CN220218564U - Spherical tank outer wall operation robot with built-in safety protection device - Google Patents
Spherical tank outer wall operation robot with built-in safety protection device Download PDFInfo
- Publication number
- CN220218564U CN220218564U CN202321580177.4U CN202321580177U CN220218564U CN 220218564 U CN220218564 U CN 220218564U CN 202321580177 U CN202321580177 U CN 202321580177U CN 220218564 U CN220218564 U CN 220218564U
- Authority
- CN
- China
- Prior art keywords
- robot
- built
- working
- spherical tank
- safety protection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010521 absorption reaction Methods 0.000 claims abstract description 37
- 230000001133 acceleration Effects 0.000 claims abstract description 37
- 230000005484 gravity Effects 0.000 claims abstract description 33
- 230000005284 excitation Effects 0.000 claims abstract description 16
- 230000008054 signal transmission Effects 0.000 claims abstract description 4
- 238000001179 sorption measurement Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000001012 protector Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to the technical field of spherical tank robots, in particular to a spherical tank outer wall operation robot with a built-in safety protection device, which comprises an operation robot, a gravity acceleration sensor and a built-in safety protection device, wherein the built-in safety protection device comprises an electric push cylinder and an electromagnetic absorption part, an excitation coil is arranged in the electromagnetic absorption part, the excitation coil is electrically connected with an excitation circuit, the excitation circuit is simultaneously electrically connected with the gravity acceleration sensor, the gravity acceleration sensor is in signal transmission connection with a controller, and the controller controls the electric push cylinder to stretch and move. The device provides a spherical tank outer wall operation robot with a built-in safety protection device, when slipping or other easy falling accidents of an operation robot person are detected, the built-in safety protection device is started, the operation robot is firmly adsorbed on the spherical tank operation surface, the artificial installation or disassembly of the anti-falling device is replaced, the auxiliary operation time is saved, and meanwhile, the safety and reliability are guaranteed.
Description
Technical Field
The utility model relates to the technical field of spherical tank robots, in particular to a spherical tank outer wall operation robot with a built-in safety protection device.
Background
Rust removal is an important link in petrochemical tank production chains, and in order to prolong the service life of the tank, the tank must be repaired regularly to ensure safe operation of petrochemical industry. Removing rust, greasy dirt, old paint coat and the like on the steel plate on the surface of the tank body, and performing surface pretreatment for improving the spraying quality.
At present, more and more wall climbing robots are used in the operation, and the wall climbing robots combine a moving mechanism and an adsorption mechanism to realize moving on a vertical wall surface. In order to prevent the robot from falling accidentally to cause safety accidents and equipment damage, an anti-falling system is required to be installed on the robot. The fall protection system comprises a hanging point, a fall protection device and the like. But the outer wall of the spherical tank is provided with a plurality of spray pipes, and the wall surface of the storage tank is provided with additional facilities such as a rotating ladder, a shielding part of the rotating ladder, the spray pipes, a reinforcing ring and the like, and the spray pipes of the storage tank are in two horizontal and vertical distribution forms and are used for cooling and fire fighting of the storage tank. When the robot is provided with the falling protector for vertical operation, the falling protector is required to be hung again every time, for example, in some operation sites, the falling protector can not be installed due to condition limitation, or some special operation robots such as paint spraying wall climbing robots and the like are inconvenient to install the falling protector on an operation surface due to the relative special structure and operation tasks of the robot.
Disclosure of Invention
The utility model mainly aims to overcome the defects in the prior art and provides a spherical tank outer wall operation robot with a built-in safety protection device. The device can firmly adsorb the operation robot on the spherical tank operation surface, replaces the artificial installation or dismantlement safety catch, saves auxiliary operation time, guarantees safe and reliable simultaneously.
The technical scheme adopted by the utility model for realizing the technical purpose is as follows: the robot comprises an operation robot, a gravity acceleration sensor and a built-in safety protection device, wherein the built-in safety protection device comprises an electric push cylinder and an electromagnetic absorption part, an excitation coil is arranged in the electromagnetic absorption part, the excitation coil is electrically connected with an excitation circuit, and the excitation circuit is electrically connected with the gravity acceleration sensor; the exciting circuit can connect the exciting coil in the electromagnetic absorption part, so that the electromagnetic absorption part has an absorption effect.
