CN117697824A - Rail hanging robot capable of switching connection modes - Google Patents
Rail hanging robot capable of switching connection modes Download PDFInfo
- Publication number
- CN117697824A CN117697824A CN202311782495.3A CN202311782495A CN117697824A CN 117697824 A CN117697824 A CN 117697824A CN 202311782495 A CN202311782495 A CN 202311782495A CN 117697824 A CN117697824 A CN 117697824A
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- spring wire
- cradle head
- adapter plate
- lifting
- module
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- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
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- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
The invention discloses a rail hanging robot with a switchable connection mode, which comprises a lifting module and a cradle head module, wherein when the lifting module is combined with the cradle head module, a lifting adapter plate is fixed in a cradle head gear plate through a lifting cradle head fixing screw, and the lower end of a spring wire adapter plate passes through the cradle head gear plate and is fixed on a cradle head base through a cradle head spring wire fixing screw; when the lifting module is separated from the cradle head module, the lifting cradle head fixing screw and the cradle head spring wire fixing screw are removed, and the spring wire adapter plate is fixed on the lifting adapter plate through the lifting spring fixing screw. The spring wire can move up and down in a telescopic manner along with the lifter module, and simultaneously rotate along with the cradle head module to perform torsion movement, and the two movements are simultaneously performed without mutual interference; when the cradle head module and the lifting module are assembled, connected and disassembled, the lower end of the spring wire is fixed on the lifting adapter plate of the lifting module, the spring wire can be prevented from being interfered, any operation is not carried out on the spring wire, and the two modules can be assembled and disassembled rapidly.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a rail hanging robot with a switchable connection mode.
Background
The rail hanging robot is a robot which can execute special patrol and custom patrol tasks under severe and special environments. The fixed track and the copper bar are utilized to take electricity, the all-weather inspection can be carried out without interruption, the autonomous positioning and the navigation can be realized, specific cameras such as panoramic cameras or double-light holder cameras and various environment monitoring module sensors are carried, the surrounding environment can be photographed and sensed in real time, and the remote on-line monitoring and the data analysis can be realized. The system can replace manual work to complete routine inspection, fault diagnosis and warning lamp task. The method helps enterprises effectively promote the content and frequency of operation and maintenance, breaks through the limit of traditional manual inspection, and achieves the intelligent operation and maintenance. The intelligent security inspection device can realize the full-time intelligent security inspection of tunnels, machine rooms, warehouses, workshops, pipe galleries and other scenes.
The rail hanging robot mainly comprises an elevator module and a cradle head module, wherein the cradle head module is used as a carrier platform of an optical sensor and an environment monitoring sensor and is connected with the elevator module, and a rotating function, a lifting function and a quick assembly and disassembly function are required to be simultaneously considered.
The spring wire for controlling the actions of the lifter and the cradle head of the existing rail hanging robot has two mounting modes, one is that the lower end of the spring wire mounted in the lifter module is not fixed, when the lifter is integrally mounted on the cradle head, the lower end of the spring wire is fixed on the cradle head, so that the lower end of the spring wire is not fixedly related to the lifter during production, and the wire harness is easy to damage; during subsequent maintenance, after the lower end of the spring wire on the cradle head is disassembled, the lower end of the spring wire is not fixed, and the wire harness is easy to damage; the other is to fix the spring wire on the lower bottom plate at the lowest end of the lifter, and the lower bottom plate is only fixedly connected with the lifter, so that when the lifter is integrally installed on the cradle head, a binding belt for fixing the spring wire on the lower bottom plate of the lifter is required to be cut, the spring wire is transferred and fixed on the cradle head base by using a new binding belt, the installation is labor-consuming, and when the lifter is in subsequent mechanical maintenance, the binding belt is required to be cut every time the lifter is touched, and the new binding belt is installed, so that the field operation is very difficult.
Disclosure of Invention
In order to solve the technical problems, the invention provides a rail hanging robot with a switchable connection mode.
