CN209986873U - Special electric sleeve for high-voltage live working robot and control system - Google Patents
Special electric sleeve for high-voltage live working robot and control system Download PDFInfo
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- CN209986873U CN209986873U CN201920486326.8U CN201920486326U CN209986873U CN 209986873 U CN209986873 U CN 209986873U CN 201920486326 U CN201920486326 U CN 201920486326U CN 209986873 U CN209986873 U CN 209986873U
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Abstract
The utility model discloses a special electric sleeve for a high-voltage live working robot and a control system, which comprises a mounting seat, a shell, a driving device, a rotating device, a sleeve assembly and a control system, wherein the driving device drives the rotating device to enable the sleeve assembly to reach a proper working state in a required working environment; the sleeve assembly is provided with an opening with the size required by the annular cam block according to the rotating direction and the inertia force and is used for matching parts with different sizes to be assembled and disassembled; the control system adopts a double closed-loop control operation system to realize smooth and stable speed regulation and high torque output of the special electric sleeve of the high-voltage live working robot; the utility model has the advantages of simple structure, can carry out the live working of the various specification bolts of direct dismantlement installation and nut to can not receive strong electromagnetic interference, satisfy multiple operation demand, adopt wireless control to improve operating personnel's operation safety.
Description
Technical Field
The utility model relates to an electric tool field, in particular to special electric sleeve of high voltage live working robot and control system.
Background
With the rapid development of informatization along with the updating of technology, in order to reduce the labor intensity of high-voltage live-line operators and the threat of strong electromagnetic interference to human bodies, a large number of researches on live-line operation robots and the development of prototypes are started. The manpower is repeatedly operated in a complex way, and the machine is designed to be used for simple operation and infinite cycle work; the live working tool is one of the main directions in which the high-voltage live working robot needs to be researched, and the special electric sleeve for the high-voltage live working is also the most common special working tool for the high-voltage live working robot and is used for bolt tightening and nut assembling and disassembling; the special sleeve or spanner of current high voltage live working robot can only realize single operation fixedly, loads and unloads specific bolt and nut, because the bolt and the nut specification of installation are numerous on the whole 10kvA pole, lead to the practicality poor, need constantly change the spanner or the sleeve of different specifications, aggravate live working work load.
The existing special voice control wrench (notice number: CN 102615617B) for the high-voltage live working robot can send and receive wireless signals in a voice control manner, and directly carry out voice control operation on the voice control wrench for the professional operation of the high-voltage live working robot, but the professional voice control wrench can only carry out bolt or nut work with unified specification once, once different specification sizes occur, a corresponding wrench head needs to be replaced again, so that the operation time is prolonged, and the safety problem exists; moreover, the corresponding wrench head does not fixedly grasp the bolt and nut mechanism, so that the operation and installation are easily influenced when the bolt and the nut are assembled and disassembled, and the workload is increased; and the working condition is harsh, and the wrench head of the electric wrench can not normally work in a small range of the working space.
Therefore, a sleeve which can be simply operated, can be directly assembled and disassembled without changing the device, can assemble and disassemble bolts and nuts with various specifications, is suitable for more special working conditions and can be flexibly operated is needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a special electric sleeve of high voltage electric operating robot and control system aims at solving the special electric sleeve instrument of current robot and can not directly load and unload various specification bolts and nuts, at the operation under narrow, harsh environment, the in-process part of loading and unloading part drops and can't fix a position and the problem that suffers electromagnetic interference among the operation process.
The utility model discloses the technical scheme who takes to above-mentioned defect does:
a special electric sleeve for a high-voltage live working robot and a control system comprise a shell, a mounting seat connected with the shell, a rotating device, a driving device, a sleeve assembly and the control system.
The rotating device comprises an arc gear, an axial gear, a radial gear, a lead screw, a supporting frame, a rotating frame and a bolt.
The arc gear is connected with the driving device and used for controlling rotation, the lead screw penetrates through the supporting frame to be connected with the axial gear, the radial gear is fixed on the rotating frame, the rotating frame is fixed on the shell, and the supporting frame is rotatably connected with the rotating frame through the bolt.
The driving device comprises a driving motor, an auxiliary motor, a battery pack, a coupling, a driving shaft, a rotating shaft and a bearing.
