CN210414555U - Electrified robot that overhauls of thing networking - Google Patents
Electrified robot that overhauls of thing networking Download PDFInfo
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- CN210414555U CN210414555U CN201920772031.7U CN201920772031U CN210414555U CN 210414555 U CN210414555 U CN 210414555U CN 201920772031 U CN201920772031 U CN 201920772031U CN 210414555 U CN210414555 U CN 210414555U
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Abstract
The utility model provides a robot is overhauld in thing networking electrification, including robot body and thing networking systems. The robot body comprises an intelligent vehicle, an insulating lifting platform, an insulating rotating arm and an overhauling tool assembly, and the Internet of things system consists of an information module, a remote terminal and a wireless communication module. The utility model discloses the utilization is overhauld intelligent robot and thing networking systems and is replaced traditional artifical power failure and overhauld, has realized automatic electrified maintenance, has practiced thrift manpower resources, has reduced the maintenance cost, has strengthened the security performance.
Description
Technical Field
The utility model relates to a power supply system overhauls the equipment field, specifically is a thing networking is electrified to be overhauld robot, and accessible remote control telemetering measurement or intelligence control system carry out long-range electrified maintenance operation.
Background
With the development of national economy, the power industry is rapidly developed, but the increase of the number of the employees of the power enterprise is far from the development of a power system and the increase of equipment, and a large amount of manpower and material resources are required to be invested in the regular maintenance, so that the requirements of power system reformation and man-saving and efficiency improvement cannot be met. The development of a power grid faces the requirements of high power supply reliability, high load density and high power quality, the requirements of users on power failure time are more and more strict, the power failure of important key lines is difficult to arrange, and the power failure maintenance opportunities are less and less.
The pollution flashover phenomenon easily occurs to power plants, transformer substations and booster station equipment in long-term operation, so that the grounding accidents of the power system are frequent, and the safe operation of the power system is seriously influenced; in order to prevent accidents such as power failure caused by pollution flashover of equipment such as insulators, switches and disconnecting links, the magnetic columns, the CT and the PT must be cleaned regularly to maintain the switches and the disconnecting links. In the maintenance process, the functions of dismounting the drainage wire, lifting the manned drainage wire and the like are required to be realized.
According to the regulations of preventive test procedures of electrical equipment: the period of the metallic zinc oxide arrester pressure test is one year. And regulations should be made before the thunderstorm season each year. For newly-put-into-operation metal zinc oxide lightning arresters with the voltage level of 110KV and above, an alternating current leakage current test is carried out 3 months after the lightning arresters are put into operation, and then the test is carried out once every half year. After the operation is normal, the test is carried out before the thunderstorm season every year. The drainage wire is taken to the maintenance test of arrester needs to be torn open, and present actual operation process is only maintained and is tested when having a power failure, and test period is all surpassed to the vast majority arrester, has great potential safety hazard.
The insulating ladder of power plant, transformer substation use as the instrument of ascending a height more, and insulating ladder length is longer, and weight is big, uses very inconveniently.
For the two situations, most of the existing working modes adopt a power failure operation mode, however, with the improvement of the requirement of power users on the reliability of power supply, the reduction of the times of power failure maintenance of the transformer substation is very important.
Therefore, the power grid has a very urgent need for advanced live overhaul operation technology. However, because of the problems of high voltage level, dense equipment in the substation, large volume and weight of the equipment and the like, the development of manual live working has great difficulty, and the application of the robot technology can effectively solve the problems.
Although various types of electric operating robots have been developed in China, several types of electric operating robots which are disclosed at present still need to be lifted to the periphery of an electric operating line by an operator in an insulating bucket of an insulating bucket arm vehicle or a machine arm outside the insulating bucket because of the reasons of large size, heavy weight, electric insulating performance which does not reach the electric operating standard and the like in the process of electric operating, and potential risks still exist, so that personal risks can be brought to the operator.
The live working robot of transformer substation disclosed in the prior art mainly has the following disadvantages:
1. live working requires highly to the insulating properties of robot arm, and current live working robot arm realizes insulating mode for realizing insulating through set up insulating cover or other insulating material outsourcing outside the arm, and this kind of mode is implemented more difficultly, can influence the free activity of arm even. The small fly jib at the tail end of the mechanical arm is connected with the telescopic jib by adopting a connecting rod structure, and the flutter phenomenon of the connecting rod mechanism easily causes the vibration of the small fly jib in the live working process, thereby seriously affecting the working precision and efficiency. At present, the voltage class of 35kV and below is mostly used, and the use is limited.
