CN207189651U - Climbing level robot - Google Patents
Climbing level robot Download PDFInfo
- Publication number
- CN207189651U CN207189651U CN201720422076.2U CN201720422076U CN207189651U CN 207189651 U CN207189651 U CN 207189651U CN 201720422076 U CN201720422076 U CN 201720422076U CN 207189651 U CN207189651 U CN 207189651U
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- support body
- climbing
- folder
- level robot
- rotating shaft
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Abstract
The utility model provides a kind of climbing level robot, including support body, with what support body was hinged embraces folder, embraces embracing folder rotating shaft and be arranged on to be used to drive on support body and embracing the driving lever apparatus of folder rotating shaft rotation and be arranged on the operating robotic arm unit on support body for grasping manipulation instrument for folder and support body for be connected；Support body side is provided with the arcwall face with being coordinated by pole-climbing body, arcwall face is provided with least one crawling wheel and at least one deflecting roller, the medial surface for embracing folder is provided with driven pulley, and the rotating shaft of crawling wheel is vertical with by the axis of pole-climbing body, the rotating shaft of deflecting roller and the diameter parallel by pole-climbing body；The instrument buckle for fixed operation instrument is additionally provided with the opposite side of support body.Climbing level robot provided by the utility model, the limitation of requirement and operating efficiency of the manual work to muscle power is avoided, the safety of operating personnel is ensure that, improves operating efficiency.
Description
Technical field
The utility model belongs to electrical equipment technical field, is to be related to a kind of climbing level robot more specifically.
Background technology
In power system, 10kV cement shaft towers are widely used in power matching network circuit, and power failure, electrical verification, installing ground wire are
Ensure the technical safety measures of electric operating personnel in power construction, maintenance and maintenance.Due to the limitation of objective condition, at present this
A little conventional electric operating safety measures are finished artificially, and are relied primarily on and are manually used Kick lever foot fastener, are aided with safety belt, insurance
Rope carries out pole-climbing operation, and needs personnel to carry electroscope, ground wire (drop bar) in head of mast progress associative operation.Pass through
Artificial climbing shaft tower carries out operation, needs constantly to adjust safety belt during climbing, safety rope moves upwards along the body of rod, imitates
Rate is relatively low and personnel's physical demand is larger, larger potential safety hazard be present and jeopardizes personal safety.When field work, do not know because
Element is more, it is understood that there may be is not suitable for the situation of climbing.When artificial carrying operation instrument carries out operation, if there is unexpected upper electricity or make
Industry device malfunction, bigger personal injury may be caused.
Utility model content
The purpose of this utility model is to provide a kind of climbing level robot, it is intended to solves conventional electric power of the prior art
The problem of larger potential safety hazard, efficiency is low be present by artificial pole-climbing operation in operation.
To achieve the above object, the technical solution adopted in the utility model is：A kind of climbing level robot, including frame are provided
Body, with what the support body was hinged embraces folder, described embrace embracing folder rotating shaft and being arranged on the support body for folder and the support body for being connected
It is upper to be used to drive the driving lever apparatus for embracing folder rotating shaft rotation and be arranged on the behaviour for being used for grasping manipulation instrument on the support body
Make mechanical arm unit；The support body side is provided with the arcwall face with being coordinated by pole-climbing body, and the arcwall face is provided with least one
Crawling wheel and at least one deflecting roller, the medial surface of described armful of folder are provided with driven pulley, the rotating shaft of the crawling wheel and by pole-climbing
The axis of body is vertical, the rotating shaft of the deflecting roller and the diameter parallel by pole-climbing body；Use is additionally provided with the opposite side of the support body
In the instrument buckle of fixed operation instrument.
Further, described armful of folder rotating shaft is T-shaped axle.
Further, the operating robotic arm unit includes interlocking mechanism arm and the gripper machine for grasping manipulation instrument
Structure.
Further, the operating robotic arm unit also includes the video surveillance dress being arranged in the mechanical claw Mechanism
Put.
