CN114552478A - Automatic control method for wire breakage of operation robot - Google Patents
Automatic control method for wire breakage of operation robot Download PDFInfo
- Publication number
- CN114552478A CN114552478A CN202210028329.3A CN202210028329A CN114552478A CN 114552478 A CN114552478 A CN 114552478A CN 202210028329 A CN202210028329 A CN 202210028329A CN 114552478 A CN114552478 A CN 114552478A
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- assembly
- lead
- bevel gear
- wire
- cutter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/005—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for cutting cables or wires, or splicing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses an automatic control method for wire breaking of an operating robot, which comprises the following steps: the robot takes out the transverse wire cutter tool; the identification component is driven by the driving component to identify the position of the lead; the driving assembly drives the shearing assembly to move to a working area; the clamping assembly is driven to fix the lead, and meanwhile, the identification assembly identifies the specification of the lead to complete the wire breakage; repeating the steps to complete the shearing and clamping of the other end of the lead; the clamping assembly brings the cut leads to a safety release area for disposal. Above-mentioned technical scheme passes through the centre gripping subassembly and realizes fixing the lead wire, and the while discernment subassembly is accomplished the definite to the lead wire specification, is moved the control cooperation stationary knife realization of sword by drive assembly and is effectively cuted the lead wire, need not artifical the participation, has improved work efficiency greatly when guaranteeing the work completion degree of accuracy.
Description
Technical Field
The invention relates to the technical field of operating robots, in particular to an automatic control method for wire breakage of an operating robot.
Background
The power distribution network is positioned at the tail end of the power system, is a key link for ensuring reliable power supply, and occupies a very important position in the whole power supply system. Traditional distribution network live overhaul is carried out by the manual work, and the workman dresses insulating clothing and stands operation in high altitude insulation fill, and the distribution network circuit is generally arranged compactly, and circuit alternate distance is little, and there is the short circuit in manual work live working to cause the casualties risk. Meanwhile, the labor intensity of manual operation is high, the danger coefficient is high, the distribution and geographical conditions of the power distribution network in partial areas are severe, related live-line operation is difficult to carry out, and only power failure can be carried out for overhauling and maintenance, so that the continuous and stable operation of the power distribution network is seriously influenced.
The robot can directly replace the manual work to carry out live working, and can eliminate the potential safety hazard of manual work. The data shows that the existing live working robot has limited terminal tool types, so that the business developed by the live working robot in actual use is few, the further popularization and use of the robot are influenced, and the terminal tool and the process for developing novel business are very urgent.
Chinese patent document CN104538890B discloses a "live wire disconnection method". Hang on the wire through the opening of couple, back rotation locking bolt makes it pass the through-hole on the fixed side of couple and makes it block on the pothook, then drives fixed block and pothook motion connected to it through rotating fastening screw to lock the wire. And then the copper wire part of the arc extinguishing rope passes through a pulley of the arc extinguishing tackle, and the end part of the drainage wire is wound for a circle and then is fixed on the drainage wire by a lead clamp. The fixing of drainage wire on the lead wire anchor clamps open two arcs of lead wire anchor clamps, block the arc extinction rope card between two arcs, later with two arcs card again on the drainage wire, locking bolt, then adjust little arc piece again and make it compress tightly the copper line part of drainage wire and arc extinction rope. The technical scheme can not effectively cut lead wires with different specifications.
Disclosure of Invention
The automatic control method mainly solves the technical problem that the original technical scheme cannot effectively cut the leads with different specifications, and provides the automatic control method for the lead breaking of the operating robot.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises the following steps:
s1 robot takes out the transverse wire cutter tool;
s2, the identification component is driven by the driving component to identify the lead position;
s3, driving the shearing assembly to move to a working area through the driving assembly;
s4, the clamping assembly is driven to fix the lead, and meanwhile, the identification assembly identifies the specification of the lead to complete the wire breakage;
s5, repeating the steps S3 and S4 to complete the cutting and clamping of the other end of the lead;
s6 the clamping assembly brings the cut wire to the safety release area for disposal.