The gravity acceleration sensor is used for collecting real-time acceleration values of the working robot and judging whether the working robot is in a normal working state or a falling state;
the gravity acceleration sensor signal transmission is connected with a controller, the gravity acceleration sensor controllers are all installed on the working robot, the controller controls the electric pushing cylinder to stretch out and draw back, and the electric pushing cylinder drives the electromagnetic absorption part to stretch out and draw back.
Preferably, the built-in safety protection devices are four groups, are respectively positioned at the left side and the right side of the front part and the rear part of the working robot, one end of the electric pushing cylinder is hinged to the bottom plate of the working robot, the other end of the electric pushing cylinder is fixedly connected with the electromagnetic absorption part, and the electromagnetic absorption part can be stretched and contracted under the action of the controller through the arrangement of the electric pushing cylinder.
Preferably, when the gravity acceleration sensor detects that the working robot is in a falling state, the gravity acceleration sensor transmits signals to the controller, so that the electric pushing cylinder is rapidly controlled to push the electromagnetic adsorption piece, and meanwhile, the exciting circuit is controlled to be electrically conducted with the exciting coil, so that the electromagnetic adsorption piece is adsorbed on the working surface of the outer wall of the spherical tank.
Preferably, when the gravity acceleration sensor detects that the working robot is in a normal working state, the exciting circuit is electrically disconnected from the exciting coil, the exciting coil in the electromagnetic adsorption piece is powered off, and the electromagnetic adsorption piece is separated from the spherical tank working surface under the action of the electric pushing cylinder and returns to the initial position.
Preferably, the built-in safety protection device further comprises a cylinder, the outer wall of the top of the cylinder is fixed on a bottom plate of the operation robot, a sliding rod is connected inside the cylinder in a sliding mode, one end of the sliding rod is fixedly provided with a driven electromagnetic wheel, the driven electromagnetic wheel is electrically connected with the controller through a magnetic circuit, and the low magnetic module is fixedly arranged on the controller; the magnetic circuit is controlled to be communicated with the driven electromagnetic wheel through the controller, so that the driven electromagnetic wheel has magnetic force, and the driven electromagnetic wheel has smaller magnetic force under the action of the low magnetic module, so that the magnetic attraction between the driven electromagnetic wheel and the spherical tank working surface is smaller.
Preferably, the top fixedly connected with limiting plate of slide bar, the limiting plate with be provided with damping spring between the top inner wall of drum, damping spring directly places in the inside of drum.
One end of the cylinder is fixed with a port plate, and the limiting plate is blocked by the port plate of the cylinder, so that the sliding rod cannot fall off from the inside of the cylinder.
Compared with the prior art, the utility model has the beneficial effects that: the device provides a spherical tank outer wall operation robot with a built-in safety protection device, when slipping or other easy falling accidents of an operation robot person are detected, the built-in safety protection device is started, the operation robot is firmly adsorbed on the spherical tank operation surface, the artificial installation or disassembly of the anti-falling device is replaced, the auxiliary operation time is saved, and meanwhile, the safety and reliability are guaranteed.
Drawings
Fig. 1 is a schematic diagram of a front view structure of a spherical tank outer wall operation robot.
Fig. 2 is a schematic diagram of a front view structure of a spherical tank outer wall operation robot and a built-in safety protection device with complete installation.
FIG. 3 is a schematic sectional front view of the connection of the slide bar in the cylinder.
Wherein:
1-a working robot; 2-a gravitational acceleration sensor; 3-a controller; 4-a bottom plate; 5-an electromagnetic absorption member; 6-an electromagnetic absorption member; 7-an electric pushing cylinder; 8-a cylinder; 9-a slide bar; 10-a driven electromagnetic wheel; 11-limiting plates; 12-damping spring.
Description of the embodiments
The present utility model will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the detailed description and specific examples, while indicating the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.
In the description of the present utility model, it will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present utility model, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships in which the inventive product is conventionally placed in use, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Examples
As shown in fig. 1, a spherical tank outer wall operation robot with built-in safety protection device comprises an operation robot 1, a gravity acceleration sensor 2 and a built-in safety protection device 5, wherein the built-in safety protection device 5 comprises an electric push cylinder 7 and an electromagnetic absorption part 6, the built-in safety protection device 5 is four groups, which are respectively positioned at the left side and the right side of the front part and the rear part of the operation robot 1, one end of the electric push cylinder 7 is hinged on a bottom plate 4 of the operation robot 1, the other end of the electric push cylinder is fixedly connected with the electromagnetic absorption part 6, and the electromagnetic absorption part 6 can be subjected to telescopic movement under the action of a controller 3 through the arrangement of the electric push cylinder 7.
