CN116175513A - Automatic walking marking robot for overhead line - Google Patents
Automatic walking marking robot for overhead line Download PDFInfo
- Publication number
- CN116175513A CN116175513A CN202310273641.3A CN202310273641A CN116175513A CN 116175513 A CN116175513 A CN 116175513A CN 202310273641 A CN202310273641 A CN 202310273641A CN 116175513 A CN116175513 A CN 116175513A
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- China
- Prior art keywords
- motor
- screw rod
- fixing seat
- robot
- marking
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 229910052804 chromium Inorganic materials 0.000 claims abstract description 9
- 239000011651 chromium Substances 0.000 claims abstract description 9
- 238000007747 plating Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 description 4
- 125000006850 spacer group Chemical group 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses an automatic walking marking robot for overhead lines, which comprises a robot joint motor connected with walking wheels, wherein the tail part of the robot joint motor is sleeved with a walking wheel connecting plate, the side part of the walking wheel connecting plate is provided with a chromium plating rod, and the chromium plating rod is sleeved with a linear bearing; the screw rod is sleeved with a pressing wheel frame sliding block, a pressing wheel frame fixing plate is provided with a pressing wheel, the bottom of the screw rod is provided with a speed reducing motor, and the screw rod fixing seat is fixedly connected with a travelling wheel connecting plate; the hinge pin fixing seat is symmetrically hinged with a mechanical stretching hinge, the hinge pin fixing seat is provided with a stretching screw, the bottom of the stretching screw is provided with a screw motor, the stretching screw is sleeved with a screw sliding block, and two sides of the screw sliding block are provided with mechanical tensioning hinges; the lead screw motor lateral part is equipped with the module motor pivot of marking out, the module motor pivot of marking out is connected with the module motor of marking out, the output of module motor of marking out is equipped with the mechanism connecting plate of marking out.
Description
Technical Field
The invention relates to an automatic walking marking robot for overhead lines, and belongs to the technical field of electric power.
Background
In China, in the aspect of installation operation of accessories for overhead line construction of power transmission lines, the accessories are mostly installed by using tools in a manpower-assisted manner. The spacer is used for isolating each sub-wire due to vibration prevention and preventing whip between wires, so that the spacer is widely applied to the construction process of the power transmission line overhead wire. The determination of the installation position of the spacer often needs to be manually measured and marked during the crossing construction, on one hand, the operation depends on the subjective experience judgment of personnel, the high-altitude measurement and positioning operation is inaccurate, and the tightening wire and the attachment installation quality are difficult to ensure to be optimal at one time; on the other hand, constructors are required to walk and measure on a line crossing between towers, so that the fatigue degree of the constructors is greatly increased, and hidden danger is brought to personal safety of the constructors.
Disclosure of Invention
The invention aims to provide an automatic walking marking robot for overhead lines, which aims to solve the defect that the determination of the installation position of a spacer in the prior art often needs to be manually measured and marked, and on one hand, the operation depends on the subjective experience of personnel to judge, so that the high-altitude measurement and positioning operation is inaccurate.
An automatic walk marking robot for stringing, comprising:
the walking mechanism comprises walking wheels, the walking wheels are connected with a robot joint motor, a walking wheel connecting plate is sleeved at the tail part of the robot joint motor, a chromium plating rod is arranged at the side part of the walking wheel connecting plate, and a linear bearing is sleeved on the chromium plating rod;
the pressing mechanism comprises a screw, a pressing wheel frame sliding block is sleeved on the screw, the pressing wheel frame sliding block is connected with a pressing wheel frame fixing plate, a pressing wheel is arranged on the pressing wheel frame fixing plate, a speed reducing motor is arranged at the bottom of the screw, a screw fixing seat is arranged at the top of the screw, and the screw fixing seat is fixedly connected with a travelling wheel connecting plate through a guide rail connecting plate;
the marking mechanism comprises a hinge pin fixing seat, wherein the hinge pin fixing seat is symmetrically hinged with a mechanical stretching hinge, the hinge pin fixing seat is provided with a stretching screw rod, the bottom of the stretching screw rod is provided with a screw rod motor, the stretching screw rod is sleeved with a screw rod sliding block, and two sides of the screw rod sliding block are provided with mechanical tensioning hinges hinged with the mechanical stretching hinge;
the robot comprises a base, wherein the robot joint motor and the travelling wheel connecting plate are arranged on the base, and a control module and a power supply module for controlling the travelling mechanism, the pressing mechanism and the marking mechanism are arranged in the base.
