CN209217570U - A kind of shelf depreciation crusing robot - Google Patents
A kind of shelf depreciation crusing robot Download PDFInfo
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- CN209217570U CN209217570U CN201821759138.XU CN201821759138U CN209217570U CN 209217570 U CN209217570 U CN 209217570U CN 201821759138 U CN201821759138 U CN 201821759138U CN 209217570 U CN209217570 U CN 209217570U
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- shelf depreciation
- crusing robot
- platform
- partial discharge
- depreciation crusing
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Abstract
The utility model provides a kind of shelf depreciation crusing robot, including mobile platform, rotating platform and detection platform, the mobile platform is hung in orbit, and it is slidably connected with the track, the rotating platform is rotatably connected on the lower end of the mobile platform, the detection platform is connect with the rotating platform liftable, and the detection platform is equipped with Partial Discharge Detection component.The utility model provides a kind of shelf depreciation crusing robot, can replace the duplicate equipment routing inspection work of staff, guarantee the long-term safety operation of power equipment.
Description
Technical field
The utility model relates to electric power detection device technical field more particularly to a kind of shelf depreciation crusing robots.
Background technique
When power equipment breaks down, partial discharge phenomenon can generally occur, it will cause equipment as repaired not in time
Breakdown, causes power equipment to be unable to operate normally.Since not reliable real-time detecting system timely finds shelf depreciation portion
The accident of position, power equipment breakdown happens occasionally, and artificially detects and not can guarantee continuity, and reliability is not high.If can be
The position of discovery electric discharge in time is possible to avoid the generation of accident before accident occurs, and avoids biggish economic loss.
Summary of the invention
The purpose of this utility model is to provide a kind of shelf depreciation crusing robots, for replacing staff duplicate
Equipment routing inspection work guarantees the long-term safety operation of power equipment.
In order to achieve the above object, the utility model adopts the following technical solution:
A kind of shelf depreciation crusing robot, including mobile platform, rotating platform and detection platform, the mobile platform are hung
If being slidably connected in orbit, and with the track, the rotating platform is rotatably connected on the lower end of the mobile platform, described
Detection platform is connect with the rotating platform liftable, and the detection platform is equipped with Partial Discharge Detection component.
Further, trolley is equipped with along the track, the mobile platform includes rack, current-collector, driving wheel, driven
Wheel and stabilizer group, the current-collector are fixedly connected in the rack, the wiping piece of the current-collector and trolley electricity
Property contact, power for the shelf depreciation crusing robot, the driving wheel rolls on the bottom surface of the track, the driving
Wheel is fixedly mounted on drive shaft, and the drive shaft is connected with driving motor, the driving motor by a deceleration mechanism
It is fixedly mounted in the rack, the deceleration mechanism includes small pulley, big belt wheel and deceleration strip, the small pulley and the drive
The output shaft of dynamic motor is fixedly connected, and the big belt wheel is fixedly connected with the drive shaft, the small pulley and the big band
By the deceleration strip band connection, the driven wheel is fixedly mounted on follower shaft wheel, and the follower shaft is mounted on described
In rack, the driven wheel and the driving wheel are arranged about the Orbital Symmetry, and the stabilizer group includes about the rail
The symmetrically arranged several stabilizers in road, the stabilizer roll on the side of the track, and the stabilizer is fixedly mounted on
On balancing axle, the balancing axle is mounted on balance wheel frame, and the balance wheel frame passes through a linear damper and the machine
Frame connection, the linear damper are horizontally disposed.
Further, the shelf depreciation crusing robot further includes controller and data collector, the controller control
The movement of the shelf depreciation crusing robot is made, the data collector includes central processing unit and memory, the center
Processor handles Partial Discharge Data and data are stored into the memory by treated, and the current-collector is connected with modulation
Demodulator one, the modem one, Partial Discharge Detection component, controller and data collector are connected by interchanger one
It connects, the modem one is connect with the current-collector, and the trolley is connected with modem two, the modulation /demodulation
Device two is connected with interchanger two, and the interchanger two is connect with background host computer, the background host computer and the shelf depreciation inspection
Robot realizes signal transmitting by power carrier, and the background host computer is believed to the shelf depreciation crusing robot input control
Number, the shelf depreciation crusing robot is to the background host computer input feedback signal.