2. The existing mechanical arm structure can only be fixedly connected with one working tool, the flexible and quick replacement of the working tool cannot be realized, and the hot-line work efficiency is seriously influenced; the part can carry out the arm that the instrument was changed, and the function is comparatively limited, can only realize the simple operation requirement of part live-line, and the root such as electrified porcelain column that washs, downlead is torn open and is taken, isolator cleans can't be realized.
3. Because the equipment in the power plant, the transformer substation and the booster station is numerous and high-voltage live, and the operation tool needs to go deep into the power plant, the transformer substation and the booster station for operation, the tool is required to have the characteristics of miniaturization, light weight, intellectualization and the like. The existing hot-line work robot has two main implementation modes, wherein one mode is that the robot enters a work site through an insulating arm vehicle; a mobile chassis is provided to enter a work site by the movement of an insulated telescopic boom. According to the two existing modes, the size of a working robot is large, the walking is limited, and the robot cannot enter a part of narrow areas.
4. The existing insulator cleaning device needs to manually lift two brushes to the position where the insulator contacts through an insulating rod after the power failure of equipment, and the brushes are driven to rotate by a motor arranged at the bottom of the insulating rod through an insulating transmission rod. The structure and the operation mode cause great physical and psychological burdens on operators, the cleaning effect is only observed from the ground manually, and the judgment error is large. The brush head of the brush is relatively fixed, is only suitable for partial insulation, has low automation degree, has potential safety hazard, and can cause great damage to equipment and personal safety if not operated properly.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve prior art's problem, provide an electrified machine people that overhauls of thing networking, utilize to overhaul intelligent robot and thing networking system and replace traditional artifical power failure to overhaul, realized automatic electrified maintenance, practiced thrift manpower resources, reduced the cost of overhaul, strengthened the security performance.
The utility model discloses a robot body and thing networking systems.
The robot body comprises an intelligent vehicle, an insulating lifting platform, an insulating rotating arm and an overhauling tool assembly.
The intelligent vehicle comprises a rotary driving motor, a base and a working platform, wherein the base is connected with the working platform through a rotating shaft structure, and the rotary driving motor drives the rotating shaft structure to enable the working platform to rotate around a rotating shaft above the base.
The base comprises a driving device and supporting devices, wherein the supporting devices are distributed around the base, and supporting device accommodating areas corresponding to the supporting devices are arranged on the side faces of the base; the supporting device is a multi-stage supporting column connected through a revolute pair, each section of supporting column is of a telescopic rod structure, and the supporting column is contracted in a supporting device accommodating area of the base in a non-maintenance state; under the maintenance state, the support column rotates out from the support column storage area, and the base is fixed with the ground.
The insulating lifting platform comprises a plurality of layers of lifting frames controlled by hydraulic cylinders, and is connected with the working platform through a lifting platform rotating pair.
The insulation elevating platform top be connected with a plurality of insulation swinging booms through the revolute pair, the insulation swinging boom is through lead screw motor control's multistage telescopic link structure, insulation swinging boom end is provided with overhauls the instrument subassembly.
The system of the Internet of things is composed of information modules, remote terminals and wireless communication modules, wherein the information modules and the wireless communication modules are installed on the robot bodies, the information modules and the wireless communication modules on the plurality of robot bodies are connected with the remote terminals to form a network for overhauling the robots, the information modules on each robot body send information to the remote terminals through the wireless communication modules, and the remote terminals send operation instructions to each robot body through the wireless communication modules to realize real-time communication between the robots and the remote terminals.
The information module comprises a radar system, an image acquisition system and a buzzer, wherein the radar system sends and receives ultrasonic signals, and the image acquisition system acquires environmental information near the robot.
The maintenance tool assembly comprises an annular rotating mechanism fixed to the tail end of the insulating rotating arm, and the periphery of the rotating mechanism is connected with maintenance tools through a plurality of tool clamps. Be provided with multi-functional instrument group and recess on the work platform of intelligence car, when insulating elevating platform level sets up on work platform, fall into the recess in, multi-functional instrument group links to each other with maintenance tool assembly, and the instrument anchor clamps on the multi-functional instrument group are got from multi-functional instrument group and are got needs instrument.