The technical scheme adopted by the invention is as follows:
the rail hanging robot with the switchable connection mode comprises a lifting module and a cradle head module, wherein the lifting module comprises a lifter, a spring wire, a lifting adapter plate, a spring wire fixing binding belt and a spring wire pressing plate; the lifting adapter plate is fixed at the bottom of the lifter, the spring wire adapter plate is rotatably arranged at the lower side of the lifting adapter plate, the spring wire is arranged in the lifter, the lower end of the spring wire passes through the lifting adapter plate and the spring wire pressing plate and is fixed on the spring wire pressing plate through a spring wire fixing ribbon, and the spring wire pressing plate is fixed at the bottom of the spring wire adapter plate; the cradle head module comprises a cradle head base, a cradle head rotating motor, a motor gear and a cradle head gear disc; the cradle head rotating motor is fixedly arranged on the cradle head base, the motor gear is fixedly sleeved on an output shaft of the cradle head rotating motor, and the cradle head gear disc is rotatably arranged in the cradle head base through a cradle head rotating bearing and meshed with the motor gear;
when the lifting module is combined with the cradle head module, the lifting adapter plate is fixed in the cradle head gear plate through a lifter cradle head fixing screw, and the lower end of the spring wire adapter plate penetrates through the cradle head gear plate and is fixed on the cradle head base through a cradle head spring wire fixing screw; when the lifting module is separated from the cradle head module, the lifting cradle head fixing screw and the cradle head spring wire fixing screw are removed, and the spring wire adapter plate is fixed on the lifting adapter plate through the lifting spring fixing screw.
Further, the cradle head module further comprises two cradle head rotation sensors and a cradle head rotation positioning block, the two cradle head rotation sensors are symmetrically arranged on a cradle head rotation sensor support, the cradle head rotation sensor support is fixedly arranged on a cradle head base, the cradle head rotation positioning block is fixedly arranged on a cradle head gear disc, and the two cradle head rotation sensors and the cradle head rotation positioning block are matched to control the forward rotation angle and the reverse rotation angle of the cradle head.
Further, a gear disc mounting groove is formed in the holder base, a holder rotating bearing and a holder gear disc are mounted in the gear disc mounting groove, the holder gear disc is fixed on the holder rotating bearing inner ring, and the holder rotating bearing outer ring is fixed on the holder base through bearing cover plate pressing.
Further, the bottom of the gear plate mounting groove of the tripod head base is provided with a center hole for passing through the spring wire pressing plate, a screw hole for fixing the tripod head spring wire fixing screw, a round hole for freely passing through the lifter spring fixing screw and an arc hole for freely passing through the lifter tripod head fixing screw.
Further, the spring wire adapter plate is discoid, and the outside outstanding boss that forms in one side of disc central part, the internal diameter adaptation in boss external diameter and the centre bore of cloud platform base, the rectangular hole that is used for passing through spring wire and cartridge spring wire clamp plate is offered to boss central part, and the boss bottom is equipped with the screw hole that is used for fixed connection spring wire clamp plate, and the boss side is equipped with the breach that is used for passing the spring wire.
Further, the spring wire pressing plate is in a strip shape, a slot matched with the rectangular hole of the spring wire adapter plate is formed in one side of the spring wire pressing plate, and two through holes used for penetrating through the spring wire fixing binding belt are formed in the bottom surface of the slot.
Further, an adapter plate mounting groove is formed in the holder gear disc, and the lifter adapter plate is inserted into the adapter plate mounting groove; the bottom of keysets mounting groove is equipped with the through-hole that is used for passing the spring wire keysets.
Further, an elevator module installation positioning block is arranged in the adapter plate installation groove, and a positioning groove matched with the elevator module installation positioning block is formed in the elevator adapter plate.