An excitation coil is arranged in the electromagnetic absorption part 6, and is electrically connected with an excitation circuit which is electrically connected with the gravity acceleration sensor 2; the exciting circuit can connect the exciting coil in the electromagnetic absorption part 6, so that the electromagnetic absorption part 6 has an absorption effect.
The controller 3 is connected with the gravity acceleration sensor 2 through signal transmission, the gravity acceleration sensor 2 controller 3 is arranged on the working robot 1, the controller 3 controls the electric pushing cylinder 7 to perform telescopic movement, and the electric pushing cylinder 7 drives the electromagnetic absorption part 6 to perform telescopic movement.
The gravity acceleration sensor 2 is used for collecting real-time acceleration values of the working robot 1 and judging whether the working robot 1 is in a normal working state or a falling state;
when the gravity acceleration sensor 2 detects that the working robot 1 is in a falling state, the gravity acceleration sensor 2 transmits signals to the controller 3, so that the electric pushing cylinder 7 is rapidly controlled to push the electromagnetic absorption part 6, and meanwhile, the exciting circuit is controlled to be electrically conducted with the exciting coil, so that the electromagnetic absorption part 6 is absorbed on the working surface of the outer wall of the spherical tank;
when the gravity acceleration sensor 2 detects that the working robot 1 is in a normal working state, the exciting circuit and the exciting coil are electrically disconnected, the exciting coil in the electromagnetic absorption part 6 is powered off, and the electromagnetic absorption part 6 is separated from the spherical tank working surface under the action of the electric pushing cylinder 7 and returns to the initial position.
Specifically, the gravity acceleration sensor 2 is used for detecting the motion state of the working robot 1, the electromagnetic absorption part 6 with the built-in exciting coil is movably installed on the working robot 1 through the electric push cylinder 7, the gravity acceleration sensor 2 is electrically connected with the exciting coil through an exciting circuit, the gravity acceleration sensor 2 detects the working state of the working robot 1 and controls the electrical conduction between the exciting circuit and the exciting coil, and therefore the electromagnetic absorption part 6 is controlled to be magnetically absorbed on the spherical tank working surface.
When the gravity acceleration sensor 2 detects that the operation robot 1 slips or falls downwards, namely the operation robot 1 is in a falling state, the gravity acceleration sensor 2 directly drives the exciting circuit to be electrically conducted with the exciting coil, at the moment, the exciting coil in the electromagnetic suction part 6 is electrified to generate magnetic force lines, the magnetic force lines are conducted onto the spherical tank operation surface through the electromagnetic suction part 6 and are closed through the operation surface, the electromagnetic suction part 6 generates electromagnetic attraction force, and the electromagnetic suction part 6 is adsorbed onto the spherical tank operation surface, so that the operation robot 1 is firmly attached to the spherical tank operation surface without continuously falling;
when the gravity acceleration sensor 2 detects that the working robot 1 is in a normal working state, the controller 3 of the working robot 1 can control the exciting circuit to be electrically disconnected from the exciting coil, at the moment, the exciting coil is deenergized, the electromagnetic adsorption force of the electromagnetic adsorption piece 6 disappears, the electromagnetic adsorption piece 6 is separated from the spherical tank working surface under the action of the electric pushing cylinder 7, and the working robot 1 returns to the initial position, so that the free operation of the working robot 1 can be continued.
Examples
As shown in fig. 2-3, on the basis of the above embodiment, the robot with a built-in safety device comprises a spherical tank outer wall, the built-in safety device 5 further comprises a cylinder 8, the outer wall of the top of the cylinder 8 is fixed on the bottom plate 4 of the robot 1, a sliding rod 9 is connected inside the cylinder 8 in a sliding manner, one end of the sliding rod 9 is fixedly provided with a driven electromagnetic wheel 10, the driven electromagnetic wheel 10 is electrically connected with the low magnetic module controller 3 through a magnetic circuit, and the low magnetic module is fixedly arranged on the controller 3; through switching on the controller 3, the controller 3 can control to switch on magnetic circuit, low magnetism module and driven electromagnetic wheel 10 for driven electromagnetic wheel 10 has magnetic force, under the effect of low magnetism module, makes driven electromagnetic wheel 10 magnetic force less, thereby makes the magnetic force attractive force between driven electromagnetic wheel 10 and the spherical tank working face less.