The driving motor is connected with one end of the driving shaft through the coupler to control the driving shaft to rotate, the other end of the driving shaft is connected with the arc gear, one end of the rotating shaft is connected with the arc gear, and the other end of the rotating shaft is connected with the sleeve assembly; the auxiliary motor is connected with the screw rod to control the axial gear to rotate, and the driving motor and the auxiliary motor use the battery pack as energy;
the control system controls the driving device to drive the sleeve assembly to rotate to complete the operation.
Further, the sleeve assembly comprises sleeve exocoel, cam piece, countersunk head bolt, sleeve mounting panel, reduce nut and ring magnet, and ring magnet installs and fixes through reducing the nut at sleeve exocoel bottom, and the cam piece is according to tangent annular arrangement in proper order of front and back end, and countersunk head bolt is fixed cam piece front end on the sleeve mounting panel, installs the upper strata at the sleeve exocoel.
Furthermore, the control system comprises a wireless remote control panel, an ARM control module, a PWM isolation drive, a BUCK circuit and a direct current power supply, wherein the BUCK circuit is connected with the driving motor and the auxiliary motor.
Further, the control system is provided with an overvoltage protection circuit, a current detection and overcurrent circuit and a rotating speed detection feedback circuit.
Preferably, the coupler is an Oldham FRP (fiber reinforce Plastic) insulating coupler, and a corresponding straight groove is formed in one end, connected with the coupler, of the driving shaft.
Preferably, the bearing is an angular contact ball bearing or a deep groove ball bearing.
The utility model discloses following beneficial effect has:
1. simple structure, the cam piece combination of sleeve assembly carries out the size adjustment through clockwise, anticlockwise rotation, can realize directly matching the multiple specification bolt of installation and nut, need not constantly to replace sleeve or spanner head.
2. The ring magnet is equipped with in the sleeve assembly, can solve and dismantle the installation bolt nut in-process, and the part drops, the problem of unable location.
3. The rotating device is arranged and drives the radial gear through the axial gear, and the rotating device can be adjusted between 0-90 degrees, so that the electric sleeve can operate in a severe and narrow environment.
4. The double closed-loop control operation system is adopted, so that the smooth and stable speed regulation and high torque output of the special electric sleeve for the high-voltage live working robot are realized, and strong electromagnetic interference is avoided.
5. The protection circuit and the detection feedback circuit are arranged, signal control is carried out through an AMR control module system and PWM isolation driving, the rotating speed is adjusted smoothly and stably within a certain set rotating speed range, rotating speed fluctuation can be avoided under various strong electromagnetic interferences or other interferences, and the phenomenon of insufficient system power output is avoided, so that stable adjustment is realized in speed increasing and speed reducing.
Drawings
FIG. 1 is a schematic diagram of an internal structure of an embodiment of the present invention
FIG. 2 is a schematic view of a state rotated by 90 degrees according to an embodiment of the present invention
FIG. 3 is a schematic view of a sleeve assembly structure according to an embodiment of the present invention
FIG. 4 is a schematic view of an open state of the sleeve assembly according to an embodiment of the present invention
Fig. 5 is a schematic diagram of the operation of the dual closed-loop modulation system according to the embodiment of the present invention
FIG. 6 is a circuit diagram of a main power supply according to an embodiment of the present invention
FIG. 7 is a circuit diagram of an auxiliary power supply according to an embodiment of the present invention
FIG. 8 is an IGBT protection circuit diagram of the embodiment of the utility model
FIG. 9 is an IGBT driving circuit diagram of the embodiment of the utility model
FIG. 10 is a current feedback circuit diagram according to an embodiment of the present invention
FIG. 11 is a circuit diagram of the rotational speed feedback circuit according to an embodiment of the present invention
In the figure: 1-mounting seat, 2-housing, 3-driving motor, 4-insulating coupling, 5-driving shaft, 6-rotating shaft, 7-sleeve assembly, 8-circular arc gear, 9-angular contact ball bearing, 10-deep groove ball bearing, 11-battery pack, 12-auxiliary motor, 13-control system, 14-supporting frame, 15-rotating frame, 16-lead screw, 17-axial gear, 18-radial gear, 19-plug pin, 71-countersunk head bolt, 72-sleeve outer cavity, 73-cam block, 74-sleeve mounting plate, 75-shrink nut and 76-circular ring magnet.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
A special electric sleeve and a control system for a high-voltage live working robot comprise a shell 2, a mounting seat 1 connected with the shell 2, a rotating device, a driving device, a sleeve assembly 7 and a control system 13.