The invention has the beneficial effects that:
1. when the cradle head module is combined with the lifting module, the lower end of the spring wire is fixed on the cradle head base, and the cradle head rotating motor, the motor gear, the spring wire adapter plate and the spring wire pressing plate are installed on the cradle head base and integrally serve as a rotating movement assembly; the lifting adapter plate, the lifter and the spring wire are arranged on the tripod head gear disc, the whole lifting adapter plate, the lifter and the spring wire are integrally used as a rotary fixing assembly, the spring wire moves in an up-down telescopic mode along with the lifter module, simultaneously rotates along with the tripod head module to do torsion, and the two movements do not interfere with each other at the same time.
2. When the cradle head module and the lifting module are assembled, connected and disassembled, the lower end of the spring wire is fixed on the lifting adapter plate of the lifting module, the spring wire can be prevented from being interfered, any operation is not carried out on the spring wire, and the two modules can be assembled and disassembled rapidly.
3. The gear mechanism and the cradle head rotating bearing are arranged outside the lifter, the lifter module and the cradle head module are connected in a compact structure, and the height dimension in the vertical direction is compressed to be the lowest, so that the utilization of the lifting height is maximized.
4. By arranging the cradle head rotation sensor and the cradle head rotation positioning block, accurate positioning of cradle head rotation can be realized.
Drawings
Fig. 1 is an assembled sectional view of the rail hanging robot of the present invention.
Fig. 2 is a perspective assembly view of the rail hanging robot of the present invention.
Fig. 3 is a bottom view of fig. 2.
Fig. 4 is a schematic structural diagram of a pan-tilt base.
Fig. 5 is a schematic structural diagram of a tripod head gear disc.
Fig. 6 is a schematic structural view of an elevator adapter plate.
Fig. 7 is a schematic structural view of the spring wire adapter plate.
Fig. 8 is a schematic structural view of a spring wire platen.
Reference numerals illustrate:
101. a spring wire; 102. a lifter; 103. a cradle head rotating motor; 104. a motor gear; 105. a cradle head rotating bearing; 106. an elevator adapter plate; 107. a lifter cradle head fixing screw; 108. a lifter spring fixing screw; 109. a spring wire adapter plate; 110. a spring wire pressing plate; 111. a holder spring wire fixing screw; 112. a cradle head base; 113. a bearing cover plate; 114. a cradle head gear disc; 115. a cradle head rotation sensor; 116. the cradle head rotates the sensor bracket; 117. the cradle head rotates the positioning block; 118. the spring wire is fixed with the binding belt; 120. the elevator module is provided with a positioning block.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solution of the present invention will be clearly and completely described with reference to the accompanying drawings and a preferred embodiment.
Referring to fig. 1-8, the application provides a rail hanging robot with a switchable connection mode, which comprises a lifting module and a cradle head module.
The lift module includes a lift 102, a spring wire 101, a lift adapter plate 106, a spring wire adapter plate 109, a spring wire securing strap 118, and a spring wire platen 110.
The center part of the lifting adapter plate 106 is provided with a center through hole for passing through the spring wire 101, the center part of the lower side surface of the lifter adapter plate is provided with an adapter plate mounting groove, the periphery of the adapter plate mounting groove is provided with a positioning groove, and when the positioning groove is used for combining a cradle head module and the lifter module, the lifting adapter plate 106 can be positioned and inserted in the gear disc mounting groove 1121; the center part of the upper side surface of the elevator adapter plate is provided with an elevator installation groove.
The spring wire adapter plate 109 is discoid, and the disc external diameter outwards forms the boss with the adapter plate mounting groove internal diameter adaptation with the outside outstanding boss that forms in one side of disc central part, and the boss external diameter is with the internal diameter adaptation of the centre bore of cloud platform base 112, and the rectangular hole that is used for passing spring wire 101 cartridge spring wire clamp plate 110 is offered to the boss central part, and the boss bottom is equipped with the screw hole that is used for fixed connection spring wire clamp plate 110, and the boss side is equipped with the breach that is used for passing spring wire 101.
The spring wire pressing plate 110 is in a strip shape, one side of the spring wire pressing plate is provided with a slot matched with the rectangular hole of the spring wire adapter plate 109, and the bottom surface of the slot is provided with two through holes for penetrating through the spring wire fixing binding belt 118.
