CN116852398A - Multifunctional mobile robot for cable pit inspection operation - Google Patents
Multifunctional mobile robot for cable pit inspection operation Download PDFInfo
- Publication number
- CN116852398A CN116852398A CN202311126407.4A CN202311126407A CN116852398A CN 116852398 A CN116852398 A CN 116852398A CN 202311126407 A CN202311126407 A CN 202311126407A CN 116852398 A CN116852398 A CN 116852398A
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- mobile robot
- multifunctional mobile
- inspection operation
- cable
- cable pit
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- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 8
- 230000003670 easy-to-clean Effects 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
-
- 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
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The application discloses a multifunctional mobile robot for cable pit inspection operation, and particularly relates to the technical field of cable pit inspection. The application is convenient for climbing in the advancing path by correspondingly matching each structure, is convenient for adapting to the rugged complex environment, improves the convenience and efficiency of the device in inspection, is convenient for inspecting different areas of the device, clamps off or takes out the abandoned cable on the advancing path of the device to the outside of the cable trench by the traction force when the clamping piece is displaced, is easy to clean the inside of the cable trench, and is convenient for subsequent cable laying.
Description
Technical Field
The application relates to the technical field of cable trench inspection, in particular to a multifunctional mobile robot for cable trench inspection operation.
Background
The cable trench is excavated and built according to the design requirement, the side wall of the trench is welded with a bearing angle steel frame and is grounded according to the requirement, and an underground trench covered with a cover plate is an underground special channel for laying cables. The cable trench is moist and stuffy, has rubbish and debris to pile up, ponding, silt and multiple problems such as old and useless cable, and in addition cable insulating layer ageing probably causes the conflagration and the long-term sealed harmful gas accumulation that leads to of underground environment, and manual inspection has very big degree of difficulty, and this just requires to apply to the robot of patrolling and examining in the cable trench and possess good topography adaptability and satisfy the dustproof waterproof performance of standard requirement, has high accuracy navigation generally: the robot can acquire the position information of the robot through various sensors such as GPS, laser ranging, inertial navigation and the like, and accurate navigation in a cable channel is realized. Image recognition and analysis: the robot is provided with a high-definition camera, and can capture real-time images in the cable pit. Through the image recognition technology, the robot can detect the conditions of equipment and cable lines and discover hidden trouble in time. Environmental monitoring: the robot is internally provided with sensors such as temperature and humidity, harmful gas and the like, so that the environmental conditions in the cable channel can be monitored in real time, and the safety of equipment and personnel is ensured. Data acquisition and transmission: the robot can collect data of various sensors, and the data is transmitted to a monitoring center in real time through a wireless communication technology, so that management personnel can conveniently monitor and make decisions remotely.
The application patent with the patent application number of CN201710962032.3 discloses a multifunctional mobile robot for cable trench inspection operation, which comprises a crawler-type travelling mechanism base (1), a fire-fighting module, a visual detection module, a gas detection module and a communication module;
when the structure is used, through multiple functions such as harmful gas detection, visual detection, fire-fighting operation and the like of the cable duct internal environment, fault hidden danger of power equipment in the cable duct is timely found and eliminated, the accident rate of the cable equipment is reduced, but the cable duct internal environment is more complex, and the structure is inconvenient to move in the cable duct, so that inspection operation is not convenient enough and has low efficiency.
Disclosure of Invention
In order to overcome the defects in the prior art, the application provides a multifunctional mobile robot for cable pit inspection operation, which aims to solve the problems in the prior art.
The application is realized in such a way that the application provides the following technical scheme: the multifunctional mobile robot for the cable pit inspection operation comprises a base for supporting, wherein an inspection displacement assembly is arranged on the base;
the inspection displacement assembly comprises two support plates arranged at the bottom of the base, two first driving wheels are respectively arranged on one side of each support plate, and first travelling belts are respectively sleeved on the outer sides of the first driving wheels;
the top of each supporting plate is respectively provided with a supporting inclined rod which is obliquely upwards arranged on the base, the supporting inclined rods are provided with supporting inclined planes, and the supporting inclined planes are connected with the base to enable the supporting inclined rods to be inclined to the base;
a second travelling belt is arranged on one side of each supporting inclined rod, a second driving wheel is arranged in the second travelling belt, and the second driving wheels are connected with the supporting inclined rods and the first driving wheels;
the top of the base is provided with a controller;
according to the technical scheme, the first driving wheel rotates to displace through the first travelling belt driving device, the first driving wheel can also drive the second driving wheel to rotate when rotating so that the second travelling belt rotates, and the slope is supported by the supporting inclined plane of the inclined rod, so that the device climbs a slope in the travelling path, is convenient to adapt to an uneven complex environment, and improves the convenience and efficiency of the device in inspection.