Further, the rotating platform is in barrel mast shape, is equipped with gear ring, gear one, gear in the rotating platform
Two and gear three, gear ring be fixedly connected with the inner wall of rotating platform, gear one is fixed on gear shaft one, gear one and tooth
Circle engagement, gear shaft one are connected with rotating electric machine, and gear two is engaged with gear three, and gear two is fixed on gear shaft two,
The lower end of gear shaft two is connected with screw mechanism, and gear shaft two is fixedly connected with the lead screw of screw mechanism, the hoistable platform with
The feed screw nut of screw mechanism is fixedly connected, and gear three is fixed on gear shaft three, and gear shaft three is connected with lifting motor,
The rotating electric machine, the lifting motor are fixedly connected with the mobile platform.
Further, mounting disc one and mounting disc two are additionally provided in the rotating platform, in mounting disc one and mounting disc two
It is equipped with bearing mounting hole corresponding with gear shaft one, gear shaft two and gear shaft three, is mounted on axis in bearing mounting hole
It holds, the installation base of installation mounting disc one and mounting disc two is respectively provided on the inner wall of the rotating platform, for installing
The internal diameter of the installation base of the mounting disc one is greater than the outer diameter of mounting disc two.
Further, the Partial Discharge Detection component is connect by a telescoping mechanism with the detection platform, described to stretch
The telescopic direction of contracting mechanism is vertical with the lifting direction of the detection platform.
Further, the Partial Discharge Detection component includes that can make the Partial Discharge Detection component and transformer substation switch
The attracting magnetic absorption member of cabinet.
Further, the Partial Discharge Detection component includes transient state ground radio wave sensor, uhf sensor and pulse
Current sensor.
Further, video detecting module is additionally provided in the detection platform, the video detecting module includes infrared heat
Image camera and Visible Light Camera.
Further, the video detecting module is connect by a luffing mechanism with the detection platform.
After adopting the above technical scheme, the utility model has the advantages that
1, shelf depreciation crusing robot slides on the indoor track of substation in setting, detects the electric discharge of power equipment
When position, shelf depreciation crusing robot mobile platform is moved to the top of equipment to be checked, passes through the rotation and inspection of rotating platform
The lifting of platform is surveyed, so that Partial Discharge Detection component is directed at position to be checked, to detect power equipment in the electric discharge feelings at the position
Condition.The shelf depreciation crusing robot of the utility model can replace the duplicate equipment routing inspection work of staff, guarantee that electric power is set
Standby long-term safety operation, also, it is with reliable operation, working time unrestricted feature are special standby to be suitable for operation week
In phase longer important power system device.
2, mobile platform is lifted by monorail and is supported, and structure is simple, compact, and small in size, the space occupied is also small, can be used for
Narrow space uses, while the difficulty that while greatly reducing to track installation constructs；Using stabilizer group, patrolled in shelf depreciation
In the moving process for examining robot, due to the effect of centripetal force during fuselage deflection or fuselage shaking or turning, track two sides
Stabilizer stress differ, under the action of linear damper, to balance the power of two sides, so that mobile mechanism runs smoothly, no
It will appear the problem of derailed, fuselage shakes.
3, by power line carrier, PLC, background host computer issues inspection order extremely for background host computer and shelf depreciation crusing robot
Crusing robot, so that controller control crusing robot is moved to inspection point, Partial Discharge Detection component acquires shelf depreciation
Data, central processing unit handles Partial Discharge Data and data are stored into memory by treated, and Partial Discharge Data is anti-
It is fed to background host computer, after background host computer receives Partial Discharge Data, control crusing robot is moved to next inspection point.
It replaces being manually entered scene progress partial discharge detection operation by crusing robot, avoids the personal injury that may cause；And it can determine
Shi Dingdian carries out partial discharge detection operation, and automatically analyzes variation tendency, and output inspection reduces as a result, testing result referential is strong
Operation maintenance personnel data processing work amount solves online detection method for local discharge in the prior art and needs more shelf depreciation
Measurement equipment to be checked, cost is excessively high and Portable PD On-Line detection needs operation maintenance personnel to carry Portable partial discharge detector
It is detected, personnel safety cannot be guaranteed, and the technical problem that the testing result property of can refer to is not high.