The lifting adapter plate 106 is fixedly connected with the lifter 102 through a lifter mounting groove thereof, and the spring wire adapter plate 109 is mounted in the adapter plate mounting groove of the lifting adapter plate 106 through a disc part thereof and is fixed on the lifting adapter plate 106 through a lifter spring wire fixing screw 108; the spring wire pressing plate 110 is inserted on a rectangular hole of the spring wire adapter plate 109 through a slot of the spring wire pressing plate, the spring wire 101 is installed in the lifter 102, the lower end of the spring wire 101 penetrates through the lifting adapter plate 106 to penetrate out of a boss notch of the lifting adapter plate 106, the spring wire pressing plate 110 is fixed through a spring wire fixing ribbon 118, and the spring wire pressing plate 110 is fixed in a screw hole at the bottom of a boss of the spring wire adapter plate through a screw.
The pan-tilt module includes a pan-tilt base 112, a pan-tilt rotary motor 103, a motor gear 104, a pan-tilt gear plate 114, a pan-tilt rotation sensor 115, and a pan-tilt rotation positioning block 117.
A gear disc mounting groove 1121 is formed in the holder base 112, a central hole 1123 is formed in the bottom center of the gear disc mounting groove 1121, and three screw holes 1125 for mounting holder spring wire fixing screws 111 are uniformly formed in the periphery of the central hole 1123; four round holes 1122 and four arc holes 124 are alternately distributed on the outer circumference of the screw hole 1125. The central hole 1123 is used for coupling or uncoupling the pan-tilt module from the elevator module, and the boss portions of the spring pressing plate 110 and the spring wire adapter plate 109 may pass through the central hole 1123 to be coupled to or uncoupled from the pan-tilt base 112. Four circular holes 1122 are lifter pan-tilt set screw mounting holes 1122, and when the pan-tilt module is separated from the lifter module, the lifter spring set screws 108 freely pass through the pan-tilt base 112 to fix the spring wire adapter plate 109 to the lifter adapter plate 106. When the cradle head module is combined with the elevator module, the elevator cradle head fixing screws 107 can freely pass through the cradle head base 112 to fix the elevator adapter plate 106 on the cradle head gear plate 114.
The structural design of the cradle head base 112 can enable the gear mechanism and the cradle head rotating bearing to be placed outside the lifter, the connection structure of the lifter module and the cradle head module is compact, the connection height of the lifter and the cradle head is only 7mm, the height dimension in the vertical direction is compressed to be minimum, the lifting height is utilized to be maximum, and therefore the lifting auxiliary mechanism is convenient to install.
An adapter plate mounting groove is formed in the holder gear plate 114, a through hole for penetrating through the spring wire adapter plate 109 is formed in the bottom of the adapter plate mounting groove, and an elevator module mounting positioning block 120 is arranged in the adapter plate mounting groove.
The holder gear plate 114 is installed on the inner ring of the holder rotating bearing 105, the holder rotating positioning block 117 is installed on the holder gear plate 114, the outer ring of the holder rotating bearing 105 is fixed in the gear plate installation groove 1121, the holder rotating motor 103 is fixed on the holder base 112 by pressing the bearing cover plate 113, the motor gear 104 is installed on a motor shaft, the motor gear 104 drives the holder gear plate 114 to rotate, the front holder rotating sensor 115 and the back holder rotating sensor support 116 are installed on the holder rotating sensor support 116, and the holder rotating sensor support 116 is fixed on the holder base 112. The rotation of the tripod head is positioned by means of a tripod head rotation positioning block 117 contacting with a sensor, the number of the tripod head rotation sensors is 2, each of which is in forward and reverse directions, the tripod head rotation sensor supports 116 are symmetrically arranged and installed on the tripod head rotation sensor supports 116, the tripod head rotation sensor supports 116 are installed on the tripod head base 112, and the tripod head rotation positioning block 117 is fixed on the tripod head gear disc 114 and rotates along with the tripod head gear disc. The motor selects the direct current brush to take the encoder motor, can realize rotating and location according to setting for the angle, and two sensors in forward and reverse play rotatory return to zero, calibration and prevent the spacing guard action of overtravel.