Further, a motor connecting plate is arranged between the robot joint motor and the walking wheel connecting plate.
Further, one end of the travelling wheel, which is far away from the robot joint motor, is provided with a front baffle, and the tail part of the robot joint motor is provided with a rear cover plate.
Further, the top and the bottom of the chromed rod are connected with the travelling wheel connecting plate through chromed rod fixing seats.
Further, the power end of gear motor passes through the shaft coupling and is connected with the lead screw, lead screw both ends are equipped with the lead screw fixing base, the lateral part of lead screw fixing base is equipped with the lead screw mounting panel, the lead screw mounting panel is connected with the guide rail connecting plate.
Further, the hold-down wheel is connected with the hold-down wheel frame fixing plate through a hold-down wheel shaft.
Further, one end of the mechanical tensioning hinge is hinged with the middle part of the mechanical opening hinge, and the other end of the mechanical tensioning hinge is hinged with the screw rod sliding block fixing seat.
Further, the lateral part of lead screw motor is equipped with the motor fixing base, the motor fixing base is connected with turns to motor two, and turns to the output and the motor fixing base of motor and be connected, the afterbody that turns to motor two is connected with the right angle fixing base, another right angle limit of right angle fixing base is connected with turns to motor one, and turns to the output and the another right angle limit of right angle fixing base of motor one and be connected, the afterbody that turns to motor one is connected with the base through marking mechanism connecting plate.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes the running of the multi-split wire through the running mechanism, the marking mechanism drives the mechanical opening hinge to open to contact with the wire through the lead screw motor according to the running distance of the robot joint motor so as to mark the wire, and simultaneously the marking operation is carried out on the same section of the multi-split wire, thereby ensuring the accuracy of marking work, reducing the work fatigue strength of staff and improving the work efficiency.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the running gear of the present invention;
FIG. 3 is a schematic view of a hold-down mechanism according to the present invention;
FIG. 4 is a schematic diagram of a marking mechanism according to the present invention;
FIG. 5 is a schematic diagram of an embodiment of the present invention;
in the figure: 100. a walking mechanism; 200. a compressing mechanism; 300. a marking mechanism; 400. a base; 1. a front baffle; 2. a walking wheel; 3. a robot joint motor; 4. a motor connecting plate; 5. a back cover plate; 6. a road wheel connecting plate; 7. a linear bearing; 8. a chromed rod; 9. a limiting piece; 10. a chromium plating rod fixing seat; 11. a guide rail connecting plate; 12. a lead screw mounting plate; 13. a screw rod fixing seat; 14. compressing the wheel carrier slide block; 15. a screw rod; 16. a coupling; 17. a speed reducing motor; 18. compressing the wheel carrier fixing plate; 19. a pressing wheel frame fixing pin; 20. a pinch roller; 21. a compression wheel shaft; 31. a hinge pin fixing seat; 32. a hinge pin; 33. a mechanical opening hinge; 34. mechanically tightening the hinge; 35. a hinge pin; 36. a screw rod slide block fixing seat; 37. a screw rod sliding block; 38. a lead screw motor; 39. a screw motor fixing seat; 40. a motor shaft of the marking module; 41. a motor fixing seat of the marking module; 42. a marking module motor; 43. marking module motor protective sleeve; 44. 45 steering the motor I; 46. and a steering motor II.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
As shown in fig. 1 to 5, there is disclosed an automatic travel marking robot for overhead lines, comprising:
the walking mechanism 100 comprises a walking wheel 2, the walking wheel 2 is connected with a robot joint motor 3, a walking wheel connecting plate 6 is sleeved at the tail part of the robot joint motor 3, a chromium plating rod 8 is arranged at the side part of the walking wheel connecting plate 6, a linear bearing 8 is sleeved on the chromium plating rod 8, and as shown in fig. 2 and 5, the robot joint motor 3 is a servo motor and walks on a wire through motor rotation;