Preferably, the driving assembly comprises a transmission shaft, a bracket seat, a large bevel gear and a small bevel gear, the large bevel gear and the small bevel gear are matched with each other, the large bevel gear is fixed on the screw rod, and the small bevel gear is fixed at one end far away from the transmission shaft and connected with the output shaft of the robot.
Preferably, the small bevel gear is connected with the end part of the transmission shaft through a common flat key I, the end part of the small bevel gear 32 is attached to the inner ring of the bearing II, the small bevel gear is connected with the end part of the transmission shaft through a screw, the large bevel gear is matched with the small bevel gear, the large bevel gear is connected with the transverse cutter screw rod through a common flat key II, and the end surface of the large bevel gear is attached to and fixedly connected with the shaft shoulder of the transverse cutter screw rod.
Preferably, the support base is connected with the transition support and is positioned through a cylindrical pin, the near-end support is pressed into the support base mounting hole, the far-end support is positioned at the other end of the support base, 2 shouldered oilless bushings and 2 thrust ball bearings are respectively pressed into the near-end support and the far-end support mounting hole, and shaft shoulders at two ends of the cross cutter screw rod are attached to the 2 thrust ball bearings.
Preferably, the shearing assembly of the shearing assembly comprises a connecting rod, a movable cutter, a fixed cutter, a clamping block, a first shaft shoulder screw and a locknut, the connecting rod is connected with a nut seat in the driving assembly through the first shaft shoulder screw, the fixed cutter is pressed in a mounting groove supported by the near end in the driving assembly, the connecting rod is connected with the movable cutter through the locknut, the movable cutter is connected with the fixed cutter through the locknut, and the clamping block is connected with the movable cutter.
Preferably, the clamping assembly comprises an upper V block, a guide pillar, a triangular seat, a second oilless bushing, a rectangular spring and a second shaft shoulder screw, the upper V block is connected with a fixed cutter in the shearing assembly through the second shaft shoulder screw, the triangular seat is connected with a movable cutter in the shearing assembly through the second shaft shoulder screw, the second oilless bushing is pressed into a mounting hole of the triangular seat, the two guide pillars are connected with the triangular seat through the second oilless bushing, and the guide pillars penetrate through the rectangular spring and are attached to the end face of the lower V block.
Preferably, the identification assembly comprises a positioning identification device arranged on the side surface of the fixed cutter and a specification identification device arranged on the inner wall of the movable cutter, the positioning identification device comprises image acquisition equipment and a distance sensor, and the specification identification device comprises a pressure sensor and a distance sensor.
Preferably, the step S3 specifically includes:
s3.1, driving the transmission shaft 26 to rotate reversely, and driving the connecting rod 10 and the movable knife 15 in the shearing assembly to move through the driving assembly so as to enable the movable knife 15 to move to the maximum opening limit;
s3.2, delivering the transverse wire cutter tool to an operation area, and comparing the wire cutting positions;
s3.3, after the line shearing position is determined, the mechanical arm moves to enable the transverse line cutter to gradually approach the lead to be cut;
and S3.4, stopping the robot after the lead completely enters the working area of the transverse wire cutter shearing assembly.
Preferably, the transverse wire cutter tool further comprises a butt joint assembly, the butt joint assembly comprises a tool disc, slope blocks, an upper lock rod, a guide positioning disc and a spring, the three slope blocks are connected with the tool disc through screws, the upper lock rod is connected with the tool disc through a cylindrical pin, the spring is compressed between the upper lock rod and the tool disc, and the guide positioning disc is fixedly connected with the tool disc.
The invention has the beneficial effects that: realize the fixed to the lead wire through the centre gripping subassembly, the while discernment subassembly is accomplished the definite to the lead wire specification, is moved the control cooperation stationary knife realization of sword by drive assembly and is effectively sheared the lead wire, need not artifical the participation, has improved work efficiency greatly when guaranteeing the work and accomplishing the degree of accuracy.