Optionally, in a possible implementation manner, a connection cover is arranged on one side of the base, which is located on the controller, and a supporting seat is rotatably arranged on the top of the connection cover;
the inspection displacement assembly further comprises a first connecting arm rotatably arranged at the top of the supporting seat, one end of the first connecting arm is rotatably provided with a second connecting arm, one end of the second connecting arm is rotatably provided with a connecting block, and the second connecting arm is provided with a detection head.
Optionally, one end of connecting block is provided with the cavity board, be provided with two arm clamps that can opposite displacement in the cavity board.
Optionally, one side of each of the two clamping arms is respectively provided with a traction rod which is arranged on the hollow plate, and one end of each of the two clamping arms is respectively provided with an adjusting rod which is arranged on the hollow plate.
Optionally, two adjust the pole and keep away from the one end of arm lock and be provided with the gear respectively, and two the gear meshes mutually.
Optionally, one end of each clamping arm far away from the adjusting rod is provided with a clamping piece, and one side of each clamping piece is provided with a plurality of pressurizing strips respectively.
Optionally, tip one side of connecting block is provided with the telescopic link, the output of telescopic link is installed on the cavity board, the top of cavity board is provided with driving motor, driving motor's output runs through the cavity board and is connected with one of them gear.
According to the technical scheme, the motor at the bottom of the supporting seat drives the supporting seat to rotate, the supporting seat drives the first connecting arm, the second connecting arm and the hollow plate to rotate when rotating, so that the first connecting arm, the second connecting arm and the hollow plate can rotate along the axis point of the supporting seat, inspection work is convenient to be carried out on different areas of the device, the output end of the driving motor drives the gear to rotate, the two gears are meshed, so that each adjusting rod can oppositely displace through traction force when the gears rotate, the adjusting rod drives the clamping arm to displace when rotating, the two clamping pieces can oppositely rotate through limiting of the traction rod, waste cables on the travelling path of the device can be clamped off or taken out to the outer side of the cable trench through traction force when the clamping pieces displace, and the cable can be easily cleaned in the cable trench, so that the cable can be conveniently laid subsequently.
Optionally, in one possible implementation manner, motors for driving the first driving wheel, the supporting seat, the first connecting arm, the second connecting arm and the telescopic rod to rotate are respectively arranged on the supporting plate, the connecting cover, the supporting seat, the first connecting arm and the connecting block;
it can be seen that in the above-mentioned technical scheme to drive first linking arm and second linking arm and carry out angle modulation first when each motor starts, also can adjust the angle of cavity board at the connecting block tip, improve the diversity and the convenience of device when using.
The application has the technical effects and advantages that:
according to the application, the first driving wheel rotates to displace through the first travelling belt driving device, and the first driving wheel also drives the second driving wheel to rotate when rotating so as to enable the second travelling belt to rotate, and the supporting inclined plane of the supporting inclined rod is used for facilitating climbing of the device in the travelling path, adapting to the rugged complex environment and improving the convenience and efficiency of the device in inspection.
To sum up, overall design is simple, and is rational in infrastructure, uses through the corresponding cooperation of each structure, and the device of being convenient for climbs the slope in the way of marcing, is convenient for adapt to unsmooth complex environment, improves the device and patrol convenience and efficiency when examining, is convenient for patrol and examine the work to the different regions of device, and the traction force when through the folder displacement is with the abandoned cable pinch-off on the device marcing or take out to the cable pit outside, easily clear up in the cable pit, the convenience is followed and is laid the cable.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure, the drawings that need to be used in some embodiments of the present disclosure will be briefly described below, and it is apparent that the drawings in the following description are only drawings of some embodiments of the present disclosure, and other drawings may be obtained according to these drawings to those of ordinary skill in the art. Furthermore, the drawings in the following description may be regarded as schematic diagrams, not limiting the actual size of the products, the actual flow of the methods, the actual timing of the signals, etc. according to the embodiments of the present disclosure.
