CN206899224U - A kind of guide rails of robots - Google Patents
A kind of guide rails of robots Download PDFInfo
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- CN206899224U CN206899224U CN201720827765.1U CN201720827765U CN206899224U CN 206899224 U CN206899224 U CN 206899224U CN 201720827765 U CN201720827765 U CN 201720827765U CN 206899224 U CN206899224 U CN 206899224U
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- hanging rail
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Abstract
The utility model provides a kind of guide rails of robots, including connector and lower hanging rail, and the connector is located at the top of lower hanging rail, and the center of the lower hanging rail has splicing groove, and the bottom of the splicing groove has the slot laterally set；The upper end of the lower hanging rail has horizontal support wheel guide pass；The both sides of the lower end of the lower hanging rail have load-bearing directive wheel guide pass；Along lower hanging rail length direction, the side wall of the lower hanging rail is provided with neck, and the outside wall surface of neck forms driving spigot surface, and the side wall of the lower hanging rail is additionally provided with card article, and the card article is between neck and support wheel guide pass；Between neck and load-bearing directive wheel guide pass, there is the driving directive wheel spigot surface of indent in the side wall of the lower hanging rail.The utility model can effectively solve the problems, such as guide rail splicing mismatch and guide rail and bending track mismatch.
Description
Technical field
It the utility model is related to a kind of guide rails of robots.
Background technology
Chinese invention patent document CN201510159496.1《A kind of cable tunnel inspection robot walking mechanism》Middle public affairs
A kind of cable tunnel inspection robot walking mechanism, including guide rail and driving guiding mechanism are driven, the guide rail has hollow
Chamber, the driving guiding mechanism include the vehicle frame in the hollow chamber of guide rail, and vehicle frame is provided with horizontal guide sheave group, water
Flat guide wheel group plays horizontally-guided in the hollow chamber of guide rail, and robot is suspended on below vehicle frame, and vehicle frame is provided with load-bearing
Wheel group, Load-bearing rail is provided with the hollow chamber of guide rail and is used to support BOGEY WHEEL group, drive wheel group, driving wheel are provided with below vehicle frame
Group rolls in the lower section of guide rail and the lower surface of guide rail to be coordinated.Guide rail is using aluminum alloy materials and is designed to arc-shaped edges inverted trapezoidal,
With a pair of loss of weight mounting holes, a pair of lightening holes, a pair of horizontal guide sheave cavitys, a pair of front end directive wheel guide rails, a load-bearing
Directive wheel cavity, a pair of load-bearing directive wheel guide rails, a pair of base arm, bottom gaps；Loss of weight mounting hole site is above guide rail both sides, its shape
For the inverted trapezoidal with circular arc, for guide rail installation and mitigate the weight of guide rail；A pair of lightening holes are located under loss of weight mounting hole
Side, it is shaped as the inverted trapezoidal with circular arc, for mitigating the weight of guide rail；Upper and lower ends set a pair of band arc chord angles in the middle part of guide rail
Rectangular horizontal directive wheel cavity, be provided with horizontally-guided lines in the cavity two side arms, be used for and drive on guiding mechanism
Horizontal guide sheave produces effectively friction, and a pair of front end directive wheel guide rails are set below upper horizontal guide sheave cavity；Upper and lower horizontal
One load-bearing directive wheel cavity is set between directive wheel cavity, three cavity UNICOMs, sets a pair and holds in BOGEY WHEEL cavity bottom
Wheel guide rail is redirected, this is provided with lines to guide rail, and two pairs of load-bearing guide wheel groups of driving guiding mechanism front and back end can be along load-bearing
Directive wheel guide rail rolls；Base arm is located at guide rail bottom Di Xi both sides.
This type of guide rail scheme is adapted to the free environments such as tunnel, but installs inconvenient, the splicing of track on ceiling indoors
Underaction, it is larger for the application scenarios quality of guide rail and volume of small scale robot.The hoofing part mechanism of robot is set
In guide rail interior, radius of turn can not be too small in the guide rail with certain radian.