The improvement is further realized, be provided with fixed buckle on the work platform of intelligence car, when insulating elevating platform level setting was on work platform, fixed buckle locking insulating elevating platform. The fixed buckle is a rectangular clamp, one end of the clamp is fixed with the working platform, and the other end of the clamp is connected with the working platform through the movable lock.
The lifting frame is characterized in that the lifting frames of the insulating lifting platform are transversely rectangular and coaxially sleeved, the lifting frame at the bottommost layer is controlled to vertically lift through a hydraulic cylinder, the two adjacent layers of lifting frames are connected through an insulating belt and a pulley structure, and the lifting frames are pulled to ascend step by step from bottom to top through the insulating belt and the pulley structure. The pulley is of a gear structure, and a tooth groove meshed with the pulley gear is formed in the insulating belt. The insulating tape is an aramid fiber rope.
Further improve, gear track side is provided with angle measurement device on the work platform, makes things convenient for the accurate control insulating elevating platform inclination.
The utility model discloses each device that adopts is the modularized design, configures corresponding modular mechanism promptly, chooses corresponding operation module according to the operation demand. When the robot works, a single or a plurality of insulating arms can be selectively installed; when the climbing operation is needed, the insulating bucket is installed, and the operator can finish the climbing operation in the insulating bucket.
The utility model has the advantages that:
1. the intelligent maintenance robot is used for replacing traditional manual maintenance, live maintenance of the transformer substation is achieved, economic loss caused by power failure maintenance is avoided, maintenance efficiency is improved, maintenance cost is reduced, safety is enhanced, and the intelligent maintenance robot is suitable for power plants, transformer substations and booster stations in different terrains.
2. The overhaul robots in the region are uniformly managed by the Internet of things system, relevant personnel can timely know the patrol inspection state and timely make corresponding operation and maintenance strategies and overhaul strategies by means of real-time data transmission and by means of Internet of things big data, a large number of substations in the whole region can be overhauled only by a few of workers, and overhaul efficiency is improved.
3. The intelligent vehicle part of the maintenance robot integrates multiple functions of driving, bearing, fixing, tool boxes and the like, and is suitable for solving various problems possibly occurring in the transformer substation.
4. The bottom of the insulating lifting platform is controlled through a hydraulic cylinder, the lifting frame is pulled step by step to ascend and descend by utilizing an insulating belt and a pulley structure, the top of the intelligent robot is completely insulated, and the risk caused by live working is avoided.
5. The insulating rotating arm has multiple degrees of freedom, can flexibly control multiple maintenance tools to perform multi-angle maintenance, can also play a role of a suspension arm, vertically lifts by utilizing the lifting of the insulating lifting platform, and realizes the live-line replacement of the disconnecting link and the porcelain insulator.
6. The volume is small, the weight is light, the electrical insulation performance is excellent, and the electric vehicle can enter any place of a power plant, a transformer substation and a booster station to operate.
7. The whole modularized design can be realized, different operation modules can be selected according to free combination of operation requirements, interference among different functional modules is reduced, the weight of the device is reduced, and the practicability is improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of a work platform.
Fig. 3 is a schematic view of an insulating lift table.
Fig. 4 is a schematic view of an insulated rotating arm.
Fig. 5 is a schematic diagram of the tilting state of the insulating lifting platform.
Fig. 6 is a schematic diagram of a hoisting state of the insulating rotating arm.
Fig. 7 is a schematic view of an embodiment of an insulating revolute pair.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the following detailed description.
The utility model discloses a robot body and thing networking systems.
The robot body structure is shown in figure 1 and comprises an intelligent vehicle, an insulating lifting platform 1, an insulating rotating arm 2 and an overhauling tool assembly 3.
The height of the substation is 1.4m and the road width is 0.98m in the limit case through field measurement. Through tests and mechanical calculation, the main body size of the robot is designed as follows: the base is 2.2m long, 0.8m wide and 1-1.2m high. The highest lifting height of the insulating lifting platform is 9 m.
The intelligent vehicle comprises a rotary driving motor, a base 4 and a working platform 5, wherein the base 4 is connected with the working platform 5 through a rotating shaft structure 7, and the rotary driving motor drives the rotating shaft structure to enable the working platform 5 to rotate around a rotating shaft above the base 4.
