CN105958345B - A kind of power distribution panel maintenance manipulator - Google Patents
A kind of power distribution panel maintenance manipulator Download PDFInfo
- Publication number
- CN105958345B CN105958345B CN201610322482.1A CN201610322482A CN105958345B CN 105958345 B CN105958345 B CN 105958345B CN 201610322482 A CN201610322482 A CN 201610322482A CN 105958345 B CN105958345 B CN 105958345B
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- turntable
- operation console
- fixed station
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- 238000012423 maintenance Methods 0.000 title claims abstract description 52
- 238000012546 transfer Methods 0.000 claims description 12
- 241001503991 Consolida Species 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 29
- 230000035939 shock Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 2
- 206010014357 Electric shock Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of power distribution panel maintenance manipulator, including fixed station, four mounting holes are symmetrically arranged with the fixed station, the upper surface of fixed station is symmetrically installed with four side chains in parallel, and the top of four side chains in parallel is provided with operation console；Electric rotating machine is provided with by motor cabinet in the middle part of the upper surface of the operation console, turntable is installed on the output terminal of electric rotating machine, the lower end of turntable is evenly arranged with six limited posts in the axial direction, the lower end both sides of six limited posts are connected by two Limit Bearings with spacing concave ring, and spacing concave ring is installed on the upper surface of operation console；The upper surface of the turntable is provided with maintenance manipulator.The present invention can realize the automatic detection function of distribution box power failure, and adjustable height is adjustable, without artificial detection; save a large amount of electrician personnel; and any electrical shock safety hazard is not present, protect the life security of electrician, there is provided a kind of new way of automatic detection distribution box failure.
Description
Technical field
The present invention relates to power distribution panel technical field, specifically a kind of power distribution panel maintenance manipulator.
Background technology
Distribution box species can be divided into power distributing cabinet, lighting distribution box and metering cabinet, be the final stage device of distribution system, make
Used in the occasion that load is more dispersed, circuit is less, the electric energy of a certain circuit of upper level controller switching equipment can be distributed to nearby
Load, and the function of protection, monitoring and control is provided load nearby.Thing essential to each power supply field of distribution box,
Therefore, it is very huge in the usage amount of China's distribution box.
Usually there is miscellaneous electronic component in distribution box, after the electronic component in distribution box breaks down, lead to
Often need power equipment maintaining personnel to be tested manually and find out corresponding failure, can just be rapidly performed by repairing；But due to
Electronic box is all much high-pressure electronic element, and electric shock risk occurs once there is detection error, serious life to be caused to endanger
There is very big security risk in danger, therefore, existing artificial detection power failure mode；Simultaneously because China's distribution box usage amount
Huge, if all using manually maintenance distribution box, electrician's demand is big, and labor intensity is big, and work efficiency is low；And due to difference
Electrician's height it is different, the supporting table of height of all kinds is also needed in maintenance.In consideration of it, being badly in need of one kind can detect automatically
Distribution box failure, without artificial detection, the adjustable automation repair apparatus of adjustable height.
The content of the invention
To solve the above-mentioned problems, the present invention provides a kind of power distribution panel maintenance manipulator, existing people can be solved
Labor intensity is big, electrician's demand is big, there are security risk, work efficiency are low existing for work detection distribution box power failure mode
The problems such as lower and the degree of automation is low, it is possible to achieve the automatic detection function of distribution box power failure, adjustable height are adjustable, without
Artificial detection, saves a large amount of electrician personnel, and any electrical shock safety hazard is not present, and protects the life security of electrician, carries
A kind of new way of automatic detection distribution box failure is supplied.