Further, the interlocking mechanism arm include be fixedly connected with the support body connecting seat, be arranged on the connection
First mechanical arm that the first rotary joint, one end on seat are arranged on first rotary joint, it is arranged on described first
Second rotary joint of mechanical arm the other end, the second mechanical arm being arranged on second rotary joint and described second
The 3rd rotary joint and the connector for connecting the gripper and being connected with the 3rd rotary joint of mechanical arm connection.
Further, the mechanical claw Mechanism include pawl seat, the first cylinder being arranged in the pawl seat, be fixed on it is described
The drive link that is slidably connected on the expansion link of first cylinder and with the pawl seat, it is respectively hinged at the drive link both ends
Pawl is clamped and for connecting the pawl pincers and the connecting rod of the pawl seat, and the connecting rod is cut with scissors with pawl pincers and the pawl seat respectively
Connect, the one end of the pawl pincers is hinged with the drive link, and the other end is provided with the neck for clipping operation instrument.
Further, the driven pulley is universal wheel.
Further, the driving lever apparatus is cylinder or hydraulic cylinder.
Further, it is equipped with anticollision probe along by the both ends of the axis direction of pole-climbing body on the support body.
Further, it is additionally provided with communication antenna on the support body.
The beneficial effect of climbing level robot provided by the utility model is：Compared with prior art, the utility model is climbed
Bar robot, the folder of embracing that will be hinged by the driving lever apparatus on support body with support body promotes rotation, so as to by the climbing level robot
It is fixed on by pole-climbing body, the crawling wheel on the arcwall face of support body side drives support body to creep upwards, is additionally provided with and turns on arcwall face
To wheel, it is necessary to which steered wheel rotation when the position to climbing level robot is adjusted, adjustment climbing level robot is by pole-climbing body circumference
Position on direction, reaches the operating position specified, and the operating robotic arm unit picks on the opposite side of support body are connected to instrument
Operation is repaired or detected to operation instrument at buckle, is replaced artificial progress body of rod climbing using climbing level robot, is carried
Power tool carries out head of mast operation.The person caused by having exempted from the direct operating of contacts instrument of operating personnel and shaft tower body possibility
Injury, ensure that safety.Operation is carried out using climbing level robot, avoids requirement and operating efficiency of the manual work to muscle power
Limitation, improves operating efficiency.
Brief description of the drawings
Fig. 1 is the configuration schematic diagram for the climbing level robot that the utility model embodiment provides；
Fig. 2 is the A direction views in Fig. 1；
Fig. 3 be the utility model embodiment used by operating robotic arm unit structural representation；
Fig. 4 be the utility model embodiment used by mechanical claw Mechanism structural representation；
Fig. 5 is Shared control schematic diagram used by the utility model embodiment.
In figure：1st, support body；11st, crawling wheel；12nd, deflecting roller；13rd, the second cylinder；14th, instrument buckle；15th, anticollision is popped one's head in；
16th, communication antenna；17th, loudspeaker；18th, state display lamp；19th, shift knob；2nd, folder is embraced；21st, driven pulley；3rd, folder rotating shaft is embraced；
4th, operating robotic arm unit；41st, interlocking mechanism arm；411st, connecting seat；412nd, the first rotary joint；413rd, first mechanical arm；
414th, the second rotary joint；415th, second mechanical arm；416th, the 3rd rotary joint；417th, connector；42nd, mechanical claw Mechanism；
421st, pawl seat；422nd, the first cylinder；423rd, drive link；424th, pawl clamps；425th, connecting rod；526th, fixed cover；43rd, visible ray phase
Machine.
Embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are more clearly understood, with
Lower combination drawings and Examples, the utility model is further elaborated.It is it should be appreciated that described herein specific real
Example is applied only to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning is necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two
More than, unless otherwise specifically defined.
Also referring to Fig. 1 and Fig. 2, now climbing level robot provided by the utility model is illustrated.The climbing pole machine
Device people, including support body 1, with what support body 1 was hinged embraces folder 2, embrace embracing for folder 2 and support body 1 for be connected and press from both sides rotating shaft 3 and be arranged on support body
It is used to drive the driving lever apparatus for embracing the folder rotation of rotating shaft 3 on 1 and is arranged on the operation machinery on support body 1 for grasping manipulation instrument
Arm unit 4；The side of support body 1 is provided with the arcwall face with being coordinated by pole-climbing body, and arcwall face is provided with least one crawling wheel 11 and extremely
A few deflecting roller 12, the medial surface for embracing folder 2 are provided with driven pulley 21, and the rotating shaft of crawling wheel 11 by the axis of pole-climbing body with being hung down
Directly, the rotating shaft of deflecting roller 12 and the diameter parallel by pole-climbing body；It is additionally provided with the opposite side of support body 1 for fixed operation instrument
Instrument buckle 14.