The structure of the working platform is shown in figure 2, a groove 8 and a fixing buckle 9 are arranged on the platform, when the insulating lifting platform is horizontally arranged on the working platform, the insulating lifting platform falls into the groove, and the fixing buckle locks the insulating lifting platform. The fixed buckle is a rectangular clamp, one end of the clamp is fixed with the working platform, and the other end of the clamp is connected with the working platform through the movable lock.
The base comprises a driving device and supporting devices 6, wherein the supporting devices are distributed around the base, and supporting device accommodating areas corresponding to the supporting devices are arranged on the side faces of the base; the supporting device is a multi-stage supporting column connected through a revolute pair, each section of supporting column is of a telescopic rod structure, and the supporting column is contracted in a supporting device accommodating area of the base in a non-maintenance state; under the maintenance state, the support column rotates out from the support column storage area, and the base is fixed with the ground.
The structure of the insulating lifting platform is shown in fig. 3 and comprises a plurality of layers of lifting frames controlled by hydraulic cylinders. According to the operation requirement, through mechanics calculation and insulation simulation tests, the insulation lifting platform is designed into 5 sections, and the height of each section is 1.8 m. In order to ensure the safety, portability and reliability of the insulating lifting platform, a high-strength insulating material is selected as a main body material, and except the outermost layer, all inner layers are made of insulating materials; the outermost layer of the insulating lifting platform is lifted by a hydraulic cylinder, and the inner layer of the insulating lifting platform is lifted by adopting an insulating belt layer-by-layer lifting method; the insulating tape is made of aramid fiber and high-strength nylon through a new process, and is provided with a designed tooth groove which is meshed with a high-strength nylon gear tooth groove on the insulating lifting platform, so that the lifting stability of the insulating lifting platform is improved. Insulating elevating platform accessible elevating platform revolute pair rotates, satisfies the operation angle and adjusts, and when insulating elevating platform rotated to the level, accomodate into the recess on work platform surface in, the transportation and the carrying of the device of being convenient for.
The specific structure of the insulating revolute pair 16 is a rotary shaft structure, a shaft hole is formed in the working platform, a lifting platform gear 9 is arranged at the bottom of the insulating lifting platform, a transmission shaft controlled by a motor penetrates through the lifting platform gear at the bottom of the insulating lifting platform and is meshed with the lifting platform gear, the two ends of the transmission shaft penetrate through the shaft hole in the working platform, and the motor controls the insulating lifting platform to rotate through the transmission shaft.
Another specific structure of the insulating rotating pair is shown in fig. 7, the lifting table rotating pair comprises a gear rail 11 and a lifting table bottom gear 12, the gear rail 11 is arranged on the working platform, the gear rail 11 comprises a horizontal section and an inclined section, the lifting table bottom gear 12 meshed with the gear rail is arranged at the bottom of the insulating lifting table, a support rod 13 is arranged at the side of the insulating lifting table, and a support gear 14 meshed with the gear rail 11 is arranged at the tail end of the support rod 13; when the gear at the bottom of the insulating lifting platform rises to the top of the inclined section of the gear track, the insulating lifting platform is horizontally placed in the groove 8 on the working platform; an angle measuring device is arranged on the side of the gear track on the working platform, so that the inclination angle of the insulating lifting platform can be conveniently and accurately controlled.
The insulating rotating arm structure is a multi-stage telescopic rod structure controlled by a lead screw motor, and the stretching of the insulating operating arm is realized through the rotation of the motor as shown in fig. 4. According to the operation requirement, the length of the insulated rotating arm is adjustable within 0.8-1.5m through mechanical calculation and insulation simulation tests. One end of the insulated rotating arm is connected with the top end of the insulated lifting platform through a spherical joint, the insulated rotating arm can rotate horizontally by 360 degrees and freely rotate up and down by 65-135 degrees, and the spherical joint is provided with a fixed pin key, so that the insulated rotating arm can be automatically locked at any position. The maintenance tool assembly comprises an annular rotating mechanism fixed at the tail end of the insulating rotating arm, and the periphery of the rotating mechanism is connected with maintenance tools through a plurality of tool clamps. Be provided with multi-functional instrument group 10 on the work platform of intelligence car, when insulating elevating platform level set up on work platform, multi-functional instrument group links to each other with the maintenance instrument subassembly, and the instrument anchor clamps on the multi-functional instrument group are got from multi-functional instrument group and are got needs instrument.
