CN111682447A - Contact net intelligent maintenance robot and working method thereof - Google Patents
Contact net intelligent maintenance robot and working method thereof Download PDFInfo
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- CN111682447A CN111682447A CN202010542450.9A CN202010542450A CN111682447A CN 111682447 A CN111682447 A CN 111682447A CN 202010542450 A CN202010542450 A CN 202010542450A CN 111682447 A CN111682447 A CN 111682447A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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Abstract
The invention relates to an intelligent maintenance robot for a contact net and a working method thereof, the robot comprises a control main body and a plurality of mechanical arms connected with the control main body, the plurality of mechanical arms comprise a driving arm for clamping a catenary, a working arm for overhauling and a monitoring arm loaded with an imaging device, the control main body comprises a shell, a control circuit and a driving motor, the control circuit and the driving motor are arranged in the shell, the robot clamps the catenary through the driving arm to maintain the stability of the robot on the catenary, the monitoring arm is used for detecting the working condition of the contact net and feeding back the working condition to the control circuit, and the control circuit controls the working arm to process a fastener or foreign matters on the contact net according to a feedback result. The problem that exists in the aspect of contact net tour, inspection, maintenance, fault handling has been solved to this application, possesses dynamic real-time supervision function, and reliable operation, detection efficiency are high, and the while is better to the fault certainty nature of flexible net, and the real-time of handling is higher.
Description
Technical Field
The invention relates to the technical field of contact network operation and maintenance equipment, in particular to an intelligent contact network maintenance robot and a working method thereof.
Background
In electrified railways and urban rail transit, a contact network is a direct power supply device for ensuring normal operation of an electric locomotive, has the characteristic of uniqueness, and belongs to outdoor power supply facilities without standby. Compared with a common power circuit, the contact net has the characteristics of being frequently in a dynamic operation state, long line distance, complex structure and high technical requirement. With the continuous improvement of technical standards, transportation capacity, operation cost and the like of railway and urban rail transit. Under the current contact net specialty fortune mode of examining, expose a great deal of problem in the aspect of daily flexible simple chain shape contact net tour, inspection, maintenance:
(1) the line is too long, so that the labor force of the inspection operation is dispersed, and the labor cost is high;
(2) the difference of the service levels of the maintainers causes that the efficient operation of the maintenance equipment cannot be realized, and the maintenance work cannot be ensured to be in a high-quality operation state;
(3) due to the influence of equipment and external environment, the reason and the like cannot be found timely and accurately when the train cannot normally run, and the detection efficiency is low;
(4) in the dynamic running process of the train, effective data cannot be provided in real time for subsequent analysis when the instant tripping phenomenon of equipment occurs, so that the monitoring on the working condition of a contact network is delayed, and the hidden danger of the equipment cannot be searched and eliminated in time due to the influence of the environment and the running;
(5) the equipment cannot realize corresponding dynamic real-time monitoring in different environments and operation states;
(6) the structural characteristics of the contact network equipment cause low daily maintenance work efficiency and certain personal injury risks.
Disclosure of Invention
The invention aims to provide an intelligent maintenance robot for a contact network, which solves the problems in the aspects of inspection, maintenance and fault treatment of the contact network, and has the advantages of reliable work and high detection efficiency.
Furthermore, the invention also provides a working method for the intelligent maintenance robot of the overhead line system, which has a dynamic real-time monitoring function, carries out maintenance and inspection and fault treatment according to the monitoring result, and has better fault certainty and higher processing real-time performance on the flexible line.
In order to achieve the purpose, the invention adopts the technical scheme that:
the application provides a contact net intelligent maintenance robot, including control main part and many arms that link to each other with control main part, including the drive arm of centre gripping catenary, the work arm of overhauing usefulness and the monitoring arm that loads the image device in many arms, control main part includes the casing, sets up control circuit and the driving motor in the casing, wherein, the robot passes through drive arm centre gripping catenary is maintained the robot is stable on the catenary, the monitoring arm is used for detecting the operating mode of contact net and feeds back to control circuit, control circuit controls according to the feedback result the fastener or the foreign matter of work arm on to the contact net are handled.