Climbing level robot provided by the utility model, compared with prior art, will be with by the driving lever apparatus on support body 1
The be hinged folder 2 of embracing of support body 1 promotes rotation, so as to which the climbing level robot is fixed on by pole-climbing body, the arcwall face of the side of support body 1
On crawling wheel 11 drive support body 1 creep upwards, deflecting roller 12 is additionally provided with arcwall face, it is necessary to enter to the position of climbing level robot
Deflecting roller 12 rotates during row adjustment, position of the adjustment climbing level robot on by pole-climbing body circumferencial direction, reaches the operation specified
Position, the operating robotic arm unit 4 on the opposite side of support body 1 capture the operation instrument being connected at instrument buckle 14 and repaired
Or detection operation, replace artificial progress body of rod climbing, carrying operation instrument to carry out head of mast operation using climbing level robot.
Personal injury caused by having exempted from the direct operating of contacts instrument of operating personnel and shaft tower body possibility, ensure that safety.Using pole-climbing
Robot carries out operation, avoids the limitation of requirement and operating efficiency of the manual work to muscle power, improves operating efficiency.
Specifically, the arcwall face of support body 1 is U-shaped to embrace folder 2 to embrace folder 2 for arc, and support body 1 is provided at both ends with two arcs and embraces folder
2, support body 1 is internally provided with power module, drive device, middle control module, communication module etc., and what is set on the arcwall face of support body 1 climbs
Road wheel 11, deflecting roller 12, are connected with internal drive.
Specifically, power tool buckle 14 can be realized to electrical verification operation, ground wire power tool (electroscope, drop bar)
Clamping, for robot manipulating task use.
Further, Fig. 1 and Fig. 2 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, it is T-shaped axle to embrace folder rotating shaft 3.It is T-shaped to embrace folder rotating shaft 3, realizes that embracing folder 2 and the both direction for travel mechanism end of creeping revolves
Turn, ejection lever apparatus is the second cylinder 13, embraces folder 2 and is internally provided with driven pulley 21, driven pulley 21 is universal wheel.Carrying out pole-climbing
During motion, ejecting mechanism driving both sides embrace folder 2 and turn to the inside and keep clamping force to realize folder of the travel mechanism to the body of rod of creeping
Tightly, crawling wheel 11, universal wheel realize the support to entirety, drive the rotation of crawling wheel 11 to realize by drive device overall along quilt
Pole-climbing body moves back and forth；Designed by the rotation for embracing folder 2, the climbing to the reducing body of rod can be realized；Deflecting roller 12 is with creeping
11 synchronous axial systems are taken turns, are packed up under normal circumstances, is stretched out when needing and turning to, realizes the steering during pole-climbing.Operation
Cheng Zhong, in the case of robot docked state or powered-off fault, by motor self-locking and embrace 2 power of folder realize robot it is overall from
Lock, prevents robot from dropping.
Further, Fig. 1 to Fig. 4 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, operating robotic arm unit 4 include interlocking mechanism arm 41 and the mechanical claw Mechanism 42 for grasping manipulation instrument.
Further, Fig. 1 and Fig. 2 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, operating robotic arm unit 4 also include the video monitoring device being arranged in mechanical claw Mechanism 42.Taken by robot body
The video monitoring device of band, the monitoring to operation details in operation process can be achieved.Video monitoring device is Visible Light Camera 43
And/or infrared camera.
Further, Fig. 1 to Fig. 3 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, interlocking mechanism arm 41 close including the connecting seat 411 being fixedly connected with support body 1, the first rotation being arranged on connecting seat 411
Section 412, one end be arranged on the first rotary joint 412 first mechanical arm 413, be arranged on the other end of first mechanical arm 413
Second rotary joint 414 in portion, the second mechanical arm 415 being arranged on the second rotary joint 414, connect with second mechanical arm 415
The 3rd rotary joint 416 connect and the connector 417 for connecting gripper and being connected with the 3rd rotary joint 416.