The rotating device comprises an arc gear 8, an axial gear 17, a radial gear 18, a lead screw 16, a support frame 14, a rotating frame 15 and a bolt 19.
The circular arc gear 8 is connected with a driving device for controlling rotation, the lead screw 16 penetrates through the supporting frame 14 to be connected with the axial gear 17, the radial gear 18 is fixed on the rotating frame 15, the rotating frame 15 is fixed on the shell 2, and the supporting frame 14 is rotatably connected with the rotating frame 15 through the bolt 19.
The driving device comprises a driving motor 3, an auxiliary motor 12, a battery pack 11, a coupling 4, a driving shaft 5, a rotating shaft 6 and bearings 9 and 10.
The driving motor 3 is connected with one end of a driving shaft 5 through a coupler 4 to control the driving shaft 5 to rotate, the other end of the driving shaft 5 is connected with an arc gear 8, one end of the rotating shaft 5 is connected with the arc gear 8, and the other end of the rotating shaft is connected with a sleeve assembly 7; the auxiliary motor 12 is connected with the screw rod 16 to control the axial gear 17 to rotate, and the driving motor 3 and the auxiliary motor 12 use the battery pack 11 as energy;
the control system 13 controls the driving device to drive the sleeve assembly 7 to rotate to complete the operation.
The sleeve assembly 7 is composed of a sleeve outer cavity 72, a cam block 73, a countersunk head bolt 71, a sleeve mounting plate 74, a tightening nut 75 and a ring magnet 76, wherein the ring magnet 76 is mounted at the bottom layer of the sleeve outer cavity 72 and fixed by the tightening nut 75, the cam block 73 is sequentially arranged in a tangent ring shape according to the front end and the rear end, and the countersunk head bolt 71 fixes the front end of the cam block 73 on the sleeve mounting plate 74 and is mounted at the upper layer of the sleeve outer cavity 72.
The control system 13 comprises a wireless remote control panel, an ARM control module, a PWM isolation driver, a BUCK circuit and a direct current power supply, wherein the BUCK circuit is connected with the driving motor 3 and the auxiliary motor 12.
The control system 13 is provided with an overvoltage protection circuit, a current detection and overcurrent circuit and a rotating speed detection feedback circuit.
The shaft coupling 4 is a crosshead shoe FRP insulation shaft coupling, and one end of the driving shaft 5 connected with the shaft coupling 4 is provided with a corresponding straight groove.
The bearings are angular contact ball bearings 9 and deep groove ball bearings 10.
As shown in figure 1, the special electric sleeve for the high-voltage live working robot comprises a mounting seat 1, a shell 2, a driving motor 3 installed in the shell 2, a driving shaft 5 connected with an insulating coupling 4 is driven to rotate, one end, connected with the coupling, of the driving shaft 5 is provided with a straight groove, the insulating coupling 4 is an Oldham coupling, coaxiality error during installation is solved, plasticity is adopted, an FRP high-voltage insulating material with hard texture is adopted, and when live working is guaranteed, the electric sleeve is protected from being damaged by high-voltage electric breakdown.
As shown in fig. 1, the other end of the driving shaft 5 is connected to an arc gear 8, one end of the rotating shaft 4 is provided with the arc gear 8, the arc gears 8 arranged in pairs are engaged, and the other end is connected to the sleeve assembly 7. Therefore, the driving motor 3 drives the driving shaft 5 to rotate, power transmission is realized through the deep groove ball bearing 10 and the angular contact ball bearing 9, and the rotation of the driving shaft 5 drives the arc gear 8 to rotate, so that the rotating shaft 6 rotates, and finally the sleeve assembly 7 is driven to rotate.
As shown in fig. 1, the driving motor 3 and the auxiliary motor 12 are powered by a battery pack 11, and the battery pack 11 is a rechargeable lithium battery; and a layer of polyethylene insulating material plastic is wrapped on the surface of the battery pack 11.
As shown in fig. 2, the rotating device of the electric sleeve comprises a supporting frame 14 and a rotating frame 15 which are fixed on the shell 2, a screw rod 16 passes through the supporting frame 14 and is connected with an axial gear 17, a radial gear 18 is fixed on the rotating frame 15, and the supporting frame 14 and the rotating frame 15 are rotatably connected through a bolt 19.