Chinese invention patent document CN201620251405.7《A kind of mobile robot guide rail》In disclose a kind of inspection
Guide rails of robots, including upper supplemental mounting rail and lower hanging rail；The upper supplemental mounting rail includes lifting plate and positioned at described
The nested rail below plate is lifted, the nested troughs of opening upwards are provided with the nested rail；The lower hanging rail includes driving wheel
Rail and the guiding wheel track below the active wheel track, grafting bar are provided with the active wheel track, the nested rail is embedding
It is enclosed in active wheel track, the grafting bar, nested troughs grafting coordinate.The utility model is designed using double-layer guide rail, passes through lifting
Plate realizes suspension installation, then active wheel track is nested with nested rail, easy for installation.But the guide rail that the utility model provides is splicing
When forming long track, the connection between guide rail and guide rail is very inconvenient, guide rail docked with guide rail easily produce mismatch, straight rail with
Bending track needs polishing orbit when docking.
The content of the invention
To solve the problems, such as that prior art is present, the utility model provides a kind of guide rails of robots, can effectively solve
Guide rail splices mismatch problem and guide rail and bending track mismatch problem.
Guide rails of robots provided by the utility model, including connector and lower hanging rail, the connector are located at lower suspension
The top of rail, the center of the lower hanging rail have splicing groove, and the bottom of the splicing groove has the slot laterally set；Under described
The upper end of hanging rail has horizontal support wheel guide pass；The both sides of the lower end of the lower hanging rail have load-bearing directive wheel guide rail
Face；Along lower hanging rail length direction, the side wall of the lower hanging rail is provided with neck, and the outside wall surface of neck forms driving and is oriented to
Face, the side wall of the lower hanging rail are additionally provided with card article, and the card article is between neck and support wheel guide pass；Neck with
Between load-bearing directive wheel guide pass, there is the driving directive wheel spigot surface of indent in the side wall of the lower hanging rail.This practicality is new
The guide rail that type provides has splicing groove, can utilize more guide rail splicing growth tracks, guide rail is not in that mismatch is asked when splicing
Topic, splicing is convenient, live strong adaptability.Load-bearing directive wheel guide pass effectively supports walking mechanism, and guiding cheekn sets neck, side
Just the installation of rack etc..
To form long track, connected between adjacent rails by connection member, the bottom of the connection member, which has, inserts
Block；One end of the connection member is fixed therein one end of a guide rail, and the other end of connection member inserts another guide rail
Splicing groove in, or, the both ends of the connection member are inserted in the splicing groove of two guide rails respectively, wherein, the inserted block is inserted
Splicing groove is set in the slot for entering the lower hanging rail, in the utility model guide rail, spliced using connection member, it is simple and convenient,
It is easily installed, is not in mismatch problem.
For convenience of installation, in the splicing groove, it is convex that grafting is provided with along its length on the inwall of the lower hanging rail
Bar, the top of the connection member have the grafting groove of indent, and the grafting raised line of the lower hanging rail is inserted in connection member
In grafting groove, on the one hand grafting raised line plays a part of guiding, on the other hand play a part of being stably connected with.
The utility model can be spliced to form U-shaped or S-shaped track using more guide rails, wherein, part guide rails are straight rail, portion
It is bending track to divide guide rail, and the both ends of bending track preferably reserve one section of short straight rail, are so advantageous to the splicing between straight rail, without beating
Mill.
Preferably, the upper surface of the connector is provided with screw locating slot, and the connector of adjacent rails is in contact, passed through
Mode connects for screw, screw are fixed in screw locating slot.
For convenience of the connection between connector and lower hanging rail, the lower surface of the connector is provided with grafting block, described
The upper surface of the support wheel guide pass of lower hanging rail is provided with inserting groove, and the connector is with lower hanging rail by grafting block with inserting
The grafting of access slot is connected, and direct grafting is easy for installation, is easy to in-site installation.
Preferably, the bottom of the lower hanging rail is provided with the detection location and installation groove that Open Side Down, detects location and installation
Mounting magnetic steel fixed plate in groove, detection means are arranged in walking mechanism, detection faces and detected identity distance from keeping constant constantly,
Increase reliability.
Preferably, rack is installed, the lower end of rack is inserted in neck, tooth between the neck and card article of the lower hanging rail
Bar coordinates with the gear in walking mechanism, realizes driving.