4, rotating electric machine band moving gear one rotates, and gear one drives the ring gear against rotation being engaged with, so that rotating platform turns
It is dynamic；Lifting motor band moving gear three rotates, and gear three drives the gear two being engaged with to rotate, and gear two drives screw rod rotation,
Feed screw nut's lifting is to drive detection platform to go up and down.The rotation of the shelf depreciation crusing robot of the utility model is adopted with lifting
With parallel-connection structure, rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for the realization of control；Also, robot architecture
It is simple and compact, it is easy to process, it is easily installed and dismantles.
5, gear shaft one, gear shaft two and gear shaft three by mounting disc one, mounting disc two and are arranged in mounting disc
Each bearing is mounted in rotating platform, and mounting disc one, mounting disc two are limited by each installation base, for installing the mounting disc
The internal diameter of one installation base is greater than the outer diameter of mounting disc two, is easily installed disk two, mounting disc one is sequentially loaded into.
6, after crusing robot reaches the position of power equipment to be checked, pass through the rotation of rotating platform, detection platform
Lifting, so that the detected part of Partial Discharge Detection component alignment power equipment, telescoping mechanism extend so that Partial Discharge Detection
Component is adjacent to the detected part of power equipment, to carry out Partial Discharge Detection.
7, Partial Discharge Detection component includes that the Partial Discharge Detection component and converting station electric power equipment can be made attracting
Magnetic absorption member, for being close to Partial Discharge Detection component with the detected part of power equipment, preventing Partial Discharge Detection component sliding
It moves.
8, Partial Discharge Detection component includes transient state ground radio wave sensor, uhf sensor and pulses of current sensor,
Transient state radio wave sensor real-time detection power equipment Partial discharge signal main feature amount, including partial discharge pulse number, pulse width
Value, by being kept pouring in conjunction with superelevation to time domain phase, umber of pulse and the research for measuring relationship between threshold values under different defect models
Sensor and pulses of current sensor exclude field interference signal, alarm Electric Power Equipment Insulation fault condition.
9, video detecting module is additionally provided in detection platform, the video detecting module includes infrared thermal imaging camera and can
Light-exposed camera.According to the Image Acquisition information of Visible Light Camera, row reading data is remembered into the table for having reading, automatically records and sentences
It is disconnected, and propose to alarm, enable various indicator lights in crusing robot automatic identification image, electric equipment cabinet face arrangement pressure
Plate is spaced apart, the secondary devices state such as change-over switch.Infra-red thermal imaging camera is set for indoor each power equipment, distribution box etc.
Standby heat monitoring can survey the temperature of heat-producing device in substation room, and form double vision system with Visible Light Camera.
10, video detecting module is connect by a luffing mechanism with the detection platform, enables video detecting module
It rotates upwardly and downwardly, to increase the detection range of video detecting module.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawing:
Fig. 1 is a kind of structural schematic diagram of shelf depreciation crusing robot of the utility model.
Fig. 2 is a kind of side view of shelf depreciation crusing robot of the utility model.
Fig. 3 is the structural schematic diagram of mobile platform in the utility model.
Fig. 4 is the control system schematic diagram of the utility model.
Fig. 5 is a kind of structural schematic diagram of the shelf depreciation crusing robot of the utility model in rotating platform section view.
Fig. 6 is the partial enlarged view in Fig. 5 at A.
Specific embodiment
Below in conjunction with drawings and the specific embodiments, the utility model is described in further detail.
As shown in Figure 1, a kind of shelf depreciation crusing robot, including mobile platform 1, rotating platform 2 and detection platform 3,
Mobile platform 1 is hung on track 4, and is slidably connected with track 4, and rotating platform 2 is rotatably connected on the lower end of mobile platform 1,
Detection platform 3 is connect with 2 liftable of rotating platform, and detection platform 3 is equipped with Partial Discharge Detection component 5.
