CN116031702A - Charging device of robot and robot thereof - Google Patents
Charging device of robot and robot thereof Download PDFInfo
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- CN116031702A CN116031702A CN202211652887.3A CN202211652887A CN116031702A CN 116031702 A CN116031702 A CN 116031702A CN 202211652887 A CN202211652887 A CN 202211652887A CN 116031702 A CN116031702 A CN 116031702A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The application relates to the technical field of robots, in particular to a charging device of a robot and the robot thereof. The charging device of the robot comprises a charging device body and a first charging assembly connected with the charging device body, wherein the charging device body is movably connected with the first charging assembly through a connecting mechanism, the connecting mechanism comprises a connecting seat which is slidably arranged on the charging device body, and a telescopic component which is in telescopic fit with the connecting seat, the connecting mechanism is provided with a reset structure, and the reset structure can enable the connecting mechanism which is displaced to restore to the initial position. The technical problems of high production cost and low docking success rate of the existing robot docking device are effectively solved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a charging device of a robot and the robot thereof.
Background
With the development of technology, the use of robot inspection instead of manual patrol in factories, substations, tunnels, industrial parks and the like has been an unavoidable trend. The existing robot is powered by a battery pack, and when the electric quantity of the robot is insufficient, the robot returns to a charging position of the robot to be automatically charged.
However, when the existing robot is automatically charged, the butt joint process with the charging device is often not smooth, repeated butt joint is usually needed for many times to successfully dock, and sometimes even manual auxiliary butt joint is needed. Although the success rate of robot butt joint can be improved by installing a plurality of positioning devices such as laser radars for cooperation butt joint on the robot, the production cost can be greatly improved.
Disclosure of Invention
The application provides a charging device of robot and robot thereof to at least, solve current robot interfacing apparatus manufacturing cost high, and with the technical problem that success rate is low when interfacing with its charging device.
To achieve the above object, in a first aspect, the present application provides a charging device for a robot, including a charging device body and a first charging assembly connected to the charging device body, the charging device body and the first charging assembly are movably connected through a connection mechanism, the connection mechanism includes a connection seat slidably disposed on the charging device body, and a telescopic component telescopically engaged with the connection seat, the connection mechanism is provided with a reset structure, and the reset structure can enable the connection mechanism to be displaced to restore to an initial position.
In some embodiments, the charging device body is provided with a sliding rod, the telescopic component is a connecting rod sleeved in the connecting seat, one end of the connecting rod is connected with the first charging component, the connecting seat is slidably connected with the sliding rod, and the connecting mechanism can enable the first charging component to perform telescopic motion relative to the charging device body and move along the sliding rod.
In some embodiments, the connecting seat includes a sliding member and a rotating member, the sliding rod is horizontally disposed on the charging device body and corresponds to the first charging assembly, the sliding member is sleeved on the sliding rod and can slide along the sliding rod, a movable space is disposed inside the sliding member, the rotating member is hinged with the sliding member and can rotate in the movable space in a limited manner, the connecting rod is sleeved inside the rotating member, and the connecting mechanism enables the first charging assembly to do telescopic motion, deflect left and right and slide left and right along the sliding rod relative to the charging device body.
In some embodiments, the rotating member is fixedly provided with a supporting rod for limiting the compression distance of the first charging assembly relative to the charging device body, the supporting rod is parallel to the connecting rod, and the length of the supporting rod is smaller than that of the connecting rod between the first charging assembly and the rotating member in the initial position.
In some of these embodiments, the abutment bar is provided with a soft abutment at an end near the first charging assembly.
In some embodiments, the reset structure includes a first elastic member sleeved on the connecting rod and capable of abutting against the rotating member, when the connecting rod stretches relative to the rotating member, the first elastic member abuts against the rotating member, so that the connecting rod receives a force with opposite movement direction; the reset structure further comprises a second elastic piece which is sleeved on the sliding rod and can be abutted with the sliding piece, and when the sliding piece moves relative to the sliding rod, the second elastic piece is abutted with the sliding piece, so that the sliding piece receives force with opposite movement directions.