Preferably, trolley fixed block is installed, the trolley is fixed between the neck and card article of the lower hanging rail
The back side of block is provided with screens groove, and the lower end of the trolley fixed block is inserted in neck, the card article insertion of the lower hanging rail
In screens groove, trolley is installed on trolley fixed block so that guide rail is powered, walking mechanism can the power taking directly on guide rail,
Without using battery, miscellaneous part can also be installed and realize carrier communication, battery powered insecurity is reduced, greatly reinforce
The security of communication.
Preferably, the load-bearing directive wheel guide pass tilts down, the angle of inclination with the load-bearing directive wheel of walking mechanism
It is adapted, guiding and carrying for walking mechanism.
The utility model guide rail has splicing groove, is connected straight rail with straight rail, straight rail and bending track using connection member, installs
It is convenient, while trolley is installed by setting neck, realize that guide rail is powered, carrier communication can be carried out.The both ends of bending track are pre-
One section of short straight rail is stayed, straight rail is realized with bending track and is effectively connected, without polishing when guide rail splices, greatly improve track installation matter
Amount.Guide rail bottom sets detection location and installation groove, detects mounting magnetic steel fixed plate in location and installation groove, and detection means installation is expert at
Walk in mechanism, detection faces, from keeping constant constantly, increase reliability with detected identity distance.It can be achieved by the combination of guide rail U-shaped
Adaptability curved, S is curved, raising is live；Track can be powered, can communicated；Erection ＆ lift quality.
Brief description of the drawings
Fig. 1 is straight rail schematic diagram；
Fig. 2 is convergence piece schematic diagram；
Fig. 3 is bending track schematic diagram；
Fig. 4 is trolley fixed block schematic diagram；
Fig. 5 is U-rail schematic diagram；
Fig. 6 is S-shaped track schematic diagram；
Fig. 7 is walking mechanism and orbital position relation schematic diagram (connector is not shown)；
Fig. 8 is auxiliary support wheel, supporting guide wheel and the orbital position graph of a relation (connector is not shown) of walking mechanism；
Fig. 9 is the driving wheel, driving directive wheel and orbital position graph of a relation (connector is not shown) of walking mechanism；
Figure 10 is walking mechanism structural representation.
In figure：A- tracks；B- walking mechanisms；1- connectors；2- screw locating slots；3- straight rails；4- support wheel guide pass；5-
Neck；6- drives spigot surface；7- straight rails splice groove；8- load-bearing directive wheel guide pass；9- detects location and installation groove；10- convergence pieces；
11- splices guide pad；The short straight rails of 12-；13- bending tracks；14- chamferings；15- connection fixing blocks；16- trolleys；17- grafting blocks；18-
Inserting groove；19- slots；20- grafting raised lines；21- inserted blocks；22- grafting grooves；23rd, trolley fixed block；24- auxiliary support wheels；
25- supporting guide wheels；26- screens grooves；27- card articles；28- drives directive wheel spigot surface；29- drives directive wheel；30- driving wheels；
31- racks；
Embodiment
Connector 1 is installed as shown in Fig. 1,8,9, above straight rail 3 (lower hanging rail), connector 1 integral into U-shaped structure,
The lower section of connector 1 is symmetrically arranged with grafting block 17, and along the length direction of connector 1, the middle part of connector 1 is provided with screw and determined
Position groove 2.The installation of straight rail is easy in the setting of connector 1, if desired for straight rail is ceiling mounted, is installed in advance on ceiling
There is fixed component, connector 1 is connected with the fixed component on ceiling.The upper end of straight rail 3 is provided with inserting groove 18, directly
When being assembled between rail 3 and connector 1, the grafting block 17 of connector 1 is inserted to the inserting groove 18 of straight rail 3.The middle part of straight rail 3
Hollow out, splice groove 7 for straight rail；Along the length of straight rail 3 on the upper end of the straight rail splicing groove 7 of the hollow out, the both sides inwall of straight rail 3
Degree direction sets grafting raised line 20 respectively；Close to the lower end of straight rail splicing groove 7, also offered in straight rail 3 along straight rail width
Slot 19.In the bottom of straight rail 3, the detection location and installation groove 9 into U-shaped that Open Side Down, the detection location and installation groove 9 are provided with
Identification plate is inside installed, walking mechanism has detection plate, and the position of walking mechanism can be positioned by detecting identification plate by detection plate,
Due in guide rail just below, can simplify the identification device of walking mechanism.In the both sides of the lower end of straight rail 3, set oriented
The load-bearing directive wheel guide pass 8 of outside extension, the load-bearing directive wheel guide pass 8 tilt down.In load-bearing directive wheel guide pass
Top, the both sides of straight rail 3 have driving directive wheel spigot surface 28, and driving directive wheel spigot surface 28 is vertically arranged.It is oriented in driving
The top of spigot surface 28 is taken turns, the both sides of straight rail 3 are provided with the neck 5 of opening upwards, form the outer surface of component of neck 5 simultaneously
Driving wheel spigot surface 6 is formed, driving wheel spigot surface 6 extends along the length direction of straight rail 3.In the top of neck 5, the both sides of straight rail 3
Card article 27 is provided with along its length, and installation rack 31, the installation position of trolley fixed block 27 are formed between neck 5 and card article 27
Put.The upper end of straight rail 3 has horizontal-extending plane, and the plane forms support wheel guide pass 4, and support wheel guide pass 4 divides row straight
Rail splices the both sides of groove 7, and the auxiliary support wheel of walking mechanism is walked along support wheel guide pass, and it is lateral can be effectively increased robot
It is rigid with it is spacing, prevent robot from coming off.
As shown in Fig. 2 10 middle hollow out of convergence piece, can mitigate the own wt of convergence piece, its two bottom sides, which has, inserts
Block 21, the on both sides of the middle of convergence piece 10 are additionally provided with grafting groove 22.With reference to figure Fig. 1,5,6, two are connected when utilizing convergence piece 10
During block straight rail 3, the both ends of convergence piece are inserted respectively in the straight rail splicing groove 7 of straight rail 3, the inserted block 21 of convergence piece 10 inserts straight rail
In 3 slot 19, in the grafting groove 22 of the grafting raised line insertion convergence piece 10 of straight rail 3, convergence piece 10 is overall to be entirely enclosed in two
In individual straight rail 3, two straight rails 3 are contacted, and the connector 1 in two straight rails 3 is connected by screw, and screw is arranged on screw
In locating slot 2.
As shown in figure 3, the structure of the structure and straight rail 3 of bending track 13 (lower hanging rail) is essentially identical, difference is, curved
Rail has turning radian, and the both ends of bending track 13 have one section short straight rail 12 (lower hanging rail), structure and the phase of straight rail 3 of short straight rail 12
Together, the top of short straight rail 12 has connection fixing block 15, and the structure of connection fixing block 15 is identical with the structure of connector 1, short straight
The upper end formation of rail 12 is identical with straight rail 3, it may have inserting groove, short straight rail 12 is inserted using the grafting block on connection fixing block 15
On inserting groove in, realize installation of the connection fixing block 15 in short straight rail 12.It is solid that the top of bending track 13 can also install connection
Determine block 15.The end set of short straight rail 12 has splicing guide pad 11, splices the structure phase of the structure and convergence piece 10 of guide pad 11
Seemingly, splicing the two bottom sides of guide pad 11 also has inserted block, and the medial side face of splicing guide pad 11 has chamfering 14, and chamfering 14 rises
To guide effect, guide pad 11 will be spliced by, which being easy to, inserts in the straight rail splicing groove 7 of straight rail 3, the inserted block insertion of splicing guide pad 11
In the slot 19 of straight rail 3.Because bending track is different from straight rail moulding process, splicing guide pad 11 can be directly integral with bending track, without
Fix, splicing guide pad individually can also separately be installed with bending track with bending track again in addition.With reference to Fig. 1,3,5,6, straight rail with it is curved
When rail splices, in the other end insertion straight rail for splicing guide pad, the connection of straight rail and bending track is realized, connection fixing block 15 can connect
Fitting 1 connects.By setting short straight rail 12 at the both ends of bending track 13 so that the splicing between bending track and straight rail is more convenient, spells
The bending track 13 that need not be polished when connecing and straight rail 3, direct grafting.