The screw rod 16 is driven by the auxiliary motor 12 to drive the axial gear 17 to rotate, and the rotating shaft 6 of the electric sleeve rotates through the rotation transmission of the axial gear 17 and the radial gear 18, so that the electric tool can rotate in a limited space, and the difficulty of completing part assembly and disassembly in a harsh environment is overcome.
The driving motor 3 and the auxiliary motor 12 share the control system 13, and the control system 13 is a double closed-loop control debugging system, and can be directly controlled through the ground central control remote control equipment for wireless signal transmission control, so that the operation is convenient, and the operation of an operator in a high-voltage operation safety range is ensured.
The electric sleeve can realize an electric tool for directly assembling and disassembling bolts and nuts with various specifications, and can work in narrow working space and harsh working condition range environment.
As shown in FIG. 3, the sleeve assembly 7 comprises a countersunk head bolt 71 and a sleeve outer cavity 72, six cam blocks 73 are mounted on the sleeve outer cavity 72 in an annular array, the cam blocks 73 are sequentially arranged tangentially according to the front end and the rear end, and are fixed on a sleeve mounting plate 74 on the sleeve outer cavity 72 through the countersunk head bolt 71, so that the cam blocks 73 can rotate freely. A ring magnet 76 is mounted below the sleeve outer cavity 72 and is fixed by tightening a nut 75. During the process of assembling and disassembling the bolt and the nut in live working, the problems of falling and incapability of positioning in the assembling and disassembling process can be avoided due to the magnetic property of the magnet of the bolt and the nut.
By rotating clockwise, as shown in state one of fig. 4, the maximum opening of the sleeve is achieved. When the bolt and the nut are locked tightly, the bolt and the nut are rotated anticlockwise, the opening of the sleeve is reduced to the size of the hexagonal nut by inertia force, the size of the hexagonal nut is shown in a state II and a state III in figure 4, bolts and nuts with various specifications can be directly installed in a matched mode, and the sleeve or the wrench head does not need to be replaced continuously.
This sleeve assembly 7 can realize the live working instrument of various specifications of bolt and nut of direct dismantlement installation to can solve and dismantle the installation bolt nut in-process, the part drops, unable location problem.
The work flow chart of the control system 13 is shown in fig. 5, and the whole process is as follows: an operator operates the wireless remote control panel to input a control instruction, the wireless wave transmission signal is transmitted to the ARM control module system, and the ARM control module system generates a corresponding motion state to the PWM isolation drive according to the control instruction.
The PWM signal is correspondingly generated and is transmitted to the BUCK circuit through PWM isolation driving, after the PWM signal is isolated, amplified and filtered through the BUCK circuit, output power is provided through an IGBT power module in PWM of the control system 13, and then the driving motor 3 and the auxiliary motor 12 are controlled to operate, stable speed regulation control over the driving motor 3 and the auxiliary motor 12 is achieved, meanwhile, the control system 13 collects currents of the driving motor 3 and the auxiliary motor 12 in real time through a current detection and overcurrent circuit, the collected currents are fed back to an ARM control module system on one hand and used for current PI regulation, and on the other hand, the collected currents are used as parameter values of overcurrent protection.
The control system 13 is also provided with a rotating speed detection and feedback circuit, and speed signals of the driving motor 3 and the auxiliary motor 12 are isolated and boosted by a photoelectric sensor and then fed back to the ARM control module system for speed PI regulation, so that stable speed regulation and power output are further realized; the direct current is a power supply of the control system 13, and an overvoltage protection circuit is added between the direct current and the circuit, so that voltage abnormity and damage of a power module to the system during live working are prevented.
The control system 13 can realize smooth and stable regulation of the rotating speed within a certain set rotating speed range, and can avoid rotating speed fluctuation and insufficient system power output under various strong electromagnetic interferences or other interferences, thereby realizing stable regulation in acceleration and deceleration.