Optionally, at least two driving arms are included, including a front driving arm disposed at the front of the housing and a rear driving arm disposed at the rear of the housing.
Optionally, the working arm is loaded with an electric universal sleeve or a pair of cutting pliers for maintenance.
Furthermore, the front end and the rear end of the shell of the control main body are respectively provided with an imaging device, and the control main body and the plurality of mechanical arms form a spider-shaped integral structure.
Particularly, the application also provides a working method of the contact network intelligent maintenance robot, which is used for carrying out inspection maintenance and fault treatment on the contact network, wherein the contact network intelligent maintenance robot is adopted.
Optionally, the front end of the driving arm is provided with a fixing mechanism, and the robot grips the carrier cable through the driving arms respectively arranged at the front end and the rear end of the shell, so that the robot is integrally moved, adsorbed, fixed and locked.
Optionally, the monitoring arm front end is equipped with image device for carry out real-time detection to the contact net and patrol, inspect fastener and spare part, and upload the real-time image of patrolling in step.
Optionally, the device comprises at least two working arms, wherein the first working arm is provided with an electric universal sleeve for selecting corresponding torque to perform fastening operation according to the installation position and specification of the nut, and the second working arm is provided with a pair of cutting pliers for processing foreign matters.
And further, the robot is configured to perform maintenance operation on the carrier cable dropper wire clamp and the carrier cable seat part through the first working arm according to a preset time node, perform special defect eliminating operation on the carrier cable dropper wire clamp and the carrier cable seat part according to a received background instruction, report the detected foreign matters to a background when the robot detects that the foreign matters exist, and control the second working arm to complete the foreign matter processing operation according to the background instruction.
Optionally, the robot is in networking communication with a driving scheduling center, the robot determines to switch the working state of the robot according to the obtained driving information, and when the driving approaches, the robot is configured to dynamically monitor the contact net suspension in real time by using the monitoring arm and feed the monitored contact net suspension back to the background.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
the utility model provides a robot is maintained to contact net intelligence, utilize the whole spider form structure that is, the drive arm drive robot that adopts the gripping formula carries out sliding movement on the carrier cable, it is fixed to lock, the maintenance work that corresponds is carried out to the real-time influence testing result of reunion, realize the tour to the contact net, simple maintenance operation, dynamic real-time supervision, equipment hidden danger early warning and simple fault handling, realize the real-time transmission and the backup to the image data of monitoring simultaneously, realize the human-computer interaction function between backstage and robot, make maintenance to the contact net more convenient, and realized online real-time maintenance and detection, to equipment problem, the hidden danger carries out timely early warning and simple processing, guarantee the normal work of contact net and train.
Furthermore, the robot is used for operation and maintenance monitoring, the limitation constraints of conditions such as environment, climate and driving can be reduced, the equipment first-aid repair efficiency of first-aid repair personnel is improved, and meanwhile, the robot can accurately, timely and efficiently assist professionals in judging and taking corresponding measures based on the influence and the repair result of the robot when equipment faults occur.
Further, the robot can reduce the input of direct human cost in the operation and maintenance process of enterprises, reduces the use frequency of contact net operation vehicles and automobiles, effectively reduces environmental pollution and resource requirements, reduces the personal casualty risks of vehicle injury, high-altitude falling and the like of operation personnel in inspection and maintenance work engineering, and effectively improves the power supply operation quality and safety.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Wherein the reference numerals are as follows:
11. a housing 12, a second imaging device on the housing;
21. a driving arm 22, a fixing device;
31. a first working arm 32, a second working arm 33, a universal sleeve 34 and a pair of cutting pliers;
41. monitoring the arm 42, monitoring a first imaging device on the arm;
5. a catenary cable.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1:
the embodiment describes an intelligent maintenance robot for a contact network, as shown in fig. 1, which includes a control main body and a plurality of mechanical arms connected to the control main body, in this embodiment, eight mechanical arms are provided, specifically, the eight mechanical arms include four driving arms 21 for clamping a catenary 5, three working arms for maintenance, and one monitoring arm 41 loaded with an imaging device, and the control main body and the plurality of mechanical arms form an integral structure of "spider shape".