In some embodiments, the connecting rod is fixedly connected with the first charging assembly through a connecting piece fixedly arranged on the first charging assembly, the reset structure comprises third elastic pieces respectively arranged on the left side and the right side of the connecting mechanism, connecting parts matched and connected with the third elastic pieces are respectively arranged at the left end and the right end of the connecting piece, one end of the third elastic piece is connected with the connecting mechanism or the charging device body, the other end of the third elastic piece is connected with the connecting part, and the first charging assembly is enabled to be subjected to force for recovering the centering position when being deflected left and right.
In some embodiments, the lower end of the first charging assembly is provided with a support member for supporting the first charging assembly, the support member is abutted to the charging device body, and the bottom of the support member is provided with a movable part which is convenient for the support member to move along with the first charging assembly.
In a second aspect, the present application provides a robot for adapting a charging device of a robot as described above, the robot comprising a robot body and a second charging assembly arranged on the robot body and cooperating with a first charging assembly of the charging device, a positioning structure arranged between the first charging assembly and the second charging assembly for matching the positions of the first charging assembly and the second charging assembly.
In some embodiments, the positioning structure comprises a positioning piece arranged on the upper part of the first charging assembly and used for matching the positions of the first charging assembly and the second charging assembly, and the second charging assembly is provided with a positioning groove matched with the positioning piece; or, the positioning structure comprises a positioning piece arranged on the upper part of the second charging assembly and used for matching the positions of the first charging assembly and the second charging assembly, and the first charging assembly is provided with a positioning groove matched with the positioning piece.
In some embodiments, the positioning piece comprises a positioning piece main body extending towards the positioning groove and a butt joint part arranged at the end part of the positioning piece main body and protruding towards the direction of the positioning groove, and a containing space matched with the shape of the butt joint part is arranged inside the positioning groove.
In some embodiments, the abutting portion is provided with an abutting surface gradually inclined from the main body direction of the positioning piece to the middle direction of the abutting portion, and the abutting surface is matched with the positioning groove, so that the abutting portion is easier to insert into the positioning groove.
According to the above, the beneficial effects of the application are: the first charging assembly can stretch out and draw back, left and right sliding and swing relative to the charging device through the cooperation of coupling mechanism and reset structure, set up the setting element between the first charging assembly of charging device and the second charging assembly of robot and the constant head tank that matches with it, the setting element is equipped with the butt face of the slope of being convenient for slide into in the constant head tank. Therefore, even when the second charging assembly of the robot is not aligned with the first charging assembly of the charging device, the first charging assembly can be driven to deflect and slide left and right due to the fact that the abutting surface of the locating piece slides into the locating groove, so that the accurate abutting joint of the robot and the charging device is achieved, the abutting joint success rate is greatly improved, and the production cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic diagram of a robot and a charging device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a charging device according to an embodiment of the present application;
FIG. 3 is a schematic view of a positioning structure and a connecting mechanism according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a connection mechanism according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating the cooperation of the connecting mechanism and the reset structure according to the embodiment of the present application;
fig. 6 is a cross-sectional view of a support member according to an embodiment of the present application.
Reference numerals illustrate: a robot body 1; a second charging assembly 1.1; a charging device body 2; a slide bar 2.1; a first charging assembly 3; a connecting piece 3.1; a connecting portion 3.1.1; a support 3.2; 3.2.1 parts of the movable part; a positioning structure 4; a positioning member 4.1; a positioning member body 4.1.1; 4.1.2 parts of the butt joint; abutment face 4.1.3; positioning groove 4.2; a connection mechanism 5; a connecting seat 5.1; a slider 5.1.1; a rotating member 5.1.2; a connecting rod 5.2; a joint rod 5.3; abutting joint 5.3.1; a first elastic member 6.1; a second elastic member 6.2; and a third elastic member 6.3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described and illustrated below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments provided herein, are intended to be within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the embodiments described herein can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
As shown in fig. 1 to 6, the embodiment includes a robot body 1 and a charging device that cooperates with the robot body 1 for charging, the charging device includes a charging device body 2 and a first charging assembly 3 connected with the charging device body 2, a second charging assembly 1.1 that cooperates with the first charging assembly 3 is disposed on the robot body 1, and a positioning structure 4 for matching the positions of the first charging assembly 3 and the second charging assembly 1.1 is disposed between the first charging assembly 3 and the second charging assembly 1.1. The charging device body 2 and the first charging component 3 are movably connected through the connecting mechanism 5, which can be specifically characterized in that the connecting mechanism 5 can enable the first charging component 3 to stretch, slide left and right and deflect left and right relative to the charging device body 2, so that when the first charging component 3 is positioned and matched with the second charging component 1.1 according to the positioning structure 4, corresponding position adjustment can be automatically performed if docking deviation occurs.