To achieve these goals, the present invention is realized using following technical scheme：A kind of power distribution panel maintenance machinery
Hand, including including fixed station, four mounting holes are symmetrically arranged with the fixed station, four mounting holes passed through on fixed station will
The present invention is installed on operation ground, and the upper surface of fixed station is symmetrically installed with four side chains in parallel, the top of four side chains in parallel
End is provided with operation console；The parallel connection side chain includes being welded on the No.1 ear mount of fixed station upper surface, passes through between No.1 ear mount
Axis pin is provided with No. two hydraulic cylinders, and the top of No. two hydraulic cylinders is installed in No. two ear mounts by axis pin, and No. two ear mounts are installed on
The lower face of operation console, prismatic pair P and No. two ear mounts turn when revolute pair R when No.1 ear mount rotates, No. two hydraulic cylinder extensions
Revolute pair R when dynamic forms the side chain in parallel of RPR structures, and fixed station, the side chain and operation console in parallel of four RPR structures are formed
4-RPR parallel institutions, 4-RPR parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability are good and movement essence
The advantages that high is spent, drives operation console to make elevating movement by four No. two hydraulic cylinders on four side chains in parallel, and due to
The rigid support performance of 4-RPR parallel institutions causes the operation console after lifting to remain plateau, it is achieved thereby that this hair
The bright adjustable for height function of maintenance；Electric rotating machine, electric rotating machine are provided with by motor cabinet in the middle part of the upper surface of the operation console
Output terminal on turntable is installed, the lower end of turntable is evenly arranged with six limited posts, six limited posts in the axial direction
Lower end both sides be connected by two Limit Bearings with spacing concave ring, spacing concave ring be installed on operation console upper surface；Described turn
The upper surface of dynamic platform is provided with maintenance manipulator, drives turntable to rotate by electric rotating machine, turntable drives six limited posts
Rotated in spacing concave ring internal stability, since the auxiliary stopper of six limited posts and spacing concave ring moves so that turntable is stablized
Drive maintenance manipulator rotate, adjust the detection angles of maintenance manipulator.
As a preferred technical solution of the present invention, the maintenance manipulator includes being installed in the middle part of turntable upper surface
No.1 angled seat, rotation axis is provided with by bearing in No.1 angled seat, the front end of rotation axis passes through shaft coupling and rotary electric machine phase
Even, rotary electric machine is installed on turntable by motor cabinet；No.1 connecting rod is fixedly connected with the middle part of the rotation axis, No.1 connects
Bar upper end is concave hatch frame, drives rotation axis to rotate by rotary electric machine, rotation axis drives the lever regulated angle of rotation of No.1
Degree, No.1 small end middle part are provided with No. two connecting rods by axis pin, and the bottom downside of No. two connecting rods is provided with two bugle seats,
No.1 hydraulic cylinder is provided with by axis pin on two bugle seats, the bottom of No.1 hydraulic cylinder is installed on the recessed of No.1 connecting rod by axis pin
Type open-structured bottom, the rotational angle of No. two connecting rods is adjusted by No.1 hydraulic cylinder；The top of No. two connecting rods is welded with
Concave stent, the front center of concave stent are provided with adjustment axis by bearing, and the front end of adjustment axis is connected with by shaft coupling
Regulation motor, regulation motor are installed on by motor cabinet and adjusted on support plate, are adjusted support plate and are welded on concave rack side wall；It is described
The middle part of adjustment axis is provided with square transfer table by key；Upper and lower end face, the left and right of the square transfer table are set respectively on end face
Four hollow fixed columns are equipped with, and four lock-screws are separately installed with by screw thread in four hollow fixed columns, four hollow
It is used to the instruments such as the detection electroprobe of electronic component, screwdriver be installed in fixed column, is locked at instrument by lock-screw hollow
In fixed column, then by regulation motor drive square transfer table rotation, so as to change the required service kit used.
