CN210210382U - Intelligent inspection robot for switch cabinet powered by sliding contact line - Google Patents
Intelligent inspection robot for switch cabinet powered by sliding contact line Download PDFInfo
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- CN210210382U CN210210382U CN201920523370.1U CN201920523370U CN210210382U CN 210210382 U CN210210382 U CN 210210382U CN 201920523370 U CN201920523370 U CN 201920523370U CN 210210382 U CN210210382 U CN 210210382U
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Abstract
The utility model relates to the technical field of robot, concretely relates to cubical switchboard intelligence of wiping line power supply patrols and examines robot, including straight rail, perpendicular rail, the railcar, the base member, climbing mechanism, spherical working head, motion control ware, power supply unit and detector, straight rail lower surface has all processed T type groove, the railcar joint is at T type inslot, power supply unit includes insulating base plate, wiping line and insulating soft magnetic stripe, railcar top fixed mounting has two contacts, it has two wiping lines to inlay in the insulating base plate, insulating soft magnetic stripe has been placed to the insulating base plate below, insulating soft magnetic stripe and insulating base plate butt, the contact is located between insulating soft magnetic stripe and the insulating base plate, spherical working head articulates and installs in the base member bottom, the detector is installed in spherical working head. The utility model discloses a substantive effect is: accomplish the lift of vertical direction through perpendicular rail, can drive the detector and detect the not high position of cubical switchboard, improve and patrol and examine accuracy