Wherein, the charging device body 2 is provided with a sliding rod 2.1 which is horizontally arranged and corresponds to the position of the first charging component 3. The connecting mechanism 5 comprises a connecting seat 5.1 which is sleeved on the sliding rod 2.1 of the charging device body 2 in a sliding manner and a telescopic component which is in telescopic fit with the connecting seat 5.1, the telescopic component is a connecting rod 5.2 which is sleeved in the connecting seat 5.1 and one end of the connecting rod is fixedly connected with the first charging assembly 3 through a connecting piece 3.1, the connecting mechanism 5 is further provided with a reset structure, and the reset structure can enable the connecting mechanism 5 which is displaced to restore to the initial position.
Further, the connecting seat 5.1 comprises a sliding part 5.1.1 and a rotating part 5.1.2, the sliding part 5.1.1 is sleeved on the sliding rod 2.1 and can slide along the sliding rod 2.1, a movable space is formed in the sliding part 5.1.1, the rotating part 5.1.2 is hinged with the sliding part 5.1.1 and can rotate left and right in the movable space, the connecting rod 5.2 is sleeved in the rotating part 5.1.2 in a telescopic manner, the connecting rod 5.2 stretches and moves in the rotating part 5.1.2 to drive the first charging assembly 3 to stretch and move relative to the charging device body 2, the rotating part 5.1.2 stretches and moves left and right in the movable space of the sliding part 5.1.1 to drive the first charging assembly 3 to deflect left and right relative to the charging device body 2, and the sliding part 5.1.1 slides left and right along the sliding rod 2.1 to drive the first charging assembly 3 to slide left and right relative to the charging device body 2.
The reset structure comprises a first elastic piece 6.1 sleeved on the connecting rod 5.2 and capable of being abutted against the rotating piece 5.1.2, and when the connecting rod 5.2 stretches and contracts relative to the rotating piece 5.1.2, the first elastic piece 6.1 is abutted against the rotating piece 5.1.2, so that the connecting rod 5.2 is subjected to force with opposite movement directions and has a tendency of recovering an initial position; the reset structure also comprises a second elastic piece 6.2 which is sleeved on the slide bar 2.1 and can be abutted with the slide piece 5.1.1, when the slide piece 5.1.1 moves relative to the slide bar 2.1, the second elastic piece 6.2 is abutted with the slide piece 5.1.1, so that the slide piece 5.1.1 is subjected to force in the opposite direction of movement to enable the slide piece to have a trend of restoring the initial position; the reset structure further comprises third elastic pieces 6.3 which are respectively arranged at the left side and the right side of the connecting mechanism 5, the left end and the right end of the connecting piece 3.1 which is fixedly arranged on the first charging component 3 are respectively provided with a connecting part 3.1.1 which is matched and connected with the third elastic pieces 6.3, one end of the third elastic piece 6.3 is connected with the connecting mechanism 5 or the charging device body 2, and the other end is connected with the connecting part 3.1.1, so that the first charging component 3 receives force with opposite movement directions when deflecting left and right and has a trend of restoring the initial position. The first elastic member 6.1, the second elastic member 6.2, and the third elastic member 6.3 may be springs.
Further, a supporting rod 5.3 for limiting the compression distance of the first charging assembly 3 relative to the charging device body 2 is fixedly arranged on the rotating member 5.1.2, the supporting rod 5.3 is arranged in parallel with the connecting rod 5.2, the length of the supporting rod 5.3 is smaller than that of the connecting rod 5.2 positioned between the first charging assembly 3 and the rotating member 5.1.2 at the initial position, and a soft supporting joint 5.3.1 for buffering is arranged at one end, close to the first charging assembly 2, of the supporting rod 5.3.
Wherein, first charging component 3 lower extreme is provided with the support piece 3.2 that is used for supporting first charging component 3, and support piece 3.2 and charging device body 2 butt are provided with the movable part 3.2.1 that is convenient for make support piece 3.2 follow first charging component 3 motion in support piece 3.2 bottom, and the movable part can be the ball.