During work, the present invention is installed on operation ground by four mounting holes on fixed station first, is adjusted first
The maintenance height of maintenance manipulator, the maintenance on operation console is driven by four No. two hydraulic cylinders on four side chains in parallel
Manipulator makees elevating movement, and No. two hydraulic cylinders are stopped after the maintenance of maintenance manipulator highly reaches proper height；Secondly
Install and determine service kit, the service kit for needing to use in maintenance process is sequentially arranged in hollow fixed column, and is led to
Cross lock-screw service kit is locked in hollow fixed column, then regulation motor is started to work, and regulation motor, which drives, to be adjusted
Axis rotates, and adjustment axis drives square transfer table to rotate, and when required service kit moves to directly to the left, regulation motor stops
Work；Then the detection angles of maintenance manipulator are adjusted, electric rotating machine is started to work, and electric rotating machine drives turntable to rotate, and is turned
Dynamic platform drives six limited posts to be rotated in spacing concave ring internal stability, since the auxiliary stopper of six limited posts and spacing concave ring is transported
It is dynamic so that the drive maintenance manipulator that turntable is stablized rotates, and electric rotating machine stops when maintenance manipulator reaches suitable maintenance angle
Only work；Last maintenance manipulator starts to detect distribution box power failure, and No.1 connecting rod is constantly adjusted back and forth by rotary electric machine
Operating angle and No.1 hydraulic cylinder constantly adjust No. two connecting rod operating angles back and forth, so as to control the hollow fixation of square transfer table
Service kit detection failure on column, and fixed station, the side chain and operation console in parallel of four RPR structures form 4-RPR parallel connections
Mechanism, has that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. by 4-RPR parallel institutions
Advantage causes maintenance manipulator to remain plateau in maintenance process, improves work efficiency, and realizes distribution
The automatic detection function of case power failure, without artificial detection, saves a large amount of electrician personnel, and any electrical shock safety is not present
Hidden danger, protects the life security of electrician, there is provided a kind of new way of automatic detection distribution box failure.
The beneficial effects of the invention are as follows：
1st, the present invention is by driving the maintenance machinery on operation console by four No. two hydraulic cylinders on four side chains in parallel
Hand makees elevating movement, it is achieved thereby that the function of present invention maintenance height；
2nd, the fixed station in the present invention, the side chain and operation console in parallel of four RPR structures form 4-RPR parallel institutions,
Have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high by 4-RPR parallel institutions
So that maintenance manipulator can remain plateau in maintenance process, improve work efficiency；
3rd, the present invention solves that labor intensity existing for existing artificial detection distribution box power failure mode is big, electrician's demand
Amount is big, there are the low problem such as low with the degree of automation of security risk, work efficiency, and distribution can be realized by maintenance manipulator
The automatic detection function of case power failure, adjustable height is adjustable, without artificial detection, saves a large amount of electrician personnel, and do not deposit
In any electrical shock safety hazard, the life security of electrician is protected, there is provided a kind of new way of automatic detection distribution box failure
Footpath.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the full sectional view of the present invention.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As depicted in figs. 1 and 2, a kind of power distribution panel maintenance manipulator, including fixed station 1, it is symmetrical on the fixed station 1
Four mounting holes are provided with, the present invention is installed on operation ground by four mounting holes on fixed station 1, fixed station 1
Upper surface is symmetrically installed with four side chains 2 in parallel, and the top of four side chains 2 in parallel is provided with operation console 3；The parallel connection side chain 2
No.1 ear mount 21 including being welded on 1 upper surface of fixed station, is provided with No. two hydraulic cylinders 22 between No.1 ear mount 21 by axis pin,
The top of No. two hydraulic cylinders 22 is installed in No. two ear mounts 23 by axis pin, and No. two ear mounts 23 are installed on the lower face of operation console 3,
Rotation when prismatic pair P and No. two ear mounts 23 when revolute pair R, No. two hydraulic cylinders 22 when No.1 ear mount 21 rotates stretch are rotated
Secondary R forms the side chain in parallel 2 of RPR structures, and the side chain in parallel 2 and operation console 3 of 1, four RPR structure of fixed station form 4-RPR
Parallel institution, 4-RPR parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc.