As shown in Figure 2 and Figure 3, trolley 21 is equipped with along track 4.Mobile platform includes rack 101, current-collector 22, driving wheel
23, driven wheel 24 and stabilizer group.Current-collector 22 is fixedly connected in rack 101, the wiping piece and trolley 21 of current-collector 22
It is in electrical contact, it powers for mobile platform.Driving wheel 23 rolls on the bottom surface of track 4, and driving wheel 23 is fixedly mounted on driving wheel
On axis 25, drive shaft 25 is connected with driving motor 26 by a deceleration mechanism, and driving motor 26 is fixedly mounted on rack 101
On, deceleration mechanism includes small pulley 27, big belt wheel 28 and deceleration strip 29, the fixed company of the output shaft of small pulley 27 and driving motor 26
It connects, big belt wheel 28 is fixedly connected with drive shaft 25, and small pulley 27 and big belt wheel 28 pass through 29 band connection of deceleration strip.Driven wheel 24
It is fixedly mounted on follower shaft 30, follower shaft 30 is mounted in rack 101, and driven wheel 24 and driving wheel 23 are about track 4
It is symmetrical arranged.Stabilizer group includes about the symmetrically arranged several stabilizers 31 of track 4, and stabilizer 31 is on the side of track 4
It rolls, stabilizer 31 is fixedly mounted on balancing axle 32, and balancing axle 32 is mounted on balance wheel frame 33, and balance wheel frame 33 is logical
It crosses a linear damper 34 to connect with rack 101, linear damper 34 is horizontally disposed.
Mobile platform is lifted by monorail and is supported, and structure is simple, compact, and small in size, the space occupied is also small, can be used for narrow
Small space uses, while the difficulty that while greatly reducing to track installation constructs；Using stabilizer group, in shelf depreciation inspection
In the moving process of robot, due to fuselage deflection fuselage shaking or turning during centripetal force effect, track two sides
Stabilizer stress differs, under the action of linear damper, to balance the power of two sides, so that mobile platform runs smoothly, it will not
There is the problem of overstepping the limit, fuselage shakes.
In the present embodiment, linear damper 34 is electromagnetic type linear damper.Because linear damper is moved in crusing robot
Remain that working condition, service life are crusing robot problems in need of consideration during dynamic, mechanical straight line damping
Device is easily damaged when crusing robot is by big impact force, and electromagnetic type linear damper uses electromagnetic induction principle, rubs
Wipe it is small so that the service life of linear damper is promoted；Greater impact power can be born, is hardly damaged；Balance quality is high, so that patrolling
The running stability for examining robot is promoted.
In the present embodiment, the outside of driving wheel 23 and driving motor 26 is arranged in deceleration mechanism, then driving wheel 23 and drive
Dynamic motor 26 be located at it is ipsilateral so that mobile platform is compact-sized.
As shown in figure 4, shelf depreciation crusing robot further includes controller 46 and data collector 47, controller 46 is controlled
The movement of shelf depreciation crusing robot, data collector 47 include central processing unit and memory, central processing unit processing office
Portion's discharge data and will the storage of treated data into memory, current-collector 22 is connected with modem 1, modulatedemodulate
Device 1, Partial Discharge Detection component 5, controller 46 and data collector 47 is adjusted to connect by interchanger 1, modulation /demodulation
Device 1 is connect with current-collector 22, and trolley 21 is connected with modem 2 410, and modem 2 410 is connected with exchange
Machine 2 411, interchanger 2 411 are connect with background host computer 41, and background host computer 41 and shelf depreciation crusing robot are carried by electric power
Wave realizes signal transmitting, and background host computer 41 is to shelf depreciation crusing robot input control signal, shelf depreciation crusing robot
To 41 input feedback signal of background host computer.
In the present embodiment, as Figure 1 and Figure 4, video detecting module, video detecting module packet are additionally provided in detection platform 3
Infrared thermal imaging camera 6 and Visible Light Camera 7 are included, video detecting module 412 is connect with data collector 47.According to visible light phase
The Image Acquisition information of machine remembers row reading data into the table for having reading, automatically records and judge, and proposes to alarm, so that patrolling
The pressing plate of various indicator lights, electric equipment cabinet face arrangement in inspection robot energy automatic identification image is spaced apart, change-over switch etc. two
Secondary device state.Heat monitoring of the infra-red thermal imaging camera for equipment such as indoor each power equipment, distribution boxs, can survey power transformation
It stands the temperature of indoor heat-producing device, and forms double vision system with Visible Light Camera.
In the present embodiment, video detecting module is connect by a luffing mechanism with detection platform 3, so that video detecting module
It can rotate upwardly and downwardly, to increase the detection range of video detecting module.