Drawings
Fig. 1 is a block diagram of a circuit schematic connection structure of the present invention.
Fig. 2 is a schematic diagram of an embodiment of the present invention.
Fig. 3 is a front sectional view of the present invention.
Fig. 4 is an axial view of the present invention.
FIG. 5 is a schematic view of a wire cutting operation of the wire cutting tool of the present invention.
In the drawing, 1 a clamping assembly, 2 a shearing assembly, 3 a driving assembly, 4 a butting assembly, 5 an identification assembly, 6 a shouldered oilless bushing, 7 a thrust ball bearing, 8 a nut seat, 9 a first shoulder screw, 10 a connecting rod, 11 a cross cutter screw rod, 12 a guide pillar, 13 a first ordinary flat key, 14 a large bevel gear, 15 a movable cutter, 16 a proximal support, 17 a locknut, 18 a fixed cutter, 19 a second shoulder screw, 20 an upper V block, 21 a first ordinary flat key, 22 a guide positioning disc, 23 a tool disc, 24 a bevel block, 25 a transmission pin, 26 a transmission shaft, 27 a spring, 28 a first deep groove ball bearing, 29 an upper lock rod, 30 a transition support, 31 a second deep groove ball bearing, 32 a small bevel gear, 33 a bracket seat, 34 a screw rod nut, 35 a clamping block, 36 a lower V block, 37 a rectangular spring, 38 a triangular seat, 39 a second oilless bushing, 40 a guide rod, 41 an oilless bushing one, 42 a distal support, 43 a positioning identification device and 44 a specification identification device.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the automatic control method for wire breaking of the operation robot in the embodiment, as shown in fig. 1, includes the following steps:
s1 taking out the transverse wire cutter tool by the robot;
s2, the identification component 5 is driven by the driving component 3 to identify the lead position;
s3 drives the shearing module 2 to move to the working area through the driving module 3, which specifically includes:
s3.1, driving the transmission shaft 26 to rotate reversely, and driving the connecting rod 10 and the movable knife 15 in the shearing assembly 2 to move through the driving assembly 3 so as to enable the movable knife 15 to move to the maximum opening limit;
s3.2, delivering the transverse wire cutter tool to an operation area, and comparing the wire cutting positions;
s3.3, after the line shearing position is determined, the mechanical arm moves to enable the transverse line cutter to gradually approach the lead to be cut;
and S3.4, stopping the robot after the lead completely enters the working area of the transverse wire cutter shearing assembly. S4, the clamping assembly 1 is driven to fix the lead, and meanwhile, the identification assembly 5 identifies the specification of the lead to complete the wire breakage; the inner rod of the mechanical arm is driven to rotate, the transmission shaft 26 is driven to rotate forwards, the connecting rod 10 and the movable knife 15 in the shearing assembly are driven to move through the driving assembly, the movable knife 15 is gradually closed with the fixed knife 18, and the thread breaking task is completed. Simultaneously, the lower V-block 36 of the clamping assembly moves with the knife 15, pressing the wire up. Due to the counterforce of the rectangular spring 37, the rectangular spring and the upper V-shaped block act together to press the lead to be broken, and the clamping action is completed.
S5 the other mechanical arm repeats the steps S3 and S4 to finish the cutting and clamping of the other end of the lead.
S6 the two arms move together to bring the cut wire to the safe release area, drive the drive shaft 26 to rotate reversely, and the clamping mechanism releases and discards the wire. And finishing the operation of cutting the drainage wire.
The transverse wire cutter tool comprises a clamping assembly 1, a shearing assembly 2, a driving assembly 3, a docking assembly 4 and an identification assembly 5.