In one embodiment, two horizontal freely rotating insulated rotating arms are connected above the insulated lifting platform, and a supporting device 15 is arranged in the center of the two insulated rotating arms and rotates to the position shown in fig. 6 during lifting. A hoisting device is arranged in the middle section of one insulating rotating arm, a hoisting insulating rope bypasses the supporting device, penetrates into a pulley block of the insulating lifting platform after penetrating through the other insulating rotating arm, and is pulled to the insulating rope through a hydraulic cylinder for hoisting. And a camera mounting platform capable of lifting and rotating is connected above the supporting device.
The system of the Internet of things is composed of information modules, remote terminals and wireless communication modules, wherein the information modules and the wireless communication modules are installed on the robot bodies, the information modules and the wireless communication modules on the plurality of robot bodies are connected with the remote terminals to form a network for overhauling the robots, the information modules on each robot body send information to the remote terminals through the wireless communication modules, and the remote terminals send operation instructions to each robot body through the wireless communication modules to realize real-time communication between the robots and the remote terminals. The remote terminal comprises an operation terminal and a storage module, the storage module stores information received from the wireless communication module and a working instruction sent by the operation terminal at each time, the same operation instruction is automatically sent when the same information is received again, intelligent control of the remote terminal is achieved, and labor cost requirements are reduced.
The information module comprises a radar system, an image acquisition system and a buzzer, wherein the radar system sends and receives ultrasonic signals, and the image acquisition system acquires environmental information near the robot.
In order to meet the operation requirements and greatly improve the synchronism and stability of the robot, a microcomputer control system is adopted for the lifting, rotating and other operations of the robot, an image acquisition system is used for acquiring the working conditions of workpiece accessories in real time, an embedded microcomputer chip and a large-current motor speed regulation and synchronous control technology are used for calculating the working state of a motor in real time, each component is accurately and intelligently controlled, and the motion state of each component is controlled. And meanwhile, a remote control device is configured and connected with a control system of the maintenance platform through optical fibers, so that emergency standby control is provided while electrical connection is avoided. Through continuous tests and field trials, the system database is gradually improved, and the reliability and stability of the system are improved.
The utility model discloses each device that adopts is the modularized design, configures corresponding modular mechanism promptly, chooses corresponding operation module according to the operation demand. When the robot works, a single or a plurality of insulating arms can be selectively installed; when the climbing operation is needed, the insulating bucket is installed, and the operator can finish the climbing operation in the insulating bucket.
The utility model discloses the concrete application way is many, and the above-mentioned only is the preferred embodiment of the utility model, should point out, to ordinary skilled person in this technical field, under the prerequisite that does not deviate from the utility model discloses the principle, can also make a plurality of improvements, and these improvements also should be regarded as the utility model discloses a scope of protection.
Claims (9)
1. The utility model provides an electrified machine people that overhauls of thing networking which characterized in that: the robot comprises a robot body and an Internet of things system;
the robot body comprises an intelligent vehicle, an insulating lifting platform, an insulating rotating arm and an overhauling tool assembly;
the intelligent vehicle comprises a rotary driving motor, a base and a working platform, wherein the base is connected with the working platform through a rotating shaft structure;
the base comprises a driving device and supporting devices, wherein the supporting devices are distributed around the base, and supporting device accommodating areas corresponding to the supporting devices are arranged on the side faces of the base; the supporting device is a multi-stage supporting column connected through a revolute pair, each section of supporting column is of a telescopic rod structure, and the supporting column is contracted in a supporting device accommodating area of the base in a non-maintenance state; in the maintenance state, the supporting column rotates out from the supporting column storage area, and the base is fixed with the ground;
the insulating lifting platform comprises a plurality of layers of lifting frames controlled by hydraulic cylinders, and is connected with the working platform through a lifting platform rotating pair;
a plurality of insulating rotating arms are connected above the insulating lifting platform through revolute pairs, the insulating rotating arms are of multi-stage telescopic rod structures controlled by screw rod motors, and the tail ends of the insulating rotating arms are provided with maintenance tool assemblies;
the system of the Internet of things comprises information modules, remote terminals and wireless communication modules, wherein the information modules and the wireless communication modules are installed on robot bodies, the information modules and the wireless communication modules on a plurality of robot bodies are connected with the remote terminals to form a network of overhaul robot characters, the information modules on each robot body send information to the remote terminals through the wireless communication modules, and the remote terminals send operation instructions to each robot body through the wireless communication modules to realize real-time communication between the robots and the remote terminals;
the information module comprises a radar system, an image acquisition system and a buzzer, wherein the radar system sends and receives ultrasonic signals, and the image acquisition system acquires environmental information near the robot.