By power line carrier, PLC, background host computer issues inspection order to patrolling for background host computer and shelf depreciation crusing robot
Robot is examined, so that controller control crusing robot is moved to inspection point, Partial Discharge Detection component acquires shelf depreciation number
According to central processing unit handles Partial Discharge Data and by treated, data are stored into memory, Partial Discharge Data feedback
To background host computer, after background host computer receives Partial Discharge Data, control crusing robot is moved to next inspection point.
As shown in Figure 5, Figure 6, rotating platform 2 is in barrel mast shape, is equipped with gear ring 8, gear 1, gear in rotating platform 2
2 10 and gear 3 11, gear ring 8 be fixedly connected with the inner wall of rotating platform 2, gear 1 is fixed on gear shaft 1,
Gear 1 is engaged with gear ring 8, and gear shaft 1 is connected with rotating electric machine 13, and gear 2 10 is engaged with gear 3 11, gear 2 12
It is fixed on gear shaft 2 14, the lower end of gear shaft 2 14 is connected with screw mechanism 15, gear shaft 2 14 and screw mechanism
15 lead screw is fixedly connected, and detection platform 3 is fixedly connected with the feed screw nut of screw mechanism 15, and gear 3 11 is fixed at tooth
On wheel shaft 3 16, gear shaft 3 16 is connected with lifting motor 17, and rotating electric machine 13, lifting motor 17 are fixed with mobile platform 1
Connection.
Rotating electric machine 13 is rotated with moving gear 1, and gear 1 drives the gear ring 8 being engaged with to rotate, so that rotating platform
2 rotations；Lifting motor 17 is rotated with moving gear 3 11, and gear 3 11 drives the gear 2 10 being engaged with to rotate, gear 2 10
Screw rod rotation is driven, feed screw nut's lifting is to drive detection platform 3 to go up and down.Substation's shelf depreciation inspection of the utility model
The rotation and lifting of robot use parallel-connection structure, and rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for control
It realizes；Also, robot architecture is simple and compact, easy to process, is easily installed and dismantles.
It is additionally provided with mounting disc 1 and mounting disc 2 19 in rotating platform 2, is all provided in mounting disc 1 and mounting disc 2 19
There is bearing mounting hole corresponding with gear shaft 1, gear shaft 2 14 and gear shaft 3 16, is mounted in bearing mounting hole
Bearing 20 is respectively provided with the installation base of installation mounting disc 1 and mounting disc 2 19 on the inner wall of rotating platform 2, is used for
The internal diameter for installing the installation base of mounting disc 1 is greater than the outer diameter of mounting disc 2 19.Gear shaft 1, gear shaft 2 14 and tooth
Wheel shaft 3 16 is mounted in rotating platform 2 by mounting disc 1, mounting disc 2 19 and each bearing 20 being arranged in mounting disc,
Mounting disc 1, mounting disc 2 19 are limited by each installation base, big for installing the internal diameter of installation base of mounting disc 1
In the outer diameter of mounting disc 2 19, it is easily installed disk 2 19, mounting disc 1 is sequentially loaded into.
In the present embodiment, as shown in Fig. 2, Partial Discharge Detection component 5 is connect by a telescoping mechanism with detection platform 3,
The telescopic direction of telescoping mechanism is vertical with the lifting direction of detection platform 3.Crusing robot reaches the position of power equipment to be checked
It postpones, by the rotation of rotating platform, the lifting of detection platform, so that Partial Discharge Detection component alignment power equipment is to be measured
Position, telescoping mechanism extend so that Partial Discharge Detection component is adjacent to the detected part of power equipment, to carry out shelf depreciation inspection
It surveys.
In the present embodiment, Partial Discharge Detection component 5 includes that can make the Partial Discharge Detection component and converting station electric power
The attracting magnetic absorption member of equipment, for being close to Partial Discharge Detection component 5 with the detected part of power equipment, preventing shelf depreciation
Detection components 5 slide.
Partial Discharge Detection component 5 including transient state radio wave sensor, uhf sensor and pulses of current sensor, wink
State radio wave sensor real-time detection power equipment Partial discharge signal main feature amount, including partial discharge pulse number, pulse amplitude,
By being sensed in conjunction with hyperfrequency to time domain phase, umber of pulse and the research for measuring relationship between threshold values under different defect models
Device and pulses of current sensor exclude field interference signal, alarm Electric Power Equipment Insulation fault condition.