As shown in fig. 6, is a main power supply circuit diagram of the control system 13. The 220V alternating current is rectified by a full-bridge rectifier after being subjected to the treatment of c1 for removing harmonic wave and noise interference, and the rectified 220V alternating voltage is subjected to 80V/470uf large capacitance to obtain about 72V direct voltage. RI in the circuit is a voltage dependent resistor, which protects the circuit from damage caused by sudden change of instantaneous voltage of the system. When a high voltage is applied, the resistance of the varistor RI decreases to shunt the current, thereby preventing the current from being damaged or disturbed by an excessive instantaneous voltage. A10A protective tube FU1 is arranged at an alternating voltage input end, if the current of the alternating current exceeds 10A, the protective tube can be fused, the circuit of a power supply source of the direct current motor can be cut off, a soft starter is characterized in that a switch end of a relay consisting of a 47K/3W power resistor and a relay K l is connected to two ends of A, B of the power resistor, when a system is connected to mains supply, the relay is disconnected because a key for starting the motor is not pressed, and an electrolytic capacitor C is charged through the R2 current-limiting direct current voltage. Thus avoiding damage to the system by instantaneous large current.
Fig. 7 is a circuit diagram of an auxiliary power supply of the control system 13. In a pcb (printed circuit board) paving system, a +12v power supply is needed for ZR2101, a +15v power supply and a +5v power supply are needed for LM258, a +3.3v power supply is needed for JTAG interface and chip driving circuit voltage, and a +3.3v power supply is needed for a touch screen, so that stable power supply isolation of the system is realized; therefore, an external 13V-10V transformer is adopted to step down the 72V direct current, and the 72V direct current after step-down is rectified and filtered to obtain 15V direct current voltage and 13V direct current voltage. The 13V direct current voltage is subjected to L M7812 voltage stabilization and then filtered to output a stable 12V direct current voltage, and related direct current 5V power supply and 3.3V direct current voltage are obtained by similar principles in sequence to provide input power supplies for different power supply devices of the control system 13.
As shown in fig. 8 and 9, an IGBT protection circuit diagram and an IGBT driving circuit diagram of the control system 13 are shown, respectively. And through PWM isolation driving, relevant IGBT power driving output and protection are carried out, and a collector electrode and an emission set grid electrode of the IGBT are respectively a positive electrode of a direct-current power supply of the motor and PWM control signals driven by M + and IR2101 of the motor. A series circuit of R4 and C20 is connected in parallel between the G pole and the E pole of the IGBT to buffer the surge voltage. Considering that the IGBT is also likely to be damaged by overcurrent or short circuit between the grid and the G pole when in operation, a 15V/IW freewheeling diode and a 10K resistor are connected in parallel between the grid and the G pole; the driving power IGBT in PWM drives a pass chip, output PWM signals are subjected to optical coupling isolation through a PC817, damage to a control chip caused by backflow is prevented, the PWM signals are amplified through an IR2101, and the amplified control signals are applied to the grid of the IGBT to control the IGBT.
As shown in fig. 10 and 11, a current feedback circuit diagram and a rotational speed feedback circuit diagram of the control system 13 are shown, respectively. The control system 13 is a double closed loop current and rotating speed control, samples the current of an armature loop and the rotating speed of a motor, the current feedback adopts a resistance method to measure the current, a 0.01 ohm constantan wire is used for sampling the load current, the constantan wire converts the current of a main circuit into a small voltage signal, the voltage signal is amplified to 3.3V in an operational amplification circuit formed by an LM258, and the voltage signal is filtered and limited and then is sent to a PA2 port of a micro controller to realize the current closed loop speed regulation; the speed feedback is externally connected with an H2B6 photoelectric sensor by J2, a pulse signal detected by H2B6 is amplified by a triode, the signal is shaped and isolated by a capacitor and a photoelectric coupler PC817 respectively, (the output signal of the PC817 is 5V, the input signal of a chip of the PC817 cannot be higher than 3.3V), and after the signal is subjected to voltage division and filtering processing, the signal is converted into 3.3V and then directly connected with a PAO port, so that the speed closed-loop speed regulation is realized.
According to the circuit diagrams of all components of the related control systems, the power circuit of the control system 13 can stably output power circuits with different specifications, and the DC motor can carry out double closed-loop speed regulation of a speed loop and a current loop.
In the actual use process, the electric sleeve and the control system special for the high-voltage live working robot are used as follows:
an operator sends a command to the control system 13 through wireless remote control, the control system 13 analyzes the command and transmits a signal, the internal circuit receives the signal to control the auxiliary motor 12 to drive the screw rod 16 to rotate the axial gear 17 and drive the radial gear 18 fixed on the rotating frame 15 to rotate, the radial gear 18 rotates a certain angle, then the rotating frame 15 drives the rotating shaft 6 to rotate a certain angle, then the driving motor 3 drives the driving shaft 5 to rotate, the driving shaft 5 rotates to drive the circular arc gear 8 to rotate, through power transmission, the sleeve assembly 7 is finally driven to rotate, and the cam block 73 of the sleeve assembly 7 enables the opening of the sleeve to be expanded or contracted to a proper opening size according to the rotating direction and inertia force, then, the bolt and the nut are assembled and disassembled, and the ring magnet 76 in the sleeve assembly 7 can attract the metal parts, so that the parts are not easy to fall off and are easy to position.