the pressing mechanism 200 comprises a screw rod 15, a pressing wheel carrier sliding block 14 is sleeved on the screw rod 15, the pressing wheel carrier sliding block 14 is connected with a pressing wheel carrier fixing plate 18, a pressing wheel 20 is arranged on the pressing wheel carrier fixing plate 18, the pressing wheel 20 is connected with the pressing wheel carrier fixing plate 18 through a pressing wheel shaft 21, a gear motor 17 is arranged at the bottom of the screw rod 15, a power end of the gear motor 17 is connected with the screw rod 15 through a coupler 17, a screw rod fixing seat 13 is arranged at the top of the screw rod 15, the screw rod fixing seat 13 is fixedly connected with a travelling wheel connecting plate 6 through a guide rail connecting plate 11, as shown in fig. 3 and 5, the gear motor 17 rotates to drive the screw rod 15 to rotate and further drive the screw rod fixing seat 13 to ascend or descend, and as the pressing wheel carrier fixing plate 18 is fixed on the screw rod fixing seat 13, the pressing wheel 20 is arranged on the pressing wheel carrier fixing plate 18, so that the pressing wheel 20 ascends or descends, when the pressing wheel 20 ascends, the pressing wheel is contacted with a guide, the travelling wheel 2 is arranged above a guide wire, and the travelling wheel 20 is arranged below the guide wire, and the travelling wheel is prevented from sliding down from the guide wire;
the marking mechanism 300 comprises a hinge pin fixing seat 31, wherein the hinge pin fixing seat 31 is symmetrically hinged with a mechanical stretching hinge 33, the hinge pin fixing seat 31 is provided with a stretching screw, the bottom of the stretching screw is provided with a screw motor 38, the stretching screw is sleeved with a screw sliding block 37, two sides of the screw sliding block 37 are provided with mechanical tensioning hinges 34 hinged with the mechanical stretching hinge 33, and specifically, one end of each mechanical tensioning hinge 34 is hinged with the middle part of the mechanical stretching hinge 33, and the other end of each mechanical tensioning hinge is hinged with a screw sliding block fixing seat 36;
as shown in fig. 4, a groove is formed in the top of the outer side of the mechanical stretching hinge 33, printing ink for marking is placed in the groove, when the travelling wheel 2 walks to a set position, the gear motor 17 rotates to drive the stretching screw rod to rotate, the screw rod slide block 37 is further lifted or lowered, and when the screw rod slide block 37 is lifted, the mechanical stretching hinge 33 is stretched by the mechanical stretching hinge 34, and at the moment, the mechanical stretching hinge 33 touches a wire to mark the marking;
the base 400, the robot joint motor 3, the walking wheel connecting plate 6 are located on the base 400, a control module and a power supply module for controlling the walking mechanism 100, the pressing mechanism 200 and the marking mechanism 300 are arranged in the base 400, a control program or an instruction is written in advance in the control module for controlling all motors to rotate, and the power supply module adopts a storage battery for supplying power to the whole device.
In this embodiment, the following structures are provided at the bottom of the marking mechanism 300, which are convenient for setting corresponding to different angles of the wires:
the side part of the screw motor 38 is provided with a motor fixing seat 41, the motor fixing seat 41 is connected with a steering motor II 46, the output end of the steering motor II is connected with the motor fixing seat 41, the tail part of the steering motor II 46 is connected with a right-angle fixing seat, the other right-angle side of the right-angle fixing seat is connected with a steering motor I45, the output end of the steering motor I45 is connected with the other right-angle side of the right-angle fixing seat, and the tail part of the steering motor I45 is connected with the base 400 through a marking mechanism connecting plate 44; as shown in fig. 5, the first steering motor 45 is used for adjusting the left-right direction 360 degrees of the marking mechanism 300, and the second steering motor 46 is used for adjusting the front-back 360 degrees of the marking mechanism 300.