Operating robotic arm unit is installed on the support body 1 of climbing level robot, and main body is multi-shaft interlocked mechanical arm 41, gear
The design length of tool arm 41 meets robot manipulating task area requirement, and rotary joint 360 rotates, and quantity meets that mechanical arm tail end reaches
Arbitrfary point in operating radius, interlocking mechanism arm 41 are provided with Flexible Control, when motion process always interferes with remaining equipment,
Flexible obstacle can be realized, avoids the damage to interlocking mechanism arm 41 structure, peripheral equipment；There is connection the end of interlocking mechanism arm 41
Device 417, can compatible several work end, be not limited solely to electrical verification, ground connection operation；Connector 417 is last along interlocking mechanism arm 41
Axial rotation is held, mechanical claw Mechanism 42 is installed, mechanical claw Mechanism 42 can realize the crawl to power tool；Mechanical claw Mechanism
The visible light camera of 180 ° of rotations is installed on 42, it is real-time for being carried out in operation process to job area and operation process
Monitoring.
Considering the application environment of interlocking mechanism arm 41 has ambient parameter unknown or dynamic change, man-machine interaction uncertainty etc.
Feature, security and compliance are one of important goals that interlocking mechanism arm 41 controls, and combining force threshold for position control supervises
The control strategy of control.Referring to Fig. 5, xd is the joint location of instruction in figure, x is joint physical location, and Δ xd is that joint position is inclined
Difference, Kf are force feedback coefficient, and C1 is joint moment threshold value, and C2 is that force threshold submissive mechanical arm tail end pose instructions in end pass through
Inverse Kinematics Solution generation joint control instruction, drives joint motor, motor is via SEA by power by bottom PID SERVO CONTROLs
Connecting rod is passed to, the code-disc detection connecting rod actual displacement that SEA output ends are equipped with, command end is fed back to by forward kinematics solution and formed
The position closed loop of mechanical arm tries to achieve the deflection of SEA springs using the difference of motor corner and connecting rod corner, is asked using joint stiffness
Actual joint moment is obtained, the monitoring by being mutated threshold value to joint moment realizes that mechanical arm is anti-to abnormal load or the safety of collision
Answer simultaneously, the force snesor that mechanical arm tail end is equipped with can obtain the contact force of cartesian space, be adjusted according to end contact force
Input position signal, realize the Shared control of interlocking mechanism arm 41.
Further, Fig. 1 and Fig. 2 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, communication antenna 16 is additionally provided with support body 1, for improving wireless communication signals, loudspeaker 17, state are additionally provided with support body 1
Display lamp 18, shift knob 19.In order to allow robot system more suitable operation scene manipulation flexibility, whole system use
Communication carries out human-computer dialogue, and by wireless remote control flat-bed format, realizes between operating personnel and detection device
Completely disengage.Remote control platform can realize the condition monitoring to the action control, robot and platform of robot system in itself.Action
The speed of service of the control comprising robot each several part is set, position locks and the time is set etc.；Condition monitoring include electricity monitoring,
Signal of communication monitors, device hardware parameter etc..
Further, Fig. 3 and Fig. 4 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, mechanical claw Mechanism 42 include pawl seat 421, the first cylinder 422 being arranged in pawl seat 421, are fixed on the first cylinder 422
The drive link 423 that is slidably connected on expansion link and with pawl seat 421, the pawl pincers 424 for being respectively hinged at the both ends of drive link 423 and
For connecting the connecting rod 425 of pawl pincers 424 and pawl seat 421, connecting rod 425 is be hinged with pawl pincers 424 and pawl seat 421 respectively, pawl pincers
424 one end is be hinged with drive link 423, and the other end is provided with the neck for clipping operation instrument.Video monitoring device is pacified
On the first cylinder 422 or pawl seat 421, promote drive link 423 to move by the first cylinder 422, utilize lever principle band
The folding of pawl pincers 424, realize the clamping of pawl pincers 424, clamping is stable, using it is reliable, effect is good, specifically, solid in pawl seat 421
Surely fixed cover 526 is provided with, connecting rod 425 is hinged on fixed cover 526, and the expansion link of fixed cover 526 and the first cylinder 422 is coaxial
Line is set, easy to assembly, is easy to parts processing and maintenance, production efficiency height.