The control main part includes casing 11, sets up control circuit and the driving motor in casing 11, and wherein, the robot passes through drive arm 21 centre gripping messenger wire 5 maintains the robot is stable on messenger wire 5, monitoring arm 41 is used for detecting the operating mode of contact net and feeds back to control circuit, control circuit controls according to the feedback result work arm handles fastener or foreign matter on the contact net. The two front driving arms 21 are arranged at the front part of the shell 11, the two rear driving arms 21 are arranged at the rear part of the shell 11, and the robot grabs the catenary 5 through the driving arms 21 arranged at the front end and the rear end of the shell 11 and the fixing devices 22 at the end parts of the driving arms 21, so that the functions of moving, adsorbing, fixing, locking and the like of the robot are realized in a matching manner. The fixing means 22 may alternatively be of a clamp type adapted to the outer diameter of the messenger wire 5, such as a jaw for controlled tightening and loosening, a looped anchor ear, or the like.
Among the three working arms, two first working arms 31 are symmetrically arranged, and electric universal sleeves capable of selecting corresponding torque to perform fastening operation according to the installation position and specification of the nut are assembled at the ends of the two working arms. The second arm 32 is provided with a pair of cutting pliers at the tip thereof for the purpose of processing foreign matter.
The high-definition first image device 42 is installed at the end of the monitoring arm 41, so that the working condition of the overhead line system and some detail problems can be shot, corresponding instructions are obtained through feedback to the background to be processed, or the overhead line system waits for manual processing after feedback.
In addition, all parts of the shell of the robot are made of insulating materials and covered with insulating paint, so that the whole robot is insulated and sealed. The control circuit part comprises a chip used as a processor, a sensor unit for realizing sensitive control of the mechanical arm, an integrated circuit connected with the chip and the sensor unit in series and the like, and a shielding layer is arranged inside a shell 11 of the control main body to protect the internal chip, the integrated circuit and other devices of the robot under a strong electromagnetic field and prevent internal signal transmission from being interfered by the strong electromagnetic field.
In order to monitor the contact net situation more clearly, a second imaging device 12 can be installed at the front and back of the housing 11 of the robot. The storage battery is arranged in the shell 11, so that the energy consumption requirement of the robot in daily operation is met, and for the robot working outdoors, the solar cell panel can be arranged at the top of the shell 11 to supply power for the robot working outdoors, so that the aims of environmental protection and energy saving are fulfilled.
Example 2:
the application also provides a working method of the contact network intelligent maintenance robot, which is used for carrying out inspection maintenance and fault treatment on the flexible contact network, wherein the contact network intelligent maintenance robot is adopted as in embodiment 1.
And placing one intelligent maintenance robot on each anchor section catenary 5 of the flexible contact network, wherein the operation range of each robot is a contact suspension and positioning support device in the anchor insulators falling at two ends of the responsible anchor section. The operation mode of the daily robot for driving the arms 21 at two ends in the moving operation process of the carrier cable 5 can be realized by adopting the four-limb motion state and the grasping style when the gecko crawls in the model biology, and all the robots move in the same direction; the self insulation can meet the operation conditions of the intelligent robot in the insulation joint and the tunnel section; the operation of moving in the same direction can avoid the cross operation of two adjacent anchor section robots at the joint of the anchor section and the joint type phase splitting position.