When the cradle head module is combined with the lifter module, the lifting adapter plate 106 is lifted, positioned and inserted in the gear disc mounting groove 1121 through the positioning groove, and the lifting adapter plate 106 is fixed on the cradle head gear disc 114 through the lifter cradle head fixing screw 107; then, the lifter spring wire fixing screw 108 for fixing the spring wire adapter plate 109 to the lifter adapter plate 106 is removed, and the cradle head spring wire fixing screw 111 for fixing the spring wire adapter plate 109 to the cradle head base 112 is installed. At this time, the cradle head rotating motor 103, the motor gear 104, the spring wire adapter plate 109, the spring wire pressing plate 110, and the cradle head base 112 are integrally used as a rotating motion assembly; the lifting adapter plate 106, the lifter 102, the spring wire 101 and the cradle head gear disc 114 are integrally used as a rotation fixing assembly, and the cradle head rotation bearing 105 is used as a connecting piece to realize rotation and positioning of the cradle head.
When the spring wire adapter plate 109 is fixed on the holder base 112, the spring wire adapter plate 109 is separated from the lifter adapter plate 106, that is, separated from the lifter, and when the holder base 112 rotates, the spring wire 101 rotates together with the holder base 112, and when the lifter moves up and down, the spring wire 101 stretches together with the lifter 102, and the two movements run simultaneously or separately, and the spring wire moves in both directions without interference with the holder and the lifter.
When the cradle head module is integrally removed from the elevator module, removing the cradle head spring wire fixing screw 111 for fixing the spring wire adapter plate 109 on the cradle head base 112, installing the elevator spring wire fixing screw 108 for fixing the spring wire adapter plate 109 on the elevator adapter plate 106, and finally removing the elevator cradle head fixing screw 107, wherein the elevator 102, the spring wire 101, the elevator adapter plate 106, the spring wire adapter plate 109 and the spring wire pressing plate 110 form an independent elevator module; the cradle head rotating motor 103, the motor gear 104, the cradle head base 112 and the cradle head gear disk 114 form an independent cradle head module; the quick separation of the cradle head module and the lifting module can be realized without any operation on a spring wire.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention and remain within the scope of the invention.
Claims (8)
1. The rail hanging robot with the switchable connection mode comprises a lifting module and a cradle head module, and is characterized in that,
the lifting module comprises a lifter (102), a spring wire (101), a lifting adapter plate (106), a spring wire adapter plate (109), a spring wire fixing ribbon (118) and a spring wire pressing plate (110); the lifting adapter plate (106) is fixed at the bottom of the lifter (102), the spring wire adapter plate (109) is rotatably arranged at the lower side of the lifting adapter plate (106), the spring wire (101) is arranged in the lifter (102), the lower end of the spring wire (101) penetrates through the lifting adapter plate (106) and the lifting adapter plate (106) to be fixed on the spring wire pressing plate (110) through the spring wire fixing binding belt (118), and the spring wire pressing plate (110) is fixed at the bottom of the spring wire adapter plate (109);
the cradle head module comprises a cradle head base (112), a cradle head rotating motor (103), a motor gear (104) and a cradle head gear disc (114); the cradle head rotating motor (103) is fixedly arranged on the cradle head base (112), the motor gear (104) is fixedly sleeved on an output shaft of the cradle head rotating motor (103), and the cradle head gear disc (114) is rotatably arranged in the cradle head base (112) through the cradle head rotating bearing (105) and meshed with the motor gear (104);
when the lifting module is combined with the cradle head module, the lifting adapter plate (106) is fixed in the cradle head gear plate (114) through a lifting cradle head fixing screw (107), and the lower end of the spring wire adapter plate (109) penetrates through the cradle head gear plate (114) and is fixed on the cradle head base (112) through a cradle head spring wire fixing screw (111);
when the lifting module is separated from the cradle head module, the lifting cradle head fixing screw (107) and the cradle head spring wire fixing screw (111) are removed, and the spring wire adapter plate (109) is fixed on the lifting adapter plate (106) through the lifting spring fixing screw (108).