The clamping assembly 1 comprises an upper V block 20, a lower V block 36, a guide post 12, a triangular seat 38, a second oilless bushing 39, a rectangular spring 37 and a second shoulder screw 19. The upper V-block 20 is connected with the fixed knife 18 in the shearing assembly through 3 shaft shoulder screws 19. The triangular seat 38 is connected with the movable knife 15 in the shearing assembly through two 4 shaft shoulder screws 19. The second oilless bushing 39 is pressed into the mounting hole of the triangular seat, and the two guide columns 12 are connected with the triangular seat 38 through the second oilless bushing 39. The guide post 12 passes through the rectangular spring 37, is attached to the end face of the lower V-shaped block 36, and is connected with the lower V-shaped block through a screw. During shearing operation, the lower V-shaped block 36 and the upper V-shaped block clamp the lead together under the action of the rectangular spring 37, and the lead clamping action is completed.
The shearing assembly 2 comprises a connecting rod 10, a movable knife 15, a fixed knife 18, a clamping block 35, a first shaft shoulder screw 9 and a locknut 17. The connecting rod 10 is connected with a nut seat 8 in the driving assembly through a first shaft shoulder screw 9. The stationary knife 18 is pressed into the mounting slot of the proximal support 16 in the drive assembly and is attached by 2 screws. The connecting rod 10 is connected with the movable knife 15 through a locknut 17. The connecting rod 10 is used for connection between the driving assembly and the movable blade 15 and transmission of force. The movable knife 15 is connected with the fixed knife 18 through a locknut 17. The clamping block 35 is connected with the movable knife 15 through 2 screws, and is used for compressing the two shearing knives in the process of overlapping the movable knife 15 and the fixed knife 18. The driving component drives the connecting rod 10 to rotate, so that the movable knife 15 is gradually attached to the fixed knife 18, and the wire cutting operation is completed.
The driving assembly 3 comprises a transmission pin 25, a transmission shaft 26, a transition support 30, a bracket seat 33, a near-end support 16, a far-end support 5, a small bevel gear 32, a large bevel gear 14, a cross cutter screw rod 11, a screw rod nut 34, a nut seat 8, a guide rod 40, a first oilless bushing 41, a shouldered oilless bushing 6, a first common flat key 21, a second common flat key 13, a thrust ball bearing 7, a first deep groove ball bearing 28 and a second deep groove ball bearing 31. The transmission pin 25 is mounted at the end of the transmission shaft 26 for engaging with the end output shaft to transmit torque. The first deep groove ball bearing 28 is pressed into a mounting hole of a transition support 30, the first deep groove ball bearing 28 is pressed through the guiding positioning disc 22 of the butt joint assembly, and the guiding positioning disc 22 is connected to the transition support 30 through four screws. The first deep groove ball bearing 28 is attached to the shaft shoulder of the transmission shaft 26. The second deep groove ball bearing 31 is pressed into the other end of the transition support 30, and an inner hole of the second deep groove ball bearing 31 is matched with the transmission shaft 26. The small bevel gear 32 is connected with the end part of the transmission shaft 26 through a common flat key I21, the end part of the small bevel gear 32 is attached to the inner ring of the bearing II 31, and the small bevel gear 32 is connected with the end part of the transmission shaft 26 through a screw. The large bevel gear 14 mates with the small bevel gear 32. The big and small bevel gear pairs are used for connection between the transmission shaft and the transverse cutter screw rod 11, torque transmission and reversing. The large bevel gear 14 is connected with the transverse cutter screw rod 11 through a second common flat key 13, and the end face of the large bevel gear 14 is attached to the shaft shoulder of the transverse cutter screw rod 11 and is connected with the shaft shoulder through 4 screws. The bracket holder 33 and the transition support 30 are positioned by 2 cylindrical pins and connected by 4 screws. The support seats 33 are used for mounting and positioning the support seats at the two ends of the transverse cutter screw rod 11. The proximal support 16 is pressed into the mounting hole of the support base 33, positioned by 1 cylindrical pin and fixed by 4 screws. The far-end support 5 is positioned with the other end of the bracket seat 33 through 1 cylindrical pin and is fixed through 2 screws. The near end support 16 and the far end support 5 are used for supporting two ends of the cross cutter screw rod 11. 2 shouldered oilless bushings 6 and 2 thrust ball bearings 7 are respectively pressed into the mounting holes of the near-end support 16 and the far-end support 5. And shaft shoulders at two ends of the cross cutter screw rod 11 are attached to the 2 thrust ball bearings 7. The feed screw nut 34 is connected with the transverse knife feed screw 11 through threads, the nut seat 8 is matched with the feed screw nut 34 through a shaft hole, and a flange on the end face of the feed screw nut 34 is connected with the nut seat 8 through 4 screws. 2 oil-free bushings I41 are respectively pressed into two guide holes of the nut seat. The two guide rods 40 are connected with the nut seat through an oilless bushing I. The guide rod 40 is subjected to radial forces for guiding the nut seat 8.