As shown in figure 4, the back side of trolley fixed block 23 has screens groove 26, front installation trolley 16, trolley 16
Electrically conductive, walking mechanism can be directly from power taking on trolley 16.With reference to Fig. 9, during installation, the bottom of wiping thread fixing plate 23 is inserted
Enter in neck 5, screens groove 26 and the grafting of card article 27, installation is very convenient.
As shown in figure 5, being spliced to form one section of U-rail using straight rail and bending track, connected between two bending tracks 13 by straight rail 3
Connect, the other end of bending track 13 is also connected with straight rail 3.As shown in fig. 6, it is spliced to form one section of S-shaped track using bending track and straight rail, two
Connected between individual bending track by branch rail, the circular arc direction of two bending tracks is oppositely arranged, and the other end of bending track also connects branch rail.Utilize
Straight rail provided by the utility model, bending track can be combined into the track of diversified forms as needed, improve live adaptability.
As shown in Fig. 7,8,9,10, the schematic diagram on track A, walking mechanism B two supports are arranged on for walking mechanism B
24, two load-bearing directive wheels 25 of wheel divide row track A both sides, and support wheel 24 moves against support wheel guide pass 4 along support wheel guide pass
Dynamic, load-bearing directive wheel 25 is walked along load-bearing directive wheel spigot surface 8 against load-bearing directive wheel spigot surface 8, load-bearing directive wheel spigot surface
There is certain inclination angle, available for the guiding and load capacity of walking mechanism, rack 31 is stuck in neck 5, driving wheel 30 and rack
31 engagements, the lower end of driving wheel 30 contact with driving wheel spigot surface 6, are easy to drive the wheel and rack moment to keep engagement to make row
Mechanism simplifying is walked, drives directive wheel 29 against driving directive wheel spigot surface 28.
Claims (10)
1. a kind of guide rails of robots, including connector and lower hanging rail, the connector are located at the top of lower hanging rail, its feature
It is：The center of the lower hanging rail has splicing groove, and the bottom of the splicing groove has the slot laterally set；The lower suspension
The upper end of rail has horizontal support wheel guide pass；The both sides of the lower end of the lower hanging rail have load-bearing directive wheel guide pass；
Along lower hanging rail length direction, the side wall of the lower hanging rail is provided with neck, and the outside wall surface of neck forms driving spigot surface, institute
The side wall for stating lower hanging rail is additionally provided with card article, and the card article is between neck and support wheel guide pass；In neck and load-bearing
Between directive wheel guide pass, there is the driving directive wheel spigot surface of indent in the side wall of the lower hanging rail.
2. guide rails of robots as claimed in claim 1, it is characterised in that：Connected between adjacent rails by connection member, institute
The bottom for stating connection member has inserted block；One end of the connection member is fixed therein one end of a guide rail, connection member
The other end insert in the splicing groove of another guide rail, or, the spelling of two guide rails is inserted at the both ends of the connection member respectively
In access slot, wherein, the inserted block is inserted in the slot of the lower hanging rail.
3. guide rails of robots as claimed in claim 2, it is characterised in that：It is described splicing groove in, the lower hanging rail it is interior
Grafting raised line is provided with wall along its length, the top of the connection member has the grafting groove of indent, the lower suspension
The grafting raised line of rail is inserted in the grafting groove of connection member.
4. guide rails of robots as claimed in claim 2 or claim 3, it is characterised in that：More guide rails are spliced to form U-shaped or S-shaped track,
Wherein, part guide rails are straight rail, and part guide rails are bending track, and the both ends of bending track have one section of short straight rail.
5. the guide rails of robots as described in claim 1,2 or 3, it is characterised in that：The upper surface of the connector is provided with spiral shell
Follow closely locating slot.
6. the guide rails of robots as described in claim 1,2 or 3, it is characterised in that：The lower surface of the connector is provided with slotting
Block is connect, the upper surface of the support wheel guide pass of the lower hanging rail is provided with inserting groove, and the connector passes through with lower hanging rail
The grafting of grafting block and inserting groove is connected.