The robot of the embodiment may generally include three operation modes, specifically including a daily patrol operation, a daily maintenance operation, and an exception handling operation, specifically:
1. daily patrol operation
In the daily tour moving process, when the robot meets a catenary 5 dropper wire clamp and a catenary 5 seat, the robot processes image data through a control circuit of the control main body and then enables the driving arms 21 to pass over the control main body in sequence. The second imaging devices 12 at the front end and the rear end of the shell 11 mainly detect and patrol the nine-prevention safety risk of the contact network in real time in the patrol process; the monitoring arm 41 mainly performs inspection for the loss of various wire clamps and parts; and the real-time image data in the inspection process realizes the synchronous uploading function, and the hidden equipment troubles discovered in the inspection process are automatically classified and filed according to the background database. The operation process can effectively replace the work tasks of the existing contact net walking inspection and 2C detection mode, and effectively improves the inspection quality.
2. Daily maintenance operation
The overhaul operation of the contact net intelligent maintenance robot is mainly divided into two modes: firstly, carrying out maintenance operation on a carrier cable 5 dropper wire clamp and a carrier cable 5 seat component according to a preset time node; secondly, the special defect eliminating operation is carried out on the carrier cable 5 dropper wire clamp and the carrier cable 5 seat component which are sent out instructions by the background. In the operation mode, the robot adjusts the relative position of the universal sleeve as an overhauling component and the corresponding vertical line of the first working arm 31 through a control circuit, and then the state of the first working arm 31 is adjusted to ensure that the bottom surface of the robot main body and the top surface of the overhauling component meet a certain overhauling space, and then the driving arm 21 of the robot locks and fixes the universal sleeve on the first working arm 31 for overhauling and starts to operate according to a specified torque; in the operation process of the first working arm 31, the monitoring arm 41 comprehensively checks whether the installation modes of parts such as contact suspension, positioning and supporting devices and the like are correct, whether cracks, deformation and burning exist, whether corrosion, burning exist in clues, strand breaking and the like exist, and realizes the synchronous uploading function of real-time image data, and automatically classifies and archives found hidden dangers. Therefore, the operation vehicle platform inspection device effectively replaces the conventional contact network comprehensive inspection and utilization operation vehicle platform inspection work.
3. Foreign matter treatment work
The second working arm 32 for foreign matter treatment is not in a working state at ordinary times, when the contact network is in an emergency situation of overlapping foreign matters due to external environmental factors, the robot can immediately send out an emergency early warning to the background, and the monitoring arm 41 and the image device of the control main body acquire data and upload the data to enable background professionals to make corresponding treatment schemes (live treatment or power failure treatment and the like) according to the sizes and treatment risks of the foreign matters. The robot foreign matter treatment operation mode has two types: firstly, a background professional judges that risk factors such as influence on power supply safety of an adjacent line and the like exist due to overlarge foreign matters, and can adopt a background remote control robot to perform foreign matter treatment operation; and secondly, the background professional judges that the foreign matter does not have risk factors and can directly issue and make the robot to automatically start foreign matter treatment operation. When the robot moves to a certain relative position away from the foreign body, the second working arm 32 for foreign body treatment automatically extends, and the foreign body treatment operation is carried out by adopting work such as cutting nippers, and the telescopic design of the foreign body treatment arm can ensure that the robot has the foreign body treatment operation aiming at the contact line or the positioning support device.
Besides, the contact net intelligent maintenance robot of this embodiment still has other operating condition:
(1) and the intelligent operation of the robot is improved. On the automatic block line, a background network can be connected with a road bureau and a subway company running scheduling center, when a train runs in a block section of the automatic block line, a robot in the section can synchronously schedule a central signal to stop working and keep in a static state, other robots in other sections without trains normally work, the robot continues working according to the signal of the scheduling center after the train runs through the section, and a monitoring arm 41 is used for dynamically monitoring the contact net suspension in real time when the train approaches, such as the relation between the train and a contact net, the phenomenon of fire striking and real-time fault image data when the locomotive has an instant ground fault, so that the real-time monitoring level and the fault analysis basis under the contact net motion state are realized to a great extent.
(2) When the robot breaks down, the robot has the function of driving the arm 21 to lock the robot in an emergency self-locking manner, so that driving safety accidents caused by falling of the robot due to the self-failure and the like are prevented, and corresponding failure alarm information is sent to the background.