Fig. 1 is a front view of the overall structure of the present application.
Fig. 2 is a side view of the overall structure of the present application.
Fig. 3 is a front view showing the respective structures of the support base, the first connecting arm and the second connecting arm according to the present application.
Fig. 4 is a front view of the various structures on the support plate and support diagonal of the present application.
Fig. 5 is an exploded view of the various structures on the hollow plate of the present application.
The reference numerals are: 1. a base; 2. a support plate; 3. a first drive wheel; 4. a first running belt; 5. supporting the diagonal rod; 6. a second drive wheel; 7. a second running belt; 8. a connection cover; 9. a support base; 10. a first connecting arm; 11. a second connecting arm; 12. a connecting block; 13. a detection head; 14. a hollow plate; 15. a clamp arm; 16. a traction rod; 17. an adjusting rod; 18. a gear; 19. a clamping piece; 20. a telescopic rod; 21. a drive motor; 22. a motor; 23. and a controller.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The multifunctional mobile robot for the cable pit inspection operation is shown in the attached drawings 1-5, is convenient to adapt to an uneven complex environment through the inspection displacement assembly arranged on the base 1, improves the convenience and efficiency of the device in inspection, is convenient to inspect different areas of the device, clamps off or takes out waste cables on the travelling path of the device to the outer side of the cable pit through the traction force when the clamping piece 19 is displaced, is easy to clean the cable pit, is convenient for subsequent cable laying, and has the following specific structure;
the inspection displacement assembly comprises two support plates 2 arranged at the bottom of the base 1, one sides of the two support plates 2 are respectively provided with two first driving wheels 3, and the outer sides of the first driving wheels 3 are respectively sleeved with a first travelling belt 4;
a supporting inclined rod 5 which is obliquely upwards installed on the base 1 is respectively arranged at the top of each supporting plate 2, a supporting inclined surface is arranged on each supporting inclined rod 5, and the supporting inclined surfaces are connected with the base 1 to enable the supporting inclined rods 5 to be inclined to the base 1;
a second travelling belt 7 is respectively arranged on one side of each supporting inclined rod 5, a second driving wheel 6 is arranged in the second travelling belt 7, and the second driving wheel 6 is connected with the supporting inclined rods 5 and the first driving wheels 3.
Wherein, the top of the base 1 is provided with a controller 23, one side of the controller 23 is provided with a connecting cover 8 arranged on the base 1, and the top of the connecting cover 8 is provided with a rotatable supporting seat 9;
the inspection displacement assembly further comprises a first connecting arm 10 rotatably arranged at the top of the supporting seat 9, one end of the first connecting arm 10 is rotatably provided with a second connecting arm 11, one end of the second connecting arm 11 is rotatably provided with a connecting block 12, and the second connecting arm 11 is provided with a detection head 13.
In addition, one end of the connecting block 12 is provided with a hollow plate 14, two clamping arms 15 capable of oppositely displacing are arranged in the hollow plate 14, one sides of the two clamping arms 15 are respectively provided with a traction rod 16 which is arranged on the hollow plate 14, one end of each clamping arm 15 is respectively provided with an adjusting rod 17 which is arranged on the hollow plate 14, one end of each adjusting rod 17 far away from the clamping arm 15 is respectively provided with a gear 18, the two gears 18 are meshed, one end of each clamping arm 15 far away from the adjusting rod 17 is provided with a clamping piece 19, one side of each clamping piece 19 is respectively provided with a plurality of pressurizing strips, one side of the end part of the connecting block 12 is provided with a telescopic rod 20, the output end of the telescopic rod 20 is arranged on the hollow plate 14, the top of the hollow plate 14 is provided with a driving motor 21, and the output end of the driving motor 21 penetrates through the hollow plate 14 and is connected with one of the gears 18;
the supporting plate 2, the connecting cover 8, the supporting seat 9, the first connecting arm 10 and the connecting block 12 are respectively provided with a motor 22 for driving the first driving wheel 3, the supporting seat 9, the first connecting arm 10, the second connecting arm 11 and the telescopic rod 20 to rotate.