2. The track-hanging robot with a switchable connection mode according to claim 1, wherein the pan-tilt module further comprises two pan-tilt rotation sensors (115) and a pan-tilt rotation positioning block (117), the two pan-tilt rotation sensors (115) are symmetrically mounted on a pan-tilt rotation sensor support (116), the pan-tilt rotation sensor support (116) is fixedly mounted on a pan-tilt base (112), the pan-tilt rotation positioning block (117) is fixedly mounted on a pan-tilt gear (114), and the two pan-tilt rotation sensors (115) are matched with the pan-tilt rotation positioning block (117) to control a forward rotation angle and a reverse rotation angle of the pan-tilt.
3. The track-hanging robot with the switchable connection mode according to claim 1, wherein a gear disc mounting groove is formed in a holder base (112), a holder rotating bearing (105) and a holder gear disc (114) are mounted in the gear disc mounting groove, the holder gear disc (114) is fixed on an inner ring of the holder rotating bearing (105), and an outer ring of the holder rotating bearing (105) is fixed on the holder base (112) in a pressing manner through a bearing cover plate (113).
4. A switchable coupling type rail hanging robot as claimed in claim 3, wherein the bottom of the gear plate mounting groove of the pan-tilt base (112) is provided with a central hole for passing through the spring wire pressing plate (110), a screw hole for fixing the pan-tilt spring wire fixing screw (111), a round hole (1122) for freely passing through the lifter spring fixing screw (108), and an arc hole for freely passing through the lifter pan-tilt fixing screw (107).
5. The rail hanging robot capable of switching connection modes according to claim 4, wherein the spring wire adapter plate (109) is disc-shaped, one side of the disc-shaped central part protrudes outwards to form a boss, the outer diameter of the boss is matched with the inner diameter of a central hole of the holder base (112), a rectangular hole for passing through the spring wire (101) and the plug-in spring wire pressing plate (110) is formed in the central part of the boss, a screw hole for fixedly connecting the spring wire pressing plate (110) is formed in the bottom of the boss, and a notch for passing through the spring wire (101) is formed in the side face of the boss.
6. The rail hanging robot of the switchable connection mode according to claim 5, wherein the spring wire pressing plate (110) is in a strip shape, a slot matched with the rectangular hole of the spring wire adapter plate (109) is formed in one side of the spring wire pressing plate, and two through holes for penetrating through the spring wire fixing binding belt (118) are formed in the bottom surface of the slot.
7. The track-hanging robot with the switchable connection mode according to claim 1, wherein an adapter plate mounting groove is formed in a holder gear plate (114), and an elevator adapter plate (106) is inserted into the adapter plate mounting groove; the bottom of the adapter plate mounting groove is provided with a through hole for passing through the spring wire adapter plate (109).
8. The rail hanging robot with the switchable connection mode according to claim 4, wherein an elevator module mounting positioning block (120) is arranged in the adapter plate mounting groove, and a positioning groove matched with the elevator module mounting positioning block (120) is formed in the elevator adapter plate (106).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311782495.3A CN117697824A (en) | 2023-12-22 | 2023-12-22 | Rail hanging robot capable of switching connection modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311782495.3A CN117697824A (en) | 2023-12-22 | 2023-12-22 | Rail hanging robot capable of switching connection modes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117697824A true CN117697824A (en) | 2024-03-15 |
Family
ID=90151407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311782495.3A Pending CN117697824A (en) | 2023-12-22 | 2023-12-22 | Rail hanging robot capable of switching connection modes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117697824A (en) |
-
2023
- 2023-12-22 CN CN202311782495.3A patent/CN117697824A/en active Pending
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