In this embodiment, for further perfecting the organization regularization, be equipped with motor connecting plate 4 between robot joint motor 3 and the walking wheel connecting plate 6, the one end that walking wheel 2 kept away from robot joint motor 3 is equipped with front baffle 1, the robot joint motor 3 afterbody is equipped with back shroud 5.
In this embodiment, the top and the bottom of the chromed rod 8 are connected with the travelling wheel connecting plate 6 through the chromed rod fixing seat 10, so that friction is generated between the linear bearing 7 and the travelling wheel connecting plate 6 when the linear bearing moves up and down is avoided through the design, and on the other hand, the chromed rod is fixed through the chromed rod fixing seat 10, so that the stability of the chromed rod 8 is ensured, and the smooth movement of the linear bearing is ensured.
In this embodiment, screw fixing bases 13 are disposed at two ends of the screw 15, and screw mounting plates 12 are disposed on side portions of the screw fixing bases 13, and the screw mounting plates 12 are connected with the guide rail connecting plates 11.
Working principle:
the marking robot walks on the wire, carries out distance measurement to the wire through robot joint motor in the running gear, realizes marking robot's the climbing function that compresses tightly through hold-down mechanism, through the module motor on the marking mechanism, hinge and the printing ink mechanism on the hinge, realizes marking mechanism rotation and mechanical expansion hinge 33 expansion, makes the ink horn contact with the wire to realize marking mechanism one-time marking action.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. An automatic walk marking robot for stringing, comprising:
the walking mechanism (100) comprises walking wheels (2), the walking wheels (2) are connected with a robot joint motor (3), a walking wheel connecting plate (6) is sleeved at the tail part of the robot joint motor (3), a chromium plating rod (8) is arranged at the side part of the walking wheel connecting plate (6), and a linear bearing (8) is sleeved on the chromium plating rod (8);
the compressing mechanism (200) comprises a screw rod (15), a compressing wheel frame sliding block (14) is sleeved on the screw rod (15), the compressing wheel frame sliding block (14) is connected with a compressing wheel frame fixing plate (18), a compressing wheel (20) is arranged on the compressing wheel frame fixing plate (18), a speed reducing motor (17) is arranged at the bottom of the screw rod (15), a screw rod fixing seat (13) is arranged at the top of the screw rod fixing seat, and the screw rod fixing seat (13) is fixedly connected with a travelling wheel connecting plate (6) through a guide rail connecting plate (11);
the marking mechanism (300) comprises a hinge pin fixing seat (31), wherein mechanical stretching hinges (33) are symmetrically hinged to the hinge pin fixing seat (31), a stretching screw rod is arranged on the hinge pin fixing seat (31), a screw rod motor (38) is arranged at the bottom of the stretching screw rod, a screw rod sliding block (37) is sleeved on the stretching screw rod, and mechanical tensioning hinges (34) hinged to the mechanical stretching hinges (33) are arranged on two sides of the screw rod sliding block (37);
the robot comprises a base (400), wherein a robot joint motor (3) and a travelling wheel connecting plate (6) are arranged on the base (400), and a control module and a power supply module for controlling a travelling mechanism (100), a pressing mechanism (200) and a marking mechanism (300) are arranged in the base (400).
2. The robot for automatic walking marking according to claim 1, characterized in that a motor connection board (4) is arranged between the robot joint motor (3) and the walking wheel connection board (6).
3. The automatic walking marking robot for the overhead line according to claim 1, wherein a front baffle plate (1) is arranged at one end of the walking wheel (2) far away from the robot joint motor (3), and a rear cover plate (5) is arranged at the tail of the robot joint motor (3).
4. The robot for automatic walking marking according to claim 1, wherein the top and bottom of the chromed rod (8) are connected with the walking wheel connecting plate (6) through chromed rod fixing seats (10).
5. The automatic walking marking robot for the wire laying according to claim 1, wherein the power end of the gear motor is connected with a screw rod (15) through a coupler (17), screw rod fixing seats (13) are arranged at two ends of the screw rod (15), screw rod mounting plates (12) are arranged on the side portions of the screw rod fixing seats (13), and the screw rod mounting plates (12) are connected with a guide rail connecting plate (11).
6. The robot for automatic travel marking according to claim 1, characterized in that the pinch roller (20) is connected to a pinch roller frame fixing plate (18) through a pinch roller shaft (21).
7. The robot as claimed in claim 1, wherein one end of the mechanical tension hinge (34) is hinged to the middle part of the mechanical opening hinge (33), and the other end is hinged to the screw slider fixing seat (36).
8. The automatic walking marking robot for the wire lifting according to claim 1, wherein a motor fixing seat (41) is arranged on the side portion of the screw motor (38), a steering motor II (46) is connected to the motor fixing seat (41), the output end of the steering motor is connected with the motor fixing seat (41), a right-angle fixing seat is connected to the tail portion of the steering motor II (46), a steering motor I (45) is connected to the other right-angle side of the right-angle fixing seat, the output end of the steering motor I (45) is connected with the other right-angle side of the right-angle fixing seat, and the tail portion of the steering motor I (45) is connected with the base (400) through a marking mechanism connecting plate (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310273641.3A CN116175513B (en) | 2023-03-21 | 2023-03-21 | Automatic walking marking robot for overhead line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310273641.3A CN116175513B (en) | 2023-03-21 | 2023-03-21 | Automatic walking marking robot for overhead line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116175513A true CN116175513A (en) | 2023-05-30 |
| CN116175513B CN116175513B (en) | 2023-11-03 |
Family
ID=86448885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310273641.3A Active CN116175513B (en) | 2023-03-21 | 2023-03-21 | Automatic walking marking robot for overhead line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116175513B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0627084U (en) * | 1991-02-28 | 1994-04-12 | 田辺工業株式会社 | Steel pipe elbow angle cutting marking jig |
| CN103618257A (en) * | 2013-12-11 | 2014-03-05 | 国家电网公司 | Extra-high-voltage power transmission line barrier removing robot |
| CN105811310A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure |
| CN211415138U (en) * | 2019-11-19 | 2020-09-04 | 天津捷强动力装备股份有限公司 | Quick center marking device |
| CN211940895U (en) * | 2020-01-08 | 2020-11-17 | 唐山裕祥检测科技有限公司 | Segmentation marking device for girth weld ray transillumination |
| CN212947776U (en) * | 2020-05-30 | 2021-04-13 | 孔庆森 | Positioning and marking device for building water and electricity wiring grooving |
| CN112710263A (en) * | 2020-12-07 | 2021-04-27 | 云南电网有限责任公司昆明供电局 | Transmission line wire length measuring device with marking and positioning functions |
| CN114310926A (en) * | 2021-11-29 | 2022-04-12 | 中建八局第一建设有限公司 | Roof unwrapping wire robot |
-
2023
- 2023-03-21 CN CN202310273641.3A patent/CN116175513B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0627084U (en) * | 1991-02-28 | 1994-04-12 | 田辺工業株式会社 | Steel pipe elbow angle cutting marking jig |
| CN103618257A (en) * | 2013-12-11 | 2014-03-05 | 国家电网公司 | Extra-high-voltage power transmission line barrier removing robot |
| CN105811310A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure |
| CN211415138U (en) * | 2019-11-19 | 2020-09-04 | 天津捷强动力装备股份有限公司 | Quick center marking device |
| CN211940895U (en) * | 2020-01-08 | 2020-11-17 | 唐山裕祥检测科技有限公司 | Segmentation marking device for girth weld ray transillumination |
| CN212947776U (en) * | 2020-05-30 | 2021-04-13 | 孔庆森 | Positioning and marking device for building water and electricity wiring grooving |
| CN112710263A (en) * | 2020-12-07 | 2021-04-27 | 云南电网有限责任公司昆明供电局 | Transmission line wire length measuring device with marking and positioning functions |
| CN114310926A (en) * | 2021-11-29 | 2022-04-12 | 中建八局第一建设有限公司 | Roof unwrapping wire robot |
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| Publication number | Publication date |
|---|---|
| CN116175513B (en) | 2023-11-03 |
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