According to the structure, when the device is used, the motor 22 controls the device to patrol and examine the displacement in the cable pit, the motor 22 on one side of the supporting plate 2 firstly drives the first driving wheel 3 to rotate and drive the device to displace through the first travelling belt 4 during displacement, the first driving wheel 3 also drives the second driving wheel 6 to rotate when rotating so as to enable the second travelling belt 7 to rotate, and the supporting inclined plane of the supporting inclined rod 5 is used for facilitating the climbing of the device in the travelling path, facilitating the adaptation to the rugged complex environment and improving the convenience and efficiency of the device during patrol and examine;
simultaneously, through the rotation of motor 22 drive supporting seat 9 of supporting seat 9 bottom, drive first linking arm 10, second linking arm 11 and cavity board 14 rotation when the supporting seat 9 is rotatory to first linking arm 10, second linking arm 11 and cavity board 14 are along the axle center point rotary displacement of supporting seat 9, are convenient for patrol and examine the work to the different regions of device.
It can be understood that the gear 18 can be driven to rotate through the driving motor 21, the output end of the driving motor 21 drives the gear 18 to rotate, the two gears 18 are meshed to enable each adjusting rod 17 to oppositely displace through the traction force generated when the gear 18 rotates, the clamping arm 15 is driven to displace when the adjusting rod 17 rotates, the two clamping pieces 19 can oppositely rotate through the limit of the traction rod 16, and the waste cables on the travelling path of the device can be clamped off or taken out to the outer side of a cable duct through the traction force generated when the clamping pieces 19 displace, so that the cable can be cleaned in the cable duct easily, and the subsequent cable laying is facilitated.
And be provided with respectively on through backup pad 2, coupling cover 8, supporting seat 9, first linking arm 10 and connecting block 12 and be used for driving first drive wheel 3, supporting seat 9, first linking arm 10, second linking arm 11 and telescopic link 20 rotatory motor 22 to the angle modulation is carried out first to drive first linking arm 10 and second linking arm 11 when each motor 22 starts, also can adjust the angle of cavity board 14 at connecting block 12 tip, improves the diversity and convenient when the device is used.
Compared with the prior art, the multifunctional mobile robot for the cable pit inspection operation is disclosed, the multifunctional mobile robot is convenient for the device to climb a slope in the advancing path through the corresponding cooperation of each structure, is convenient for adapting to the rugged complex environment, improves the convenience and efficiency of the device in inspection, is convenient for inspecting different areas of the device, clamps off or takes out the waste cable on the advancing path of the device to the outside of the cable pit through the traction force when the clamping piece 19 is displaced, is easy to clean the cable pit, and is convenient for subsequent cable laying.
The application has the following beneficial effects:
1. according to the application, the first driving wheel rotates to be displaced by the first travelling belt driving device, and the first driving wheel also drives the second driving wheel to rotate when rotating so as to enable the second travelling belt to rotate, so that the device climbs a slope in the travelling path through the supporting inclined plane of the supporting inclined rod, the device is convenient to adapt to the rugged complex environment, and the convenience and the efficiency of the device in the process of inspection are improved;
2. the first connecting arm, the second connecting arm and the hollow plate are driven to rotate when the supporting seat rotates, so that the first connecting arm, the second connecting arm and the hollow plate can conveniently rotate and displace along the axis point of the supporting seat, inspection work is conveniently carried out on different areas of the device, the output end of the driving motor drives the gear to rotate, the two clamping pieces can oppositely rotate through the limit of the traction rod, waste cables on the travelling path of the device can be clamped off or taken out to the outer side of the cable pit through traction force when the clamping pieces displace, the cable pit is easy to clean, and the subsequent cable laying is convenient;
3. according to the application, the first connecting arm and the second connecting arm are driven to firstly perform angle adjustment when being matched with each motor to start, and the angle of the hollow plate at the end part of the connecting block can also be adjusted, so that the diversity and convenience of the device in use are improved.