Advantage, drives operation console 3 to make elevating movement by four No. two hydraulic cylinders 22 movement on four side chains 2 in parallel, and due to 4-
The rigid support performance of RPR parallel institutions causes the operation console after lifting to remain plateau, it is achieved thereby that of the invention
Overhaul adjustable for height function；Electric rotating machine 5, electric rotating machine 5 are provided with by motor cabinet in the middle part of the upper surface of the operation console 3
Output terminal on turntable 6 is installed, the lower end of turntable 6 is evenly arranged with six limited posts 7 in the axial direction, and six are spacing
The lower end both sides of column 7 are connected by two Limit Bearings 8 with spacing concave ring 9, and spacing concave ring 9 is installed on the upper surface of operation console 3；
The upper surface of the turntable 6 is provided with maintenance manipulator 10, drives turntable 6 to rotate by electric rotating machine 5,6 band of turntable
Move six limited posts 7 to rotate in spacing 9 internal stability of concave ring, since the auxiliary stopper of six limited posts 7 and spacing concave ring 9 is transported
It is dynamic so that the drive maintenance manipulator 10 that turntable 6 is stablized rotates, and adjusts the detection angles of maintenance manipulator 10.
The maintenance manipulator 10 includes being installed on the No.1 angled seat 101 in the middle part of 6 upper surface of turntable, No.1 angled seat 101
Upper to be provided with rotation axis 102 by bearing, the front end of rotation axis 102 is connected by shaft coupling with rotary electric machine 103, rotary electric machine
103 are installed on turntable 6 by motor cabinet；The middle part of the rotation axis 102 is fixedly connected with No.1 connecting rod 104, and No.1 connects
104 upper end of bar is concave hatch frame, drives rotation axis 102 to rotate by rotary electric machine 103, rotation axis 102 drives No.1 to connect
Bar 104 adjusts rotational angle, and 104 upper center of No.1 connecting rod is provided with No. two connecting rods 105 by axis pin, No. two connecting rods 105
Bottom downside is provided with two bugle seats 106, and No.1 hydraulic cylinder 107, No.1 hydraulic pressure are provided with by axis pin on two bugle seats 106
The bottom of cylinder 107 is installed on the concave open-structured bottom of No.1 connecting rod 104 by axis pin, is adjusted by No.1 hydraulic cylinder 107
The rotational angle of No. two connecting rods 105；The top of No. two connecting rods 105 is welded with concave stent 108, before concave stent 108
End middle part is provided with adjustment axis 109 by bearing, and the front end of adjustment axis 109 is connected with regulation motor 1010 by shaft coupling, adjusts
Save motor 1010 to be installed on adjusting support plate 1011 by motor cabinet, adjust support plate 1011 and be welded on 108 side wall of concave stent；
The middle part of the adjustment axis 109 is provided with square transfer table 1012 by key；Upper and lower end face, a left side for the square transfer table 1012
Four hollow fixed columns 1013 are respectively arranged with right side, and are separately installed with four hollow fixed columns 1013 by screw thread
Four lock-screws 1014, are used in four hollow fixed columns 1013 install the instruments such as electroprobe, the screwdriver of detection electronic component,
Instrument is locked in hollow fixed column 1013 by lock-screw 1014, then square transfer table is driven by regulation motor 1010
1012 rotate, so as to change the required service kit used.