Further, Fig. 1 and Fig. 2 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, driving lever apparatus is the second cylinder 13 or hydraulic cylinder.
Further, Fig. 1 and Fig. 2 is referred to, one kind specific implementation as climbing level robot provided by the utility model
Mode, anticollision probe 15 is equipped with along by the both ends of the axis direction of pole-climbing body on support body 1.In moving process of creeping, machine
Human body enters row distance detection by being installed on the anticollision probe 15 for travel mechanism's upper and lower ends of creeping, and sends and opens to middle control module
Pass amount realizes the overall anticollision during pole-climbing；The wireless data exchange between remote control platform is realized by communication module；Pass through
State display lamp 18 indicates robotary.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. climbing level robot, it is characterised in that：Including support body, with the support body be hinged embrace folder, for be connected it is described embrace folder with
Embracing folder rotating shaft and being arranged on for the support body is used to drive the driving lever apparatus for embracing folder rotating shaft rotation and set on the support body
Put the operating robotic arm unit for being used for grasping manipulation instrument on the support body；The support body side is provided with being coordinated by pole-climbing body
Arcwall face, the arcwall face is provided with least one crawling wheel and at least one deflecting roller, set on the medial surface of described armful of folder
There is driven pulley, the rotating shaft of the crawling wheel is vertical with by the axis of pole-climbing body, the rotating shaft of the deflecting roller and the axle by pole-climbing body
Line is parallel；The instrument buckle for fixed operation instrument is additionally provided with the opposite side of the support body.
2. climbing level robot as claimed in claim 1, it is characterised in that：Described armful of folder rotating shaft is T-shaped axle.
3. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The operating robotic arm unit includes gear
Tool arm and the mechanical claw Mechanism for grasping manipulation instrument.
4. climbing level robot as claimed in claim 3, it is characterised in that：The operating robotic arm unit also includes being arranged on institute
State the video monitoring device in mechanical claw Mechanism.
5. climbing level robot as claimed in claim 3, it is characterised in that：The interlocking mechanism arm includes fixing with the support body
The connecting seat of connection, the first rotary joint, the one end being arranged on the connecting seat are arranged on first rotary joint
First mechanical arm, be arranged on second rotary joint of described first mechanical arm the other end, be arranged on it is described second rotation close
Second mechanical arm on section, the 3rd rotary joint being connected with the second mechanical arm and for connect the gripper and with institute
State the connector of the 3rd rotary joint connection.
6. climbing level robot as claimed in claim 3, it is characterised in that：The mechanical claw Mechanism includes pawl seat, is arranged on institute
The driving stated the first cylinder in pawl seat, be fixed on the expansion link of first cylinder and be slidably connected with the pawl seat connects
Bar, the pawl pincers for being respectively hinged at the drive link both ends and the connecting rod for connecting the pawl pincers and the pawl seat, it is described
Connecting rod is hinged with pawl pincers and the pawl seat respectively, and the one end of the pawl pincers is hinged with the drive link, the other end
Provided with the neck for clipping operation instrument.
7. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The driven pulley is universal wheel.
8. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The driving lever apparatus is cylinder or hydraulic cylinder.
9. climbing level robot as claimed in claim 1 or 2, it is characterised in that：Along by the axis side of pole-climbing body on the support body
To both ends be equipped with anticollision probe.