Further, a limiting plate 11 is fixedly connected to the top end of the sliding rod 9, and a damping spring 12 is arranged between the limiting plate 11 and the top inner wall of the cylinder 8 and is directly placed in the cylinder 8.
One end of the cylinder 8 is fixed with a port plate, and the limiting plate 11 is blocked by the port plate of the cylinder 8, so that the slide bar 9 cannot fall off the inside of the cylinder 8.
Specifically, during the use, under the effect of low magnetism module and magnetic circuit, the wheel face of driven electromagnetic wheel 10 is contact on spherical tank operation face under the attraction of low magnetic force all the time, has increased the stability of work robot 1 at the during operation through driven electromagnetic wheel 10, on the other hand also can cooperate the dolly when falling, cooperates electromagnetic absorption spare 6 etc. to strengthen the absorption.
And, when canceling the absorption at electromagnetic absorption spare 6 outage, under the effect of driven electromagnetic wheel 10, can not make the work robot 1 magnetic force adsorption force weaken too much in one time to make the adsorption magnetic force weaken the span great, make work robot 1 take place the condition of secondary falling.
In addition, when the working robot 1 is in use, under the cooperation of the port plate of the cylinder 8 and the limit plate 11, the port plate can hook the limit plate 11 and the slide rod 9, so that falling off can not occur between the cylinder 8 and the slide rod 9, when the working robot 1 reaches a spherical tank working surface area with uneven or different radians, the driven electromagnetic wheel 10 and the slide rod 9 move upwards, so that the damping spring 12 compresses, and the damping spring 12 only receives weak force, so that the working robot 1 is not lifted from the spherical tank working surface, and the working robot 11 falls off from the spherical tank working surface.
The scheme in this embodiment may be selectively used in combination with the scheme in other embodiments.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present utility model is not limited thereby. Therefore, based on the innovative concepts of the present utility model, alterations and modifications to the embodiments described herein, or equivalent structures, equivalent flows or equivalent functional transformations made by the present description and drawings, apply the above technical solutions directly or indirectly to other relevant technical fields, all of which are included in the scope of protection of the present patent.
Claims (6)
1. The utility model provides a built-in safety device's spherical tank outer wall operation robot, includes operation robot (1), gravity acceleration sensor (2) and built-in safety device (5), its characterized in that: the built-in safety protection device (5) comprises an electric push cylinder (7) and an electromagnetic absorption part (6), wherein an excitation coil is arranged in the electromagnetic absorption part (6), the excitation coil is electrically connected with an excitation circuit, and the excitation circuit is electrically connected with a gravity acceleration sensor (2) at the same time;
the gravity acceleration sensor (2) is used for collecting real-time acceleration values of the working robot (1) and judging whether the working robot (1) is in a normal working state or a falling state;
the gravity acceleration sensor (2) signal transmission is connected with a controller (3), the gravity acceleration sensor (2) controller (3) is arranged on the working robot (1), the controller (3) controls the electric pushing cylinder (7) to stretch and retract, and the electric pushing cylinder (7) drives the electromagnetic adsorption piece (6) to stretch and retract.
2. The robot for working the outer wall of a spherical tank with built-in safety protection device according to claim 1, wherein: the built-in safety protection devices (5) are four groups and are respectively positioned at the left side and the right side of the front part and the rear part of the working robot, one end of the electric pushing cylinder (7) is hinged on the bottom plate (4) of the working robot (1), and the other end of the electric pushing cylinder is fixedly connected with the electromagnetic absorption part (6).
3. The robot for working the outer wall of a spherical tank with built-in safety protection device according to claim 1, wherein: when the gravity acceleration sensor (2) detects that the working robot (1) is in a falling state, the gravity acceleration sensor (2) transmits signals to the controller (3), so that the electric pushing cylinder (7) is rapidly controlled to push the electromagnetic absorption part (6), and meanwhile, the excitation circuit and the excitation coil are controlled to be electrically conducted, and the electromagnetic absorption part (6) is adsorbed on the working surface of the outer wall of the spherical tank.