During work, the present invention is installed on operation ground by four mounting holes on fixed station 1 first, is adjusted first
The maintenance height of maintenance manipulator 10, is driven on operation console 3 by four No. two hydraulic cylinders 22 movement on four side chains 2 in parallel
Maintenance manipulator 10 make elevating movement, No. two hydraulic cylinders 22 stop after the maintenance of maintenance manipulator 10 highly reaches proper height
Only work；Secondly install and determine service kit, the service kit for needing to use in maintenance process is sequentially arranged at hollow solid
On fixed column 1013, and service kit is locked in hollow fixed column 1013 by lock-screw 1014, then regulation motor
1010 start to work, and regulation motor 1010 drives adjustment axis 109 to rotate, and adjustment axis 109 drives square transfer table 1012 to rotate, when
Regulation motor 1010 is stopped when required service kit moves to directly to the left；Then the detection of maintenance manipulator 10 is adjusted
Angle, electric rotating machine 5 are started to work, and electric rotating machine 5 drives turntable 6 to rotate, and turntable 6 drives six limited posts 7 spacing
9 internal stability of concave ring rotates, since the auxiliary stopper of six limited posts 7 and spacing concave ring 9 moves so that what turntable 6 was stablized
Maintenance manipulator 10 is driven to rotate, electric rotating machine 5 is stopped when maintenance manipulator 10 reaches suitable maintenance angle；Finally overhaul
Manipulator 10 starts to detect distribution box power failure, and 104 operating angle of No.1 connecting rod is constantly adjusted back and forth by rotary electric machine 103
No. two 105 operating angles of connecting rod are constantly adjusted back and forth with No.1 hydraulic cylinder 107, so as to control the hollow solid of square transfer table 1012
Service kit detection failure on fixed column 1013, and the side chain in parallel 2 of 1, four RPR structure of fixed station and operation console 3 form
4-RPR parallel institutions, by 4-RPR parallel institutions with dynamic response is good, rigidity is high, large carrying capacity, stability are good and fortune
Moving the advantages that precision is high causes maintenance manipulator 10 to remain plateau in maintenance process, improves work effect
Rate, realizes the automatic detection function of distribution box power failure, without artificial detection, saves a large amount of electrician personnel, and do not deposit
In any electrical shock safety hazard, the life security of electrician is protected, there is provided a kind of new way of automatic detection distribution box failure
Footpath, solves that labor intensity existing for existing artificial detection distribution box power failure mode is big, electrician's demand is big, there are safety
The low problem such as low with the degree of automation of hidden danger, work efficiency, has reached purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (1)
- A kind of 1. power distribution panel maintenance manipulator, it is characterised in that：Including fixed station (1), symmetrically set on the fixed station (1) Four mounting holes are equipped with, the upper surface of fixed station (1) is symmetrically installed with four side chains (2) in parallel, the top of four side chains (2) in parallel End is provided with operation console (3)；Electric rotating machine (5), electric rotating are provided with by motor cabinet in the middle part of the upper surface of the operation console (3) Turntable (6) is installed, the lower end of turntable (6) is evenly arranged with six limited posts in the axial direction on the output terminal of machine (5) (7), the lower end both sides of six limited posts (7) are connected by two Limit Bearings (8) with spacing concave ring (9), spacing concave ring (9) peace Mounted in the upper surface of operation console (3)；The upper surface of the turntable (6) is provided with maintenance manipulator (10)；The maintenance manipulator (10) includes being installed on the No.1 angled seat (101) in the middle part of turntable (6) upper surface, No.1 angled seat (101) rotation axis (102) is provided with by bearing on, the front end of rotation axis (102) passes through shaft coupling and rotary electric machine (103) phase Even, rotary electric machine (103) is installed on turntable (6) by motor cabinet；One is fixedly connected with the middle part of the rotation axis (102) Number connecting rod (104), No.1 connecting rod (104) upper end is concave hatch frame, and No.1 connecting rod (104) upper center is installed by axis pin There are No. two connecting rods (105), the bottom downsides of No. two connecting rods (105) is provided with two bugle seats (106), on two bugle seats (106) No.1 hydraulic cylinder (107) is provided with by axis pin, the bottom of No.1 hydraulic cylinder (107) is installed on No.1 connecting rod by axis pin (104) concave open-structured bottom；The top of No. two connecting rods (105) is welded with concave stent (108), concave stent (108) front center is provided with adjustment axis (109) by bearing, and the front end of adjustment axis (109) is connected with tune by shaft coupling Motor (1010) is saved, regulation motor (1010) is installed on by motor cabinet and adjusted on support plate (1011), adjusts support plate (1011) weldering It is connected on concave stent (108) side wall；The middle part of the adjustment axis (109) is provided with square transfer table (1012) by key；Institute State the upper and lower end faces of square transfer table (1012), be respectively arranged with four hollow fixed columns (1013), and four on the end face of left and right Four lock-screws (1014) are separately installed with by screw thread on hollow fixed column (1013)；The parallel connection side chain (2) includes being welded on the No.1 ear mount (21) of fixed station (1) upper surface, leads between No.1 ear mount (21) To cross axis pin and No. two hydraulic cylinders (22) are installed, the top of No. two hydraulic cylinders (22) is installed on No. two ear mounts (23) by axis pin, No. two ear mounts (23) are installed on the lower face of operation console (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610322482.1A CN105958345B (en) | 2016-05-16 | 2016-05-16 | A kind of power distribution panel maintenance manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610322482.1A CN105958345B (en) | 2016-05-16 | 2016-05-16 | A kind of power distribution panel maintenance manipulator |
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| Publication Number | Publication Date |
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| CN105958345A CN105958345A (en) | 2016-09-21 |
| CN105958345B true CN105958345B (en) | 2018-05-15 |
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| CN201610322482.1A Expired - Fee Related CN105958345B (en) | 2016-05-16 | 2016-05-16 | A kind of power distribution panel maintenance manipulator |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3422503A1 (en) * | 2017-06-28 | 2019-01-02 | ABB Schweiz AG | An internal robot-manipulator for unmanned operation and maintenance in withdrawable circuit breakers, and a method of operating the robot-manipulator |
| CN107584729A (en) * | 2017-09-21 | 2018-01-16 | 广东科捷龙机器人有限公司 | Novel intelligent optimizes manipulator |
| CN108748214B (en) * | 2018-08-08 | 2023-07-18 | 田国力 | Constant stress multifunctional manipulator |
| CN110244084A (en) * | 2019-07-29 | 2019-09-17 | 杭州佐格通信设备有限公司 | Wind sensor test device |
| CN111845876A (en) * | 2020-08-17 | 2020-10-30 | 国网河南省电力公司新安县供电公司 | Folding device of fixed support for transformer substation inspection |
| CN114751345B (en) * | 2022-05-18 | 2023-07-14 | 国网山东省电力公司滨州供电公司 | Power engineering overhauls frame with transformer |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN105459090A (en) * | 2016-01-04 | 2016-04-06 | 江苏科技大学 | Instructive six-degree-of-freedom carrying manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090002696A (en) * | 2007-07-02 | 2009-01-09 | 유원선 | Alarm device having function of sending voice message |
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2016
- 2016-05-16 CN CN201610322482.1A patent/CN105958345B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN105459090A (en) * | 2016-01-04 | 2016-04-06 | 江苏科技大学 | Instructive six-degree-of-freedom carrying manipulator |
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| Publication number | Publication date |
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| CN105958345A (en) | 2016-09-21 |
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| CB03 | Change of inventor or designer information |
Inventor after: Wang Hongbo Inventor after: Cao Yu Inventor after: Liu Pingfan Inventor before: Chu Maosong Inventor before: Pan Chunyan |
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Effective date of registration: 20180418 Address after: Xi Shi Huan Road Guangzhou City, Guangdong province 510000 Huan Tianhe District No. 10 building 340 room C Applicant after: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd Address before: 246001 Anhui Province, Anqing City Yingjiang District Yang Shan C floor bottom from west to East first Applicant before: Anqing Mirui Intelligent Technology Co., Ltd. |
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Effective date of registration: 20180625 Address after: 150000 Dalian Road North and Xingkai Road, Harbin, Heilongjiang province. Patentee after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 510000 room 340, C 340, Shi Huan Road, Tianhe District, Guangzhou, Guangdong. Patentee before: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd |
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Effective date of registration: 20190617 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Daxing District, Beijing Patentee after: Beijing hi tech robot Co., Ltd. Address before: 150000 Dalian Road North and Xingkai Road, Harbin, Heilongjiang province. Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
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Effective date of registration: 20191017 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co., Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Daxing District, Beijing Patentee before: Beijing hi tech robot Co., Ltd. |
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Granted publication date: 20180515 Termination date: 20210516 |
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