10. climbing level robot as claimed in claim 1 or 2, it is characterised in that：Communication antenna is additionally provided with the support body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720422076.2U CN207189651U (en) | 2017-04-20 | 2017-04-20 | Climbing level robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720422076.2U CN207189651U (en) | 2017-04-20 | 2017-04-20 | Climbing level robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207189651U true CN207189651U (en) | 2018-04-06 |
Family
ID=61793134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720422076.2U Active CN207189651U (en) | 2017-04-20 | 2017-04-20 | Climbing level robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207189651U (en) |
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| CN108312133A (en) * | 2018-04-25 | 2018-07-24 | 贵州电网有限责任公司 | A kind of mechanical arm hangs and takes secure latch structure |
| CN108481297A (en) * | 2018-05-22 | 2018-09-04 | 青岛科技大学 | A kind of industry crawl mechanical equipment |
| CN108724158A (en) * | 2017-04-20 | 2018-11-02 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
| CN108781764A (en) * | 2018-09-05 | 2018-11-13 | 浙江海洋大学 | A kind of coconut picking machine |
| CN108922364A (en) * | 2018-07-25 | 2018-11-30 | 温州大学 | The instructional device of industrial robot |
| CN108942963A (en) * | 2018-08-10 | 2018-12-07 | 扬州大学 | A kind of robot clamping ground loop |
| CN108974169A (en) * | 2018-08-13 | 2018-12-11 | 邢志平 | A kind of power cord bar climbing level robot |
| CN109258243A (en) * | 2018-07-25 | 2019-01-25 | 金华集群科技有限公司 | A kind of four-degree-of-freedom forest snow removal machine people and its snow-removing method |
| CN110217309A (en) * | 2019-07-01 | 2019-09-10 | 河海大学常州校区 | A kind of imitative looper is adaptively done more physical exercises mode wheel-leg combined type climbing level robot |
| CN110498374A (en) * | 2019-07-04 | 2019-11-26 | 国网安徽省电力有限公司电力科学研究院 | A kind of automatic rod rising device with motion arm |
| WO2020186940A1 (en) * | 2019-03-15 | 2020-09-24 | 大连富地重工机械制造有限公司 | Clamp and saw cutting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724158A (en) * | 2017-04-20 | 2018-11-02 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
| CN108724158B (en) * | 2017-04-20 | 2024-02-27 | 深圳市朗驰欣创科技股份有限公司 | Pole climbing robot |
| CN108312133B (en) * | 2018-04-25 | 2024-02-23 | 贵州电网有限责任公司 | Mechanical arm hanging and taking safety lock catch structure |
| CN108312133A (en) * | 2018-04-25 | 2018-07-24 | 贵州电网有限责任公司 | A kind of mechanical arm hangs and takes secure latch structure |
| CN108481297A (en) * | 2018-05-22 | 2018-09-04 | 青岛科技大学 | A kind of industry crawl mechanical equipment |
| CN109258243B (en) * | 2018-07-25 | 2020-12-01 | 金华集群科技有限公司 | Four-degree-of-freedom forest snow removing robot and snow removing method thereof |
| CN108922364A (en) * | 2018-07-25 | 2018-11-30 | 温州大学 | The instructional device of industrial robot |
| CN109258243A (en) * | 2018-07-25 | 2019-01-25 | 金华集群科技有限公司 | A kind of four-degree-of-freedom forest snow removal machine people and its snow-removing method |
| CN108942963B (en) * | 2018-08-10 | 2021-04-23 | 扬州大学 | Robot of centre gripping ground ring |
| CN108942963A (en) * | 2018-08-10 | 2018-12-07 | 扬州大学 | A kind of robot clamping ground loop |
| CN108974169A (en) * | 2018-08-13 | 2018-12-11 | 邢志平 | A kind of power cord bar climbing level robot |
| CN108781764B (en) * | 2018-09-05 | 2023-10-03 | 浙江海洋大学 | Coconut picking machine |
| CN108781764A (en) * | 2018-09-05 | 2018-11-13 | 浙江海洋大学 | A kind of coconut picking machine |
| WO2020186940A1 (en) * | 2019-03-15 | 2020-09-24 | 大连富地重工机械制造有限公司 | Clamp and saw cutting device |
| CN110217309A (en) * | 2019-07-01 | 2019-09-10 | 河海大学常州校区 | A kind of imitative looper is adaptively done more physical exercises mode wheel-leg combined type climbing level robot |
| CN110498374A (en) * | 2019-07-04 | 2019-11-26 | 国网安徽省电力有限公司电力科学研究院 | A kind of automatic rod rising device with motion arm |
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