The docking assembly 4 comprises a tool plate 23, a bevel block 24, an upper locking rod 29, a guiding positioning plate 22 and a spring 27. The three bevel blocks 24 are connected with the tool disc 23 through screws, and a spring 27 is compressed between the upper lock rod 29 and the tool disc 23 and is connected with the tool disc 23 through a cylindrical pin. The pilot positioning plate 22 and the tool plate 23 are fixed through 3 screws.
The identification component 5 comprises a positioning identification device 43 arranged on the side surface of the fixed knife 18 and a specification identification device 44 arranged on the inner wall of the movable knife 15, the positioning identification device 43 comprises an image acquisition device and a distance sensor, and the specification identification device 44 comprises a pressure sensor and a distance sensor. The image acquisition equipment is used for identifying the broken lead wire position, the distance sensor of the positioning and identifying device 43 is used for determining the relative position between the image acquisition equipment and the broken lead wire, the pressure sensor is used for judging whether the pressure sensor is clamped, and the distance sensor of the positioning and identifying device 43 judges the specification of the lead wire by measuring the diameter of the lead wire.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although terms such as drive assembly, identification assembly, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (9)
1. An automatic control method for wire breaking of an operating robot is characterized by comprising the following steps:
s1 robot takes out the transverse wire cutter tool;
s2, the identification component (5) is driven by the driving component (3) to identify the lead position;
s3, the cutting assembly (2) is driven to move to a working area through the driving assembly (3);
s4, the clamping assembly (1) is driven to fix the lead, and meanwhile, the identification assembly (5) identifies the specification of the lead to complete the wire breakage;
s5, repeating the steps S3 and S4 to complete the cutting and clamping of the other end of the lead;
s6 the clamping assembly (1) brings the cut lead to a safety release area to be discarded.
2. An automatic control method for operating robot wire breakage according to claim 1, characterized in that the drive assembly (3) comprises a drive shaft (26), a bracket holder (33), a large bevel gear (14) and a small bevel gear (32), the large bevel gear (14) and the small bevel gear (32) are mutually matched, the large bevel gear (14) is fixed on a screw rod, and the small bevel gear (32) is fixed on the end far away from the drive shaft for connecting the output shaft of the robot.
3. The automatic control method for the wire breakage of the operating robot according to claim 2, wherein the small bevel gear (32) is connected with the end of the transmission shaft (26) through a common flat key I (21), the end of the small bevel gear (32) is attached to the inner ring of a bearing II (31), the small bevel gear (32) is connected with the end of the transmission shaft (26) through a screw, the large bevel gear (14) is matched with the small bevel gear (32), the large bevel gear (14) is connected with the cross cutter screw rod (11) through a common flat key II (13), and the end face of the large bevel gear (14) is attached to and fixedly connected with the shaft shoulder of the cross cutter screw rod (11).
4. The automatic control method for the broken lead of the operating robot according to claim 2, characterized in that the support base (33) is connected with the transition support and is positioned (30) through a cylindrical pin, the near-end support (16) is pressed into a mounting hole of the support base (33), the far-end support (42) is positioned with the other end of the support base (33), 2 shouldered oilless bushings (6) and 2 thrust ball bearings (7) are respectively pressed into the mounting holes of the near-end support (16) and the far-end support (42), and shaft shoulders at two ends of the cross knife screw (11) are attached to the 2 thrust ball bearings (7).