The positioning structure 4 comprises a positioning piece 4.1 arranged at the upper part of the first charging assembly 3 and used for matching the positions of the first charging assembly 3 and the second charging assembly 1.1, and the second charging assembly 1.1 is provided with a positioning groove 4.2 matched with the positioning piece 4.1; alternatively, the positioning structure 4 comprises a positioning piece 4.1 arranged at the upper part of the second charging assembly 1.1 and used for matching the positions of the first charging assembly 3 and the second charging assembly 1.1, and the first charging assembly 3 is provided with a positioning groove 4.2 matched with the positioning piece 4.1. The positioning piece 4.1 comprises a positioning piece main body 4.1.1 which extends towards the positioning groove 4.2 and a butt joint part 4.1.2 which is arranged at the end part of the positioning piece main body 4.1.1 and protrudes towards the positioning groove 4.2, and a containing space matched with the shape of the butt joint part 4.1.2 is arranged inside the positioning groove 4.2. The abutting portion 4.1.2 is provided with an abutting surface 4.1.3 gradually inclined from the direction of the positioning member main body 4.1.1 toward the middle of the abutting portion 4.1.2, when the first charging assembly 3 is abutted with the second charging assembly 1.1, if the positioning member 4.1 is not fully aligned with the positioning groove 4.2, the abutting surface 4.1.3 can be matched and abutted with the positioning groove 4.2, so that the first charging assembly 3 deflects or slides left and right to enable the abutting portion 4.1.2 to slide into the positioning groove 4.2.
Working principle: in use, the robot is aligned with the position of the charging device and moved towards the charging device, performing a docking operation of the first charging assembly 3 and the second charging assembly 1.1.
If the docking is accurate, the positioning is performed, 4.1 is directly inserted into the positioning groove 4.2, the robot continues to move towards the charging device and pushes the first charging assembly 3 to move towards the charging device body 2 until the first charging assembly 3 is abutted with the abutting rod 5.3, the abutting rod 5.3 can enable the first charging assembly 3 to be more firmly docked with the second charging assembly 1.1, the docking operation is completed, and then the charging operation is performed.
If deviation occurs between the positioning piece 4.1 and the positioning groove 4.2 in butt joint, the robot continues to move towards the charging device, the butt joint surface 4.1.3 inclined to the butt joint part 4.1.2 enables the butt joint part 4.1.2 to slide into the positioning groove 4.2 under the action of pressure, the connecting mechanism 5 is matched with the butt joint part 4.1.2 to enable the first charging assembly 3 to deflect and move left and right, the supporting piece 3.2 at the lower end of the first charging assembly 3 moves along with the first charging assembly 3, and then the robot continues to move towards the charging device and drive the first charging assembly 3 to move towards the charging device body 2 until the butt joint part 4.1.2 abuts against the butt joint rod 5.3, so that the butt joint operation is completed. After the charging operation is completed, the robot is separated from the charging device, and the first charging assembly 3 which deflects, stretches and slides under the action of the reset structure is restored to the initial position.
It should be understood by those skilled in the art that the technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. The utility model provides a charging device of robot, includes the charging device body and with the first subassembly that charges that the charging device body is connected, its characterized in that:
the charging device comprises a charging device body, a first charging assembly, a second charging assembly, a connecting mechanism and a resetting structure, wherein the charging device body and the first charging assembly are movably connected through the connecting mechanism, the connecting mechanism comprises a connecting seat which is slidably arranged on the charging device body, and a telescopic component which is in telescopic fit with the connecting seat, the connecting mechanism is provided with the resetting structure, and the resetting structure can enable the connecting mechanism which is displaced to recover to an initial position.
2. The charging device of a robot according to claim 1, wherein: the charging device body is provided with a sliding rod, the telescopic component is a connecting rod sleeved in the connecting seat, one end of the connecting rod is connected with the first charging component, the connecting seat is connected with the sliding rod in a sliding mode, and the connecting mechanism can enable the first charging component to do telescopic motion relative to the charging device body and move along the sliding rod.
3. A charging device for a robot according to claim 2, wherein: the connecting seat comprises a sliding part and a rotating part, the sliding rod is horizontally arranged on the charging device body and corresponds to the position of the first charging assembly, the sliding part is sleeved on the sliding rod and can slide along the sliding rod, a movable space is formed in the sliding part, the rotating part is hinged with the sliding part and can rotate in the movable space in a limited mode, the connecting rod is sleeved inside the rotating part, and the connecting mechanism enables the first charging assembly to do telescopic motion, deflect left and right and slide left and right along the sliding rod relative to the charging device body.