In addition to above preferred embodiment, for the utility model there are also other embodiments, those skilled in the art can root
It is made various changes and modifications according to the utility model, without departing from the spirit of the utility model, should belong to the utility model
Range defined in appended claims.
Claims (8)
1. a kind of shelf depreciation crusing robot, which is characterized in that including
Mobile platform, the mobile platform are hung in orbit, and are slidably connected with the track；
Rotating platform, the rotating platform are rotatably connected on the lower end of the mobile platform；
And detection platform, the detection platform are connect with the rotating platform liftable, the detection platform is equipped with part and puts
Electro-detection component.
2. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that be equipped with wiping along the track
Line, the mobile platform include rack, current-collector, driving wheel, driven wheel and stabilizer group, and the current-collector is fixedly connected on institute
It states in rack, the wiping piece and the trolley of the current-collector are in electrical contact, it powers for the shelf depreciation crusing robot,
The driving wheel rolls on the bottom surface of the track, and the driving wheel is fixedly mounted on drive shaft, the drive shaft
It is connected with driving motor by a deceleration mechanism, the driving motor is fixedly mounted in the rack, deceleration mechanism packet
Include small pulley, big belt wheel and deceleration strip, the small pulley is fixedly connected with the output shaft of the driving motor, the big belt wheel with
The drive shaft is fixedly connected, and by the deceleration strip band connection, the driven wheel is solid for the small pulley and the big belt wheel
On follower shaft, the follower shaft is mounted on the rack for Dingan County, and the driven wheel and the driving wheel are about institute
Orbital Symmetry setting is stated, the stabilizer group includes several stabilizers about Orbital Symmetry setting, and the stabilizer exists
It is rolled on the side of the track, the stabilizer is fixedly mounted on balancing axle, and the balancing axle is mounted on stabilizer
On frame, the balance wheel frame is connect by a linear damper with the rack, and the linear damper is horizontally disposed.
3. a kind of shelf depreciation crusing robot according to claim 2, which is characterized in that the shelf depreciation survey monitor
Device people further includes controller and data collector, and the controller controls the movement of the shelf depreciation crusing robot, described
Data collector includes central processing unit and memory, and the central processing unit handles Partial Discharge Data and will treated number
According to storage into the memory, the current-collector is connected with modem one, the modem one, shelf depreciation inspection
It surveys component, controller and data collector to connect by interchanger one, the modem one is connect with the current-collector, institute
It states trolley and is connected with modem two, the modem two is connected with interchanger two, the interchanger two and backstage
Host connection, the background host computer and the shelf depreciation crusing robot realize signal transmitting by power carrier, after described
Platform host is to the shelf depreciation crusing robot input control signal, and the shelf depreciation crusing robot is to the backstage master
Machine input feedback signal.
4. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that the Partial Discharge Detection group
Part is connect by a telescoping mechanism with the detection platform, the lifting of the telescopic direction of the telescoping mechanism and the detection platform
Direction is vertical.
5. a kind of shelf depreciation crusing robot according to claim 4, which is characterized in that the Partial Discharge Detection group
Part includes that can make the Partial Discharge Detection component and the attracting magnetic absorption member of switch cabinet of converting station.
6. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that the Partial Discharge Detection group
Part includes transient state ground radio wave sensor, uhf sensor and pulses of current sensor.
7. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that also set in the detection platform
There is video detecting module, the video detecting module includes infrared thermal imaging camera and Visible Light Camera.
8. a kind of shelf depreciation crusing robot according to claim 7, which is characterized in that the video detecting module is logical
A luffing mechanism is crossed to connect with the detection platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821759138.XU CN209217570U (en) | 2018-10-29 | 2018-10-29 | A kind of shelf depreciation crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821759138.XU CN209217570U (en) | 2018-10-29 | 2018-10-29 | A kind of shelf depreciation crusing robot |
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| CN209217570U true CN209217570U (en) | 2019-08-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109346980A (en) * | 2018-10-29 | 2019-02-15 | 国网浙江平湖市供电有限公司 | A kind of shelf depreciation crusing robot |
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- 2018-10-29 CN CN201821759138.XU patent/CN209217570U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109346980A (en) * | 2018-10-29 | 2019-02-15 | 国网浙江平湖市供电有限公司 | A kind of shelf depreciation crusing robot |
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