5. The automatic control method for the wire breaking of the operating robot is characterized in that the shearing assembly (2) comprises a connecting rod (10), a movable knife (15), a fixed knife (18), a clamping block (35), a first shaft shoulder screw (9) and a locknut (17), the connecting rod (10) is connected with a nut seat (8) in a driving assembly through the first shaft shoulder screw (9), the fixed knife (18) is pressed in a mounting groove of a near-end support (16) in the driving assembly, the connecting rod (10) is connected with the movable knife (15) through the locknut (17), the movable knife (15) is connected with the fixed knife (18) through the locknut (17), and the clamping block (35) is connected with the movable knife (15).
6. The automatic control method for the broken lead of the operating robot according to claim 1, 2 or 3, characterized in that the clamping assembly (1) comprises an upper V block (20), guide columns (12), a triangular seat (38), a second oilless bushing (39), a rectangular spring (37) and a second shoulder screw (19), the upper V block (20) is connected with a fixed cutter (18) in the shearing assembly through the second shoulder screw (19), the triangular seat (38) is connected with a movable cutter (15) in the shearing assembly through the second shoulder screw (19), the second oilless bushing (39) is pressed into a mounting hole of the triangular seat, the two guide columns (12) are connected with the triangular seat (38) through the second oilless bushing (39), and the guide columns (12) pass through the rectangular spring (37) and are attached to the end face of the lower V block (36).
7. The automatic control method for the wire breakage of the operating robot according to claim 5, wherein the identification assembly (5) comprises a positioning identification device (43) arranged on the side surface of the fixed cutter (18) and a specification identification device (44) arranged on the inner wall of the movable cutter (15), the positioning identification device (43) comprises an image acquisition device and a distance sensor, and the specification identification device (44) comprises a pressure sensor and a distance sensor.
8. The method according to claim 5, wherein the step S3 specifically comprises:
s3.1, driving the transmission shaft 26 to rotate reversely, and driving the connecting rod 10 and the movable knife 15 in the shearing assembly (2) to move through the driving assembly (3) so as to enable the movable knife 15 to move to the maximum opening limit;
s3.2, delivering the transverse wire cutter tool to an operation area, and comparing the wire cutting positions;
s3.3, after the line shearing position is determined, the mechanical arm moves to enable the transverse line cutter to gradually approach the lead to be cut;
and S3.4, stopping the robot after the lead completely enters the working area of the transverse wire cutter shearing assembly.
9. The automatic control method for wire breakage of the operating robot according to claim 1, wherein the transverse wire breaker tool further comprises a docking assembly (4), the docking assembly (4) comprises a tool tray (23), bevel blocks (24), an upper lock rod (29), a guiding positioning tray (22) and springs (27), the three bevel blocks (24) are connected with the tool tray (23) through screws, the upper lock rod (29) is connected with the tool tray (23) through cylindrical pins, one spring (27) is compressed between the upper lock rod (29) and the tool tray (23), and the guiding positioning tray (22) is fixedly connected with the tool tray (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210028329.3A CN114552478A (en) | 2022-01-11 | 2022-01-11 | Automatic control method for wire breakage of operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210028329.3A CN114552478A (en) | 2022-01-11 | 2022-01-11 | Automatic control method for wire breakage of operation robot |
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| CN114552478A true CN114552478A (en) | 2022-05-27 |
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| CN202210028329.3A Pending CN114552478A (en) | 2022-01-11 | 2022-01-11 | Automatic control method for wire breakage of operation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114618963A (en) * | 2022-01-13 | 2022-06-14 | 丽水正好电力实业集团有限公司 | Lead wire breaking tool suitable for live working robot |
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2022
- 2022-01-11 CN CN202210028329.3A patent/CN114552478A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114618963A (en) * | 2022-01-13 | 2022-06-14 | 丽水正好电力实业集团有限公司 | Lead wire breaking tool suitable for live working robot |
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