The above is only the best embodiment of the present invention, but the present invention should not be limited to the disclosure of the embodiment and the accompanying drawings. Therefore, equivalent substitutions and modifications made without departing from the principles of the present invention fall within the protection scope of the present invention.
Claims (6)
1. A special electric sleeve for a high-voltage live working robot comprises a shell, a mounting seat connected with the shell, a rotating device, a driving device and a sleeve assembly, and is characterized in that the rotating device comprises an arc gear, an axial gear, a radial gear, a lead screw, a supporting frame, a rotating frame and a bolt; the arc gear is connected with the driving device and used for controlling rotation, the lead screw penetrates through the support frame and is connected with the axial gear, the radial gear is fixed on the rotating frame, the rotating frame is fixed on the shell, and the support frame is rotationally connected with the rotating frame through a bolt;
the driving device comprises a driving motor, an auxiliary motor, a battery pack, a coupling, a driving shaft, a rotating shaft and a bearing; the driving motor is connected with one end of the driving shaft through a coupler to control the driving shaft to rotate, the other end of the driving shaft is connected with the arc gear, one end of the rotating shaft is connected with the arc gear, and the other end of the rotating shaft is connected with the sleeve assembly; the auxiliary motor is connected with the lead screw to control the axial gear to rotate, and the driving motor and the auxiliary motor use a battery pack as energy.
2. The special electric sleeve for the high-voltage live working robot as claimed in claim 1, wherein the sleeve assembly comprises an outer sleeve cavity, a cam block, a countersunk head bolt, a sleeve mounting plate, a tightening nut and a circular ring magnet, the circular ring magnet is mounted at the bottom layer of the outer sleeve cavity and fixed by the tightening nut, the cam block is sequentially arranged in a tangent ring shape at the front end and the rear end, and the countersunk head bolt fixes the front end of the cam block on the sleeve mounting plate and is mounted at the upper layer of the outer sleeve cavity.
3. The special electric sleeve for the high-voltage live working robot as claimed in claim 1, wherein the shaft coupling is an oldham plastic (FRP) insulation shaft coupling, and the end of the driving shaft connected with the shaft coupling is provided with a corresponding straight groove.
4. The special electric sleeve for the high-voltage live working robot as claimed in claim 1, wherein the bearing is an angular contact ball bearing or a deep groove ball bearing.
5. A control system of a special electric sleeve for a high-voltage live working robot is used for controlling the driving device in claim 1 to drive a sleeve assembly to rotate to complete operation, and is characterized by comprising a wireless remote control panel, an ARM control module, a PWM isolation drive, a BUCK circuit and a direct-current power supply, wherein the BUCK circuit is connected with a driving motor and an auxiliary motor.
6. The control system of the special electric sleeve of the high-voltage live working robot as claimed in claim 5, wherein the control system is provided with an overvoltage protection circuit, a current detection and overcurrent circuit and a rotating speed detection feedback circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920486326.8U CN209986873U (en) | 2019-04-11 | 2019-04-11 | Special electric sleeve for high-voltage live working robot and control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920486326.8U CN209986873U (en) | 2019-04-11 | 2019-04-11 | Special electric sleeve for high-voltage live working robot and control system |
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| CN209986873U true CN209986873U (en) | 2020-01-24 |
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| CN201920486326.8U Active CN209986873U (en) | 2019-04-11 | 2019-04-11 | Special electric sleeve for high-voltage live working robot and control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909936A (en) * | 2019-04-11 | 2019-06-21 | 龙岩市海德馨汽车有限公司 | A kind of robot for high-voltage hot-line work special electric sleeve and control system |
-
2019
- 2019-04-11 CN CN201920486326.8U patent/CN209986873U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909936A (en) * | 2019-04-11 | 2019-06-21 | 龙岩市海德馨汽车有限公司 | A kind of robot for high-voltage hot-line work special electric sleeve and control system |
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