(3) The intelligent robot with different power supply modes can be adopted according to specific situations such as space positions (ground and tunnels), environmental factors (mountainous areas and plains) and the like. A robot with solar charging function is applicable to places where solar panels on the ground, short tunnels, plains and the like acquire sunlight; the other is suitable for the medium-length tunnel which is powered by an internal battery.
In conclusion, the robot can replace the existing contact net monitoring or inspection means step by step when being used for patrolling and monitoring. Firstly, the professional monitoring means of the contact network in the railway industry mainly depends on 6C dynamic detection, and the problems of poor timeliness, unclear image data, inaccurate position information of hidden dangers, secondary confirmation of personnel on a found problem site and the like exist when the subway adopts a bow net online monitoring device; secondly, the professional inspection means of the contact network in the industry mostly adopts a manual inspection or platform inspection mode, so that the defects that the quality of equipment inspection excessively depends on the quality of the service of inspectors and self factors, the inspection process has personal casualty risks, various resources are wasted, the operation cost is increased, the efficiency is low and the like exist. The intelligent robot has the advantages that the intelligent robot can monitor equipment in real time and synchronously inspect background professionals, clear image data can be formed, the manual on-site confirmation process is reduced, the position of hidden danger is accurate, remote confirmation can be carried out on the position where a question is found in real time, equipment problems can be accurately judged by utilizing a background database, the occurrence of personal casualty accidents in the equipment inspection process is avoided, and the waste of various resources of enterprises is effectively saved. Not only effectively make up the shortcoming in above-mentioned monitoring, inspection process and effectively improve equipment operation safety for professional concentrates on with key equipment: and performing key inspection by using an isolating switch, phase splitting, segmentation and the like.
The robot can analyze, judge, classify or classify the equipment defects according to the equipment defects and common problems of each railway administration or subway company for years, and the equipment defects and the common problems can be classified into a background server, so that the background can be warned and classified when the intelligent maintenance robot finds similar equipment defects and problems in the server in the autonomous inspection process, and the equipment quality standard is effectively unified.
When the train can not normally run or stop running due to the self equipment and the external environment, the intelligent maintenance robot can timely perform special inspection of the equipment and synchronously provide image data for background professionals for analysis, the background professionals are efficiently assisted to timely check fault points, fault reasons and effectively organize corresponding rush-repair work, and meanwhile, positioning information is sent for the rush-repair workers, so that the rush-repair workers can conveniently and accurately reach the fault points. Compared with the traditional manual fault point and reason searching method, the method greatly improves the efficiency of the contact network fault point, the fault reason, the organization of emergency repair and the emergency repair process, shortens the emergency repair time and ensures the transportation efficiency.
The intelligent maintenance robot can carry out maintenance operation on the carrier cable 5 dropper wire clamp and the carrier cable 5 seat component by utilizing the maintenance arm. In the daily manual maintenance process, the maintenance workload, the working face, the operation of extending the body part out of the limit of the auxiliary tool and the switching process of the safety belt of an operator are effectively reduced when the wire clamp and the support are maintained. The intelligent maintenance robot not only reduces the workload of manual maintenance and the moving time of the platform of the operation vehicle, but also improves the operation efficiency and reduces the personal injury risk in the operation process.
When some temporary faults (such as foreign matters) with potential safety hazards occur. The operation and maintenance robot can adopt the most effective processing mode, shortens the hidden danger influence time compared with the manual processing process, and reduces the influence range of the hidden danger on the driving safety and the equipment safety.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a robot is maintained to contact net intelligence, its characterized in that, including control main part and many the arms that link to each other with control main part, including the drive arm of centre gripping catenary, the work arm of overhauing usefulness and the monitoring arm that loads the image device in many arms, control main part includes the casing, sets up control circuit and the driving motor in the casing, wherein, the robot passes through drive arm centre gripping catenary is maintained the robot is stable on the catenary, the monitoring arm is used for detecting the operating mode of contact net and feeds back to control circuit, control circuit controls according to the feedback result the fastener or the foreign matter of work arm on to the contact net are handled.