7. the guide rails of robots as described in claim 1,2 or 3, it is characterised in that：The bottom of the lower hanging rail is provided with out
The downward detection location and installation groove of mouth.
8. the guide rails of robots as described in claim 1,2 or 3, it is characterised in that：The neck of the lower hanging rail and card article it
Between rack is installed, in the lower end insertion neck of rack.
9. the guide rails of robots as described in claim 1,2 or 3, it is characterised in that：The neck of the lower hanging rail and card article it
Between trolley fixed block is installed, the back side of the trolley fixed block is provided with screens groove, under the trolley fixed block
In end insertion neck, in the card article insertion screens groove of the lower hanging rail.
10. the guide rails of robots as described in claim 1,2 or 3, it is characterised in that：The load-bearing directive wheel guide pass dips down
Tiltedly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720827765.1U CN206899224U (en) | 2017-07-10 | 2017-07-10 | A kind of guide rails of robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720827765.1U CN206899224U (en) | 2017-07-10 | 2017-07-10 | A kind of guide rails of robots |
Publications (1)
| Publication Number | Publication Date |
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| CN206899224U true CN206899224U (en) | 2018-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720827765.1U Active CN206899224U (en) | 2017-07-10 | 2017-07-10 | A kind of guide rails of robots |
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| CN (1) | CN206899224U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368167A (en) * | 2018-10-25 | 2019-02-22 | 东风设计研究院有限公司 | A kind of ski type continuously powers, communicates multifunctional lifting slide board conveying system |
| CN110091305A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including vertically movable portion |
| CN110091307A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including moving horizontally portion |
| CN110115675A (en) * | 2019-04-23 | 2019-08-13 | 蒙发利稻田健康科技（厦门）有限公司 | Combined integrated guide rail and Massage stand |
| CN110834339A (en) * | 2019-11-05 | 2020-02-25 | 宁波大学 | Dining room food delivery robot |
| CN111292507A (en) * | 2020-03-11 | 2020-06-16 | 徐州柚创谷智能科技有限公司 | Combustible gas early warning device based on Internet of things |
| CN112549051A (en) * | 2020-12-31 | 2021-03-26 | 杭州景上信息技术有限公司 | Intelligent inspection robot |
| CN112828855A (en) * | 2020-12-30 | 2021-05-25 | 黄杰 | Robot walking track device in intelligent manufacturing unit |
| EP4144321A4 (en) * | 2020-04-29 | 2024-05-15 | Suzhou Kangduo Robot Co., Ltd. | Guide rail device and medical robot |
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2017
- 2017-07-10 CN CN201720827765.1U patent/CN206899224U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368167A (en) * | 2018-10-25 | 2019-02-22 | 东风设计研究院有限公司 | A kind of ski type continuously powers, communicates multifunctional lifting slide board conveying system |
| CN109368167B (en) * | 2018-10-25 | 2023-11-14 | 东风设计研究院有限公司 | Skid type continuous power supply and communication multifunctional lifting slide plate conveying system |
| CN110115675A (en) * | 2019-04-23 | 2019-08-13 | 蒙发利稻田健康科技（厦门）有限公司 | Combined integrated guide rail and Massage stand |
| CN110091305A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including vertically movable portion |
| CN110091307A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including moving horizontally portion |
| CN110834339A (en) * | 2019-11-05 | 2020-02-25 | 宁波大学 | Dining room food delivery robot |
| CN111292507A (en) * | 2020-03-11 | 2020-06-16 | 徐州柚创谷智能科技有限公司 | Combustible gas early warning device based on Internet of things |
| EP4144321A4 (en) * | 2020-04-29 | 2024-05-15 | Suzhou Kangduo Robot Co., Ltd. | Guide rail device and medical robot |
| CN112828855A (en) * | 2020-12-30 | 2021-05-25 | 黄杰 | Robot walking track device in intelligent manufacturing unit |
| CN112549051A (en) * | 2020-12-31 | 2021-03-26 | 杭州景上信息技术有限公司 | Intelligent inspection robot |
| CN112549051B (en) * | 2020-12-31 | 2024-03-29 | 杭州景上信息技术有限公司 | Intelligent inspection robot |
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