2. The live overhaul robot of the internet of things of claim 1, wherein: the maintenance tool assembly comprises an annular rotating mechanism fixed at the tail end of the insulating rotating arm, and the periphery of the rotating mechanism is connected with maintenance tools through a plurality of tool clamps.
3. The live overhaul robot of the internet of things of claim 2, wherein: be provided with multi-functional instrument group on the work platform of intelligence car, when insulating elevating platform level set up on work platform, multi-functional instrument group links to each other with the maintenance instrument subassembly, and the instrument anchor clamps on the multi-functional instrument group are got from multi-functional instrument group and are got needs instrument.
4. The live overhaul robot of the internet of things of claim 1, wherein: be provided with fixed buckle and recess on the work platform of intelligence car, when insulating elevating platform level sets up on work platform, fall into the recess in, fixed buckle locking insulating elevating platform.
5. The electrified overhaul robot of the internet of things of claim 4, wherein: the fixed buckle is a rectangular clamp, one end of the clamp is fixed with the working platform, and the other end of the clamp is connected with the working platform through the movable lock.
6. The live overhaul robot of the internet of things of claim 1, wherein: the lifting frames of the bottom layer are controlled to vertically lift through the hydraulic cylinder, the adjacent two layers of lifting frames are connected through the insulating belt and the pulley structure, and the lifting frames are pulled to ascend step by step from bottom to top through the insulating belt and the pulley structure.
7. The electrified overhaul robot of the internet of things of claim 6, wherein: the pulley is of a gear structure, and a tooth groove meshed with the pulley gear is formed in the insulating belt.
8. The live overhaul robot of the internet of things of claim 6 or 7, wherein: the insulating tape is an aramid fiber rope.
9. The live overhaul robot of the internet of things of claim 1, wherein: the lifting platform rotating pair comprises a gear track and a lifting platform bottom gear, the gear track is arranged on the working platform, an angle measuring device is arranged on the side of the gear track, the gear track comprises a horizontal section and an inclined section, the bottom of the insulating lifting platform is provided with the lifting platform bottom gear meshed with the gear track, a support rod is arranged on the side of the insulating lifting platform, and the tail end of the support rod is provided with a support gear meshed with the gear track; when the gear at the bottom of the insulating lifting platform rises to the top of the inclined section of the gear track, the insulating lifting platform is horizontally placed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920772031.7U CN210414555U (en) | 2019-05-27 | 2019-05-27 | Electrified robot that overhauls of thing networking |
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| CN201920772031.7U CN210414555U (en) | 2019-05-27 | 2019-05-27 | Electrified robot that overhauls of thing networking |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053061A (en) * | 2019-05-27 | 2019-07-26 | 宜兴市宜安电力工具制造有限公司 | Internet of Things hotline maintenance robot |
| CN112490057A (en) * | 2020-12-04 | 2021-03-12 | 亿嘉和科技股份有限公司 | Earthing knife-switch operating mechanism |
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| CN115674265A (en) * | 2022-12-27 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Robot is disassembled to multistage flexible arm |
-
2019
- 2019-05-27 CN CN201920772031.7U patent/CN210414555U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053061A (en) * | 2019-05-27 | 2019-07-26 | 宜兴市宜安电力工具制造有限公司 | Internet of Things hotline maintenance robot |
| CN110053061B (en) * | 2019-05-27 | 2024-04-16 | 宜兴市宜安电力工具制造有限公司 | Robot for live overhaul of Internet of things |
| CN112490057A (en) * | 2020-12-04 | 2021-03-12 | 亿嘉和科技股份有限公司 | Earthing knife-switch operating mechanism |
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| CN115674265A (en) * | 2022-12-27 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Robot is disassembled to multistage flexible arm |
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