4. A charging device for a robot according to claim 3, wherein: the rotary part is fixedly provided with a supporting rod for limiting the compression distance of the first charging assembly relative to the charging device body, the supporting rod is arranged in parallel with the connecting rod, and the length of the supporting rod is smaller than that of the connecting rod between the first charging assembly and the rotary part at the initial position.
5. The charging device of a robot of claim 4, wherein: the abutting rod is provided with a soft abutting joint at one end close to the first charging assembly.
6. A charging device for a robot according to claim 3, wherein: the resetting structure comprises a first elastic piece which is sleeved on the connecting rod and can be abutted against the rotating piece, and when the connecting rod stretches and contracts relative to the rotating piece, the first elastic piece is abutted against the rotating piece, so that the connecting rod receives force with opposite movement directions; the reset structure further comprises a second elastic piece which is sleeved on the sliding rod and can be abutted with the sliding piece, and when the sliding piece moves relative to the sliding rod, the second elastic piece is abutted with the sliding piece, so that the sliding piece receives force with opposite movement directions.
7. A charging device for a robot according to claim 3 or 6, characterized in that: the connecting rod is in through fixed setting connecting piece on the first subassembly that charges with first subassembly fixed connection that charges, reset structure is including setting up respectively the third elastic component of connecting mechanism left and right sides, both ends are provided with respectively with the connecting portion that the cooperation of third elastic component is connected about the connecting piece, third elastic component one end with connecting mechanism or charging device body coupling, the other end with connecting portion are connected, make first subassembly that charges receive the power of recovering the intermediate position when taking place to control the deflection.
8. The charging device of a robot according to claim 1, wherein: the charging device comprises a charging device body, and is characterized in that a supporting piece used for supporting the first charging assembly is arranged at the lower end of the first charging assembly, the supporting piece is in butt joint with the charging device body, and a movable part which is convenient for the supporting piece to follow the first charging assembly to move is arranged at the bottom of the supporting piece.
9. A robot for adapting a charging device of a robot according to claims 1-8, characterized by: the robot comprises a robot body and a second charging assembly which is arranged on the robot body and matched with a first charging assembly of the charging device, and a positioning structure used for enabling the positions of the first charging assembly and the second charging assembly to be matched is arranged between the first charging assembly and the second charging assembly.
10. A robot as claimed in claim 9, wherein: the positioning structure comprises a positioning piece which is arranged on the upper part of the first charging assembly and used for matching the positions of the first charging assembly and the second charging assembly, and the second charging assembly is provided with a positioning groove matched with the positioning piece; or, the positioning structure comprises a positioning piece arranged at the upper part of the second charging assembly and used for matching the positions of the first charging assembly and the second charging assembly, and the first charging assembly is provided with a positioning groove matched with the positioning piece; and/or the locating piece comprises a locating piece main body extending towards the locating groove and a butt joint part arranged at the end part of the locating piece main body and protruding towards the locating groove, and a containing space matched with the butt joint part in shape is arranged in the locating groove; and; or, the abutting portion is provided with an abutting surface which is gradually inclined from the main body direction of the positioning piece to the middle direction of the abutting portion, and the abutting surface is matched with the positioning groove, so that the abutting portion is easier to insert into the positioning groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652887.3A CN116031702A (en) | 2022-12-21 | 2022-12-21 | Charging device of robot and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652887.3A CN116031702A (en) | 2022-12-21 | 2022-12-21 | Charging device of robot and robot thereof |
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| Publication Number | Publication Date |
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| CN116031702A true CN116031702A (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211652887.3A Pending CN116031702A (en) | 2022-12-21 | 2022-12-21 | Charging device of robot and robot thereof |
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| CN (1) | CN116031702A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117878765A (en) * | 2024-03-13 | 2024-04-12 | 南京明曼贝电力科技有限公司 | Substation inspection robot |
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2022
- 2022-12-21 CN CN202211652887.3A patent/CN116031702A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117878765A (en) * | 2024-03-13 | 2024-04-12 | 南京明曼贝电力科技有限公司 | Substation inspection robot |
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