4. The robot for working the outer wall of a spherical tank with built-in safety protection device according to claim 1, wherein: when the gravity acceleration sensor (2) detects that the working robot (1) is in a normal working state, the exciting circuit is electrically disconnected with the exciting coil, the exciting coil in the electromagnetic absorption part (6) is powered off, and the electromagnetic absorption part (6) is separated from the spherical tank working surface under the action of the electric pushing cylinder (7) to return to the initial position.
5. The robot for working the outer wall of a spherical tank with built-in safety protection device according to claim 1, wherein: the built-in safety protection device (5) also comprises a cylinder (8), the outer wall of the top of the cylinder (8) is fixed on the bottom plate (4) of the working robot (1), a sliding rod (9) is connected inside the cylinder (8) in a sliding mode, one end of the sliding rod (9) is fixedly provided with a driven electromagnetic wheel (10), the driven electromagnetic wheel (10) is electrically connected with the controller (3) through a magnetic circuit, and the low magnetic module is fixedly arranged on the controller (3).
6. The robot for working the outer wall of a spherical tank with built-in safety protection device according to claim 5, wherein: the top end of the sliding rod (9) is fixedly connected with a limiting plate (11), and a damping spring (12) is arranged between the limiting plate (11) and the top inner wall of the cylinder (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321580177.4U CN220218564U (en) | 2023-06-20 | 2023-06-20 | Spherical tank outer wall operation robot with built-in safety protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321580177.4U CN220218564U (en) | 2023-06-20 | 2023-06-20 | Spherical tank outer wall operation robot with built-in safety protection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220218564U true CN220218564U (en) | 2023-12-22 |
Family
ID=89176712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321580177.4U Active CN220218564U (en) | 2023-06-20 | 2023-06-20 | Spherical tank outer wall operation robot with built-in safety protection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220218564U (en) |
-
2023
- 2023-06-20 CN CN202321580177.4U patent/CN220218564U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111013060B (en) | Unmanned aerial vehicle fire engine synthesizes rescue system of putting out a fire | |
| WO2018076706A1 (en) | Device for controlling motion of magnetic attraction vehicle on structural face of steel hull, and method for using same | |
| CN220218564U (en) | Spherical tank outer wall operation robot with built-in safety protection device | |
| CN116552850A (en) | Monitoring device suitable for mountain area electric network fault processing | |
| CN206511896U (en) | One kind lifting shift unit | |
| CN219971651U (en) | Grab bucket driving limiting device | |
| CN203699692U (en) | Cleaning device and tire type container gantry crane | |
| CN217996586U (en) | Stable and reliable gantry crane with electric hoist | |
| CN218190504U (en) | Steel construction fire-retardant coating spraying machine people | |
| CN208594008U (en) | Journey stop gear, mechanical arm and upkeep operation vehicle | |
| CN204754391U (en) | What carry sweep among parking equipment prevents weighing down breaker | |
| CN109941294A (en) | Railway endless rope traction shuttle car automated security control system | |
| CN215662968U (en) | Self-adaptive protection storage device for electric pantograph of off-highway dump truck | |
| CN108750957A (en) | A kind of beam cranes and security monitoring management system convenient to overhaul | |
| CN107269071B (en) | A kind of anti-skidding two layers of lifting cross sliding type parking equipment of anti-fall formula | |
| CN106150162A (en) | Without dodging suspension multi-storied garage | |
| CN211191159U (en) | Scalable cabinet type activity cleaning bin of cleaning machine | |
| CN108483267B (en) | Beam crane and safety monitoring management system | |
| CN219245701U (en) | Partial discharge monitoring device for electric power ring main unit | |
| CN214733600U (en) | Temporary anti-falling supporting device for elevator maintenance | |
| CN116242406B (en) | Logistics storage inspection robot | |
| CN217484474U (en) | Manipulator electricity core anticollision detection device | |
| CN212740391U (en) | Adjustable automobile lifting appliance | |
| CN216710817U (en) | Suspension chain retaining device | |
| CN213512911U (en) | Novel electromechanical device removes protection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |