of the robot base extends towards the cavity to form an annular upper limit part, and the lower part of the robot base extends towards the cavity to form an annular lower limit part;
one end of the traction elastic piece is abutted against the traction limiting part, and the other end of the traction elastic piece is abutted against the upper limiting part.
According to the invention, the top support piece enters the cavity of the robot base in the upward moving operation and abuts against the traction limiting part so as to drive the traction piece to move upward synchronously.
According to the invention, two base guide rails extending along the transverse direction are arranged at the top of the lifting base, the two base guide rails are arranged at intervals, and the two lifting clamping claws are respectively arranged on the two base guide rails in a sliding manner.
According to the invention, the lifting mechanism further comprises a lifting slider and a locking assembly;
the lifting mechanism is arranged on the longitudinal guide rail in a sliding manner through a lifting slide block;
the lifting slide block comprises a first lifting slide block and a second lifting slide block, the first lifting slide block and the second lifting slide block are oppositely arranged along the width direction of the longitudinal guide rail, the first lifting slide block is fixed on the lifting base, and the second lifting slide block is movably arranged on the lifting base relative to the width direction of the longitudinal guide rail;
the locking assembly can drive the second lifting slide block to be close to or far away from the first lifting slide block;
when the second lifting slide block abuts against the first lifting slide block, the lifting slide block is locked on the longitudinal guide rail;
when the second lifting slide block is far away from the first lifting slide block, the lifting slide block can slide relative to the longitudinal guide rail.
According to the invention, the locking assembly comprises a locking member and a locking actuator;
the locking piece penetrates through the first lifting slide block and the second lifting slide block along the width direction of the longitudinal guide rail, and the locking piece is fixed on the second lifting slide block;
the driving end of the locking driving piece is fixedly connected with the locking piece, and the locking driving piece can drive the locking piece to move, so that the second lifting sliding block is abutted against or far away from the first lifting sliding block.
According to the invention, the abutting surfaces of the two lifting clamping claws and the rail hanging robot are respectively provided with a clamping sensor.
According to the invention, a distance sensor is arranged on the lifting base.
According to the invention, the top of the lifting base is provided with an abutment sensor.
(III) advantageous effects
The invention has the beneficial effects that: the invention discloses a maintenance lifting device of a rail hanging robot, which is particularly designed to comprise a lifting mechanism and a longitudinal guide rail, wherein the lifting mechanism is arranged on the longitudinal guide rail in a sliding manner along the vertical direction and moves upwards to the position of the rail hanging robot or moves downwards to the position convenient for maintenance. The lifting mechanism comprises a lifting base, two lifting clamping claws and a top support piece. The two lifting clamping claws are oppositely arranged and can be arranged on the top of the base in a switching way between a loosening state and a clamping state. When the two lifting clamping claws are in a clamping state, the two lifting clamping claws clamp the rail hanging robot. The top supporting piece can be arranged on the lifting base in a vertically movable mode, when the two lifting clamping claws clamp the rail hanging robot, the top supporting piece moves upwards to drive the two robot clamping claws to open. When the two robot gripper jaws are opened, the rail hanging robot is separated from the transverse guide rail. The jacking piece moves downwards, the two robot clamping claws are closed, the rail hanging robot is hung on the transverse guide rail, and when the two robot clamping claws are closed, the rail hanging robot is hung on the transverse guide rail.
Through the arrangement, the rail hanging robot can be automatically separated from the transverse guide rail and moved downwards to a certain height away from the ground so as to be inspected and maintained, and the rail hanging robot is returned and hung on the transverse guide rail after being inspected and maintained so as to be conveniently inspected and maintained.
Drawings
FIG. 1 is a front view of an embodiment of a rail mounted robotic repair lift of the present invention;
FIG. 2 is a right side view of the rail mounted robot of FIG. 1;
FIG. 3 is a cross-sectional view of the robot gripper jaw of FIG. 2 closed;
FIG. 4 is a cross-sectional view of the robot gripper jaw of FIG. 2 shown expanded;
FIG. 5 is a front cross-sectional view of the lifting mechanism of FIG. 1;
fig. 6 is a top view of fig. 5.
[ description of reference ]
11: a robot base; 111: a cavity; 112: an upper limit portion; 113: a lower limiting part; 12: a robot gripper jaw; 121: a connecting arm; 1211: a chute; 13: a transverse guide rail; 14: a gripper jaw elastic member; 15: a traction member; 151: a traction slide block; 152: a traction limiting part; 16: a traction elastic member;
21: lifting the base; 211: a groove; 212: a base guide rail; 22: lifting the gripper jaw; 23: a top support; 24: a jacking drive member; 25: lifting the slide block; 251: a first lifting slide block; 252: a second lifting slide block; 26: a locking assembly; 261: a locking member; 262: locking the driving member; 27: a longitudinal guide rail.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. As used herein, the terms "upper", "lower", and the like are used with reference to the orientation of FIG. 1.
Referring to fig. 1, the embodiment of the present invention provides a rail-mounted robot maintenance lifting device, which is used to move a rail-mounted robot down to a certain height from the ground for inspection or maintenance, and move it back to a cross rail 13 after inspection or maintenance.
Referring to fig. 1-4, the rail-mounted robot includes a robot base 11 and two robot gripping claws 12. A camera is arranged on the robot base 11. The two robot gripper jaws 12 are oppositely arranged and located at the top of the robot base 11, and are slidably arranged on the transverse guide rail 13 to drive a camera on the rail-hanging robot to scan along the transverse guide rail 13.
Referring to fig. 3-4, two robotic gripper jaws 12 can be opened or closed: when the two robot clamping claws 12 are opened, the rail hanging robot is separated from the transverse guide rail 13; when the two robot gripper jaws 12 are closed, the rail hanging robot is hung on the transverse guide rail 13.
The specific structure for driving the two robot gripper jaws 12 to open or close is as follows: the lower ends of the two robot clamping claws 12 are hinged on the robot base 11 so as to rotate to an open or closed state relative to the robot base 11. The lower portions of the two robot gripping claws 12 extend oppositely to form connecting arms 121, and sliding grooves 1211 are formed on the connecting arms 121 along the extending direction of the connecting arms.
The rail-mounted robot further comprises a gripper jaw elastic member 14, a traction member 15 and a traction elastic member 16. Both ends of the gripper jaw elastic member 14 are fixed to the lower ends of the two robot gripper jaws 12, respectively. The traction member 15 is vertically disposed and is disposed on the robot base 11 so as to be movable up and down. The upper part of the traction piece 15 is provided with a traction slider 151, and the traction slider 151 is slidably arranged in the slide groove 1211 of the two robot gripping claws 12. When the pulling member 15 moves upward, the pulling slider 151 slides along the slide groove 1211 of the two robot gripping claws 12, and drives the two robot gripping claws 12 to open. The bottom of the pulling member 15 extends outward in the width direction thereof to form a pulling stopper 152. The outer periphery of the traction piece 15 is sleeved with a traction elastic piece 16.
The traction piece 15 is arranged in a cavity 111 of the robot base 11 in a vertically movable manner, the cavity 111 of the robot base 11 penetrates up and down, and the cavity 111 is used for guiding the traction piece 15 to move in the vertical direction, so that the stability of the device in use is improved. The upper portion of the robot base 11 extends in the direction of the cavity 111 to form an annular upper stopper 112, and the lower portion extends in the direction of the cavity 111 to form an annular lower stopper 113. The upper limit portion 112 and the lower limit portion 113 are used for limiting the position of the traction limit portion 152 moving up and down, and further limiting the position of the traction piece 15 moving up and down, so as to improve the stability of the device when in use. The elastic pulling element 16, which is disposed on the pulling element 15, has one end abutting against the pulling-limiting portion 152 and the other end abutting against the upper-limiting portion 112.
Specifically, the principle of driving the two robot gripping claws 12 to open or close is as follows:
in the initial position, the traction stopper 152 of the traction member 15 abuts against the lower stopper 113 of the robot base 11, and the two robot gripping claws 12 are in the closed state. When the traction member 15 is driven to move upwards by an external force, the traction elastic member 16 is pushed to compress, and the traction sliding block 151 is driven to slide along the sliding groove 1211 of the two robot clamping claws 12, so as to drive the two robot clamping claws 12 to rotate around the lower ends thereof, the two robot clamping claws 12 are opened, and at the moment, the clamping claw elastic member 14 is contracted. When the external force acting on the traction member 15 disappears, the elastic gripper jaw 14 and the elastic traction member 16 return, the elastic gripper jaw 14 drives the two robot gripper jaws 12 to rotate in opposite directions until the two robot gripper jaws 12 are closed, and the elastic traction member 16 drives the traction member 15 to move downwards and return to the initial position.
As shown in fig. 1, 5-6, further, the rail hanging robot maintenance lifting device comprises a lifting mechanism and a longitudinal guide rail 27. The lifting mechanism is arranged on the longitudinal guide rail 27 in a sliding mode and used for separating the rail hanging robot from the transverse guide rail 13 and moving the rail hanging robot downwards to a position with a certain height away from the ground for inspection and maintenance, and after the inspection and maintenance, the rail hanging robot is sent back to be hung on the transverse guide rail 13.
The lifting mechanism comprises a top support 23, a lifting base 21 and two lifting grippers 22. The top support part 23 is arranged on the lifting base 21 in a way of moving up and down, and the top support part 23 is used for driving the traction part 15 to move upwards so as to drive the two robot clamping claws 12 to open. Two lifting clamping jaws 22 are oppositely arranged and can be switched between a clamping state and a release state on top of the lifting base 21. When the two lifting clamping claws 22 are in a clamping state, the two lifting clamping claws are used for clamping the rail hanging robot so as to improve the stability of the lifting mechanism when the rail hanging robot is conveyed.
When the two lifting clamping claws 22 clamp the rail hanging robot: the top support piece 23 moves upwards and enters the cavity 111 of the robot base 11 to abut against the bottom of the traction piece 15, and then the top support piece 23 drives the traction piece 15 to move upwards synchronously so as to drive the two robot clamping claws 12 to open and the clamping claw elastic piece 14 to compress; when the top support 23 moves down and away from the traction element 15, the gripper spring 14 and the traction spring 16 return and bring the two robot grippers 12 to close.
Specifically, a longitudinally extending groove 211 is provided on the lifting base 21, the groove 211 is used for accommodating the top support member 23, and the top support member 23 is driven by the top support driving member 24 to move up and down. The jacking drives 24 are preferably hydraulic cylinders.
And a distance sensor is also arranged on the lifting base 21 and used for detecting the distance between the lifting mechanism and the ground.
The top of the lifting base 21 is provided with an abutting sensor for detecting whether the lifting base 21 and the robot base 11 of the rail hanging robot abut or not. The abutment sensor is a pressure sensor.
Two base guide rails 212 extending along the transverse direction are arranged at the top of the lifting base 21, the two base guide rails 212 are arranged at intervals, and the two lifting clamping claws 22 are respectively arranged on the two base guide rails 212 in a sliding manner, so that the distance between the two lifting clamping claws 22 is increased or decreased, and the two lifting clamping claws 22 are switched between a clamping state and a loosening state.
Specifically, the two lifting clamping claws 22 and the abutting surface of the rail hanging robot are respectively provided with a clamping sensor, and the clamping sensor is used for monitoring whether the two lifting clamping claws 22 are clamped on the rail hanging robot. The clamping sensor is a pressure sensor.
Further, the lifting mechanism comprises a lifting slider 25 and a locking assembly 26. The lifting mechanism is slidably arranged on the longitudinal guide rail 27 via a lifting slide 25. The locking assembly 26 is used for locking the lifting slide 25 on the longitudinal guide rail 27 during the process of clamping the rail hanging robot by the lifting mechanism or during the process of checking and repairing the rail hanging robot, so that the position of the lifting mechanism is fixed, and the use reliability of the lifting mechanism is improved.
Specifically, the lifting slider 25 includes a first lifting slider 251 and a second lifting slider 252, the first lifting slider 251 and the second lifting slider 252 are oppositely disposed along the width direction of the longitudinal rail 27, the first lifting slider 251 is fixed on the lifting base 21, and the second lifting slider 252 is movably disposed on the lifting base 21 relative to the width direction of the longitudinal rail 27. The locking assembly 26 is capable of driving the second lift slide 252 closer to or away from the first lift slide 251: when the second lifting slide 252 abuts against the first lifting slide 251, the lifting slide 25 is locked on the longitudinal guide 27; when the second lift slide 252 is moved away from the first lift slide 251, the lift slide 25 can slide relative to the longitudinal rail 27.
Specifically, locking assembly 26 includes a locking member 261 and a locking actuator 262. The locking member 261 penetrates the first lifting slider 251 and the second lifting slider 252 in the width direction of the longitudinal rail 27, and the locking member 261 is fixed to the second lifting slider 252. The driving end of the locking driving member 262 is fixedly connected with one end of the locking member 261 near the second lifting slide 252, and the locking driving member 262 can drive the locking member 261 to move so as to make the second lifting slide 252 abut against or be away from the first lifting slide 251, thereby locking or unlocking the lifting mechanism on the longitudinal guide 27. The lock actuator 262 is preferably a hydraulic cylinder.
Referring to fig. 1-6, further, the use principle of the rail hanging robot repairing lifting device is as follows:
in the initial position, the lifting mechanism is located at a certain height from the ground. When the rail-mounted robot needs to be inspected or repaired, the lifting mechanism moves upwards along the longitudinal guide rail 27, in the process of moving upwards, the distance between the two lifting clamping claws 22 is increased to the open state, and when the abutting sensor on the lifting base 21 detects that the lifting base 21 abuts on the robot base 11, the locking assembly 26 locks the lifting mechanism on the longitudinal guide rail 27. Then, the distance between the two lifting clamping claws 22 is reduced to a closed state to clamp the rail hanging robot. When the clamping sensors on the two lifting clamping claws 22 monitor that the two lifting clamping claws 22 are clamped on the rail hanging robot, the top support part 23 moves upwards to abut against the bottom of the traction part 15, and then the top support part 23 drives the traction part 15 to move upwards synchronously so as to drive the two robot clamping claws 12 to open and separate from the transverse guide rail 13. The locking assembly 26 then unlocks the lift mechanism. Under the monitoring of the distance sensor, the lifting mechanism drives the rail hanging robot to move downwards to a certain height away from the ground along the longitudinal guide rail 27, and the locking assembly 26 locks the lifting mechanism on the longitudinal guide rail 27 again for inspection and maintenance.
After the inspection and maintenance are completed, the locking assembly 26 unlocks the lifting mechanism, the lifting mechanism drives the rail hanging robot to move upwards to the position of the transverse guide rail 13 along the longitudinal guide rail 27, the locking assembly 26 locks the lifting mechanism on the longitudinal guide rail 27 again, the top support piece 23 moves downwards, and the two robot clamping claws 12 are closed and hung on the transverse guide rail 13. Subsequently, the spacing between the two lifting grippers 22 is increased to the open state to unlock the rail-mounted robot. Under the monitoring of the distance sensor, the lifting mechanism is moved down along the longitudinal guide 27 to a certain height from the ground.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.
Claims (10)
1. A rail hanging robot overhauling and lifting device is characterized in that a rail hanging robot comprises two robot clamping claws (12), wherein the two robot clamping claws (12) are oppositely arranged and are arranged on a transverse guide rail (13) in a sliding manner;
the rail hanging robot repairing lifting device comprises a lifting mechanism and a longitudinal guide rail (27), wherein the lifting mechanism is arranged on the longitudinal guide rail (27) in a sliding mode;
the lifting mechanism comprises a lifting base (21), two lifting clamping claws (22) and a top support piece (23);
the two lifting clamping claws (22) are oppositely arranged and can be arranged on the top of the lifting base (21) in a switching manner between a clamping state and a loosening state;
when the two lifting clamping claws (22) are in a clamping state, the two lifting clamping claws (22) clamp the rail hanging robot;
the top support piece (23) is arranged on the lifting base (21) in a manner of moving up and down:
when the two lifting clamping claws (22) clamp the rail hanging robot:
the top support piece (23) moves upwards to drive the two robot clamping claws (12) to open, and the rail hanging robot is separated from the transverse guide rail (13); or
The jacking piece (23) moves downwards to drive the two robot clamping claws (12) to be closed, and the rail hanging robot is hung on the transverse guide rail (13).
2. The overhead rail robot servicing lifting device of claim 1, characterized in that the overhead rail robot further comprises a robot base (11) and a tractor (15); the lower ends of the two robot clamping claws (12) are hinged to the top of the robot base (11); the lower parts of the two robot clamping claws (12) respectively extend oppositely to form connecting arms (121), and sliding grooves (1211) are respectively arranged on the connecting arms (121) along the extending direction of the connecting arms;
the traction piece (15) is vertically arranged and can be arranged on the robot base (11) in a vertically moving mode;
the upper part of the traction piece (15) is provided with a traction sliding block (151), and the traction sliding block (151) is arranged in the sliding grooves (1211) of the two robot clamping claws (12) in a sliding mode.
3. The rail-mounted robotic repair lifting device of claim 2, wherein:
the bottom of the traction piece (15) extends outwards along the width direction to form a traction limiting part (152), and a traction elastic piece (16) is sleeved on the periphery of the traction piece (15);
the traction piece (15) is arranged in a cavity (111) of the robot base (11) in a vertically movable manner, and the cavity (111) is vertically communicated;
the upper part of the robot base (11) extends towards the cavity (111) to form an annular upper limit part (112), and the lower part extends towards the cavity (111) to form an annular lower limit part (113);
one end of the traction elastic piece (16) abuts against the traction limiting part (152), and the other end abuts against the upper limiting part (112).
4. The overhead rail robot maintenance lifting device of claim 3, characterized in that: the top support piece (23) enters the cavity (111) of the robot base (11) in the upward movement operation and abuts against the traction limiting part (152) so as to drive the traction piece (15) to move upward synchronously.
5. The hanging rail robot overhauling lifting device as set forth in claim 1, wherein two base guide rails (212) extending in the transverse direction are arranged on the top of the lifting base (21), the two base guide rails (212) are arranged at intervals, and the two lifting clamping claws (22) are respectively slidably arranged on the two base guide rails (212).
6. The rail mounted robot servicing lifting device of claim 1, characterized in that the lifting mechanism further comprises a lifting slide (25) and a locking assembly (26);
the lifting mechanism is arranged on the longitudinal guide rail (27) in a sliding manner through the lifting slide block (25);
the lifting slide block (25) comprises a first lifting slide block (251) and a second lifting slide block (252), the first lifting slide block (251) and the second lifting slide block (252) are oppositely arranged along the width direction of the longitudinal guide rail (27), the first lifting slide block (251) is fixed on the lifting base (21), and the second lifting slide block (252) is movably arranged on the lifting base (21) relative to the width direction of the longitudinal guide rail (27);
the locking assembly (26) can drive the second lifting slide (252) to be close to or far away from the first lifting slide (251);
-when the second lifting slider (252) abuts against the first lifting slider (251), the lifting slider (25) is locked on the longitudinal rail (27);
when the second lifting slide block (252) is far away from the first lifting slide block (251), the lifting slide block (25) can slide relative to the longitudinal guide rail (27).
7. The rail mounted robotic service lift device of claim 6, wherein the locking assembly (26) includes a locking member (261) and a locking drive member (262);
the locking piece (261) penetrates through the first lifting slide block (251) and the second lifting slide block (252) along the width direction of the longitudinal guide rail (27), and the locking piece (261) is fixed on the second lifting slide block (252);
the driving end of the locking driving piece (262) is fixedly connected with the locking piece (261), and the locking driving piece (262) can drive the locking piece (261) to move, so that the second lifting slide block (252) abuts against or is far away from the first lifting slide block (251).
8. The overhead rail robot maintenance lifting device according to claim 1, characterized in that the abutting surfaces of the two lifting gripper jaws (22) and the overhead rail robot are respectively provided with a gripper sensor.
9. The overhead rail robot servicing lifting device of claim 1, characterized in that a distance sensor is provided on the lifting base (21).
10. Overhead working lifting device of a rail-mounted robot according to claim 9, characterized in that the top of the lifting base (21) is provided with an abutment sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111445203.8A CN114348898B (en) | 2021-11-30 | 2021-11-30 | Maintenance lifting device for rail hanging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111445203.8A CN114348898B (en) | 2021-11-30 | 2021-11-30 | Maintenance lifting device for rail hanging robot |
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| CN114348898A true CN114348898A (en) | 2022-04-15 |
| CN114348898B CN114348898B (en) | 2023-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111445203.8A Active CN114348898B (en) | 2021-11-30 | 2021-11-30 | Maintenance lifting device for rail hanging robot |
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|---|---|
| CN114348898B (en) | 2023-07-11 |
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