2. The robot is maintained to contact net intelligence of claim 1, characterized by, includes at least two drive arm, including setting up in the anterior front drive arm of casing and setting up in the back drive arm at casing rear portion.
3. The intelligent overhead line system maintenance robot of claim 1, wherein the working arm is loaded with an electric universal sleeve or a pair of scissors for maintenance.
4. The robot is characterized in that the front end and the rear end of a shell of the control main body are respectively provided with an imaging device.
5. An operating method of an intelligent overhead line system maintenance robot is characterized in that inspection maintenance and fault treatment are carried out on an overhead line system, wherein the intelligent overhead line system maintenance robot as claimed in any one of claims 1 to 4 is adopted.
6. The working method of claim 5, wherein the front end of the driving arm is provided with a fixing mechanism, and the robot grips the carrier cable through the driving arms respectively arranged at the front end and the rear end of the shell to realize the overall movement, adsorption, fixation and locking of the robot.
7. The working method of claim 5, wherein the front end of the monitoring arm is provided with an imaging device for real-time detection and inspection of the contact network, inspection of wire clamps and parts, and synchronous uploading of real-time images of inspection.
8. A working method according to any one of claims 5 to 7, characterized by comprising at least two working arms, the first working arm carrying an electric universal socket for selecting corresponding torque for fastening work according to the mounting position and specification of the nut, and the second working arm carrying a pair of scissors for treating foreign matters.
9. The method of claim 8, wherein the robot is configured to perform maintenance work on the messenger wire dropper wire clip and the messenger wire seat member by the first working arm according to a predetermined time node, perform special defect removal work on the messenger wire dropper wire clip and the messenger wire seat member according to a received background command, report the detected foreign object to a background when the foreign object is present, and control the second working arm to perform the foreign object handling work according to the background command.
10. The working method of claim 7, wherein a robot is in networking communication with a driving dispatching center, the robot determines to switch the working state of the robot according to the obtained driving information, and the robot is configured to dynamically monitor the contact net suspension in real time by using a monitoring arm and feed the contact net suspension back to a background when the driving approaches.
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| CN112467622A (en) * | 2020-12-29 | 2021-03-09 | 苏州诺灵顿智能科技有限公司 | Multi-foot switching type cable maintenance robot and maintenance method thereof |
| CN112467621A (en) * | 2020-12-29 | 2021-03-09 | 苏州诺灵顿智能科技有限公司 | Use method of cable maintenance robot with wind resistance capability |
| CN112490937A (en) * | 2020-12-29 | 2021-03-12 | 苏州诺灵顿智能科技有限公司 | Multi-foot turnover type cable maintenance robot and maintenance method thereof |
| CN112531569A (en) * | 2020-12-29 | 2021-03-19 | 苏州诺灵顿智能科技有限公司 | Multi-foot switching type cable inspection robot and inspection method thereof |
| CN112467622B (en) * | 2020-12-29 | 2022-09-02 | 国网湖北省电力有限公司黄冈供电公司 | Multi-foot switching type cable maintenance robot and maintenance method thereof |
| CN112490937B (en) * | 2020-12-29 | 2022-09-02 | 国网湖北省电力有限公司黄冈供电公司 | Multi-foot turnover type cable maintenance robot and maintenance method thereof |
| CN113800413A (en) * | 2021-09-10 | 2021-12-17 | 广东电网有限责任公司 | High-altitude operation robot |
| CN117495356A (en) * | 2023-12-18 | 2024-02-02 | 成都秦川物联网科技股份有限公司 | Intelligent gas pipeline maintenance method based on man-machine linkage and Internet of things system |
| CN117495356B (en) * | 2023-12-18 | 2024-03-26 | 成都秦川物联网科技股份有限公司 | Intelligent gas pipeline maintenance method based on man-machine linkage and Internet of things system |
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Application publication date: 20200918 |