The foregoing is only illustrative of the preferred embodiments of the present application and is not to be construed as limiting the application, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present application.
Claims (9)
1. Multifunctional mobile robot towards cable pit inspection operation, including base (1) that are used for supporting, its characterized in that: the base (1) is provided with a patrol displacement assembly;
the inspection displacement assembly comprises two support plates (2) arranged at the bottom of the base (1), two first driving wheels (3) are respectively arranged on one side of each support plate (2), and first travelling belts (4) are respectively sleeved on the outer sides of the first driving wheels (3);
a supporting inclined rod (5) which is obliquely upwards arranged on the base (1) is respectively arranged at the top of each supporting plate (2), a supporting inclined surface is arranged on each supporting inclined rod (5), and the supporting inclined surfaces are connected with the base (1) to enable the supporting inclined rods (5) to be inclined to the base (1);
a second travelling belt (7) is arranged on one side of each supporting inclined rod (5), a second driving wheel (6) is arranged in each second travelling belt (7), and the second driving wheels (6) are connected with the supporting inclined rods (5) and the first driving wheels (3);
the top of the base (1) is provided with a controller (23).
2. The multifunctional mobile robot for cable pit inspection operation according to claim 1, wherein: a connecting cover (8) is arranged on one side of the base (1) positioned on the controller (23), and a supporting seat (9) is rotatably arranged at the top of the connecting cover (8);
the inspection displacement assembly further comprises a first connecting arm (10) rotatably arranged at the top of the supporting seat (9), one end of the first connecting arm (10) is rotatably provided with a second connecting arm (11), one end of the second connecting arm (11) is rotatably provided with a connecting block (12), and the second connecting arm (11) is provided with a detection head (13).
3. The multifunctional mobile robot for cable pit inspection operation according to claim 2, wherein: one end of the connecting block (12) is provided with a hollow plate (14), and two clamping arms (15) capable of oppositely displacing are arranged in the hollow plate (14).
4. A multifunctional mobile robot for cable pit inspection operation according to claim 3, wherein: one side of each clamping arm (15) is provided with a traction rod (16) which is arranged on the hollow plate (14), and one end of each clamping arm (15) is provided with an adjusting rod (17) which is arranged on the hollow plate (14).
5. The multifunctional mobile robot for cable pit inspection operation according to claim 4, wherein: one end of each adjusting rod (17) far away from the clamping arm (15) is provided with a gear (18), and the two gears (18) are meshed.
6. The multifunctional mobile robot for cable pit inspection operation according to claim 5, wherein: one end of each clamping arm (15) far away from the adjusting rod (17) is provided with a clamping piece (19), and one side of each clamping piece (19) is respectively provided with a plurality of pressurizing strips.
7. The multifunctional mobile robot for cable pit inspection operation according to claim 2, wherein: a telescopic rod (20) is arranged on one side of the end part of the connecting block (12), and the output end of the telescopic rod (20) is arranged on the hollow plate (14).
8. A multifunctional mobile robot for cable pit inspection operation according to claim 3, wherein: the top of the hollow plate (14) is provided with a driving motor (21), and the output end of the driving motor (21) penetrates through the hollow plate (14) and is connected with one of the gears (18).
9. The multifunctional mobile robot for cable pit inspection operation according to claim 1, wherein: the support plate (2), the connecting cover (8), the supporting seat (9), the first connecting arm (10) and the connecting block (12) are respectively provided with a motor (22) for driving the first driving wheel (3), the supporting seat (9), the first connecting arm (10), the second connecting arm (11) and the telescopic rod (20) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311126407.4A CN116852398A (en) | 2023-09-04 | 2023-09-04 | Multifunctional mobile robot for cable pit inspection operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311126407.4A CN116852398A (en) | 2023-09-04 | 2023-09-04 | Multifunctional mobile robot for cable pit inspection operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116852398A true CN116852398A (en) | 2023-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311126407.4A Pending CN116852398A (en) | 2023-09-04 | 2023-09-04 | Multifunctional mobile robot for cable pit inspection operation |
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| Country | Link |
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| CN (1) | CN116852398A (en) |
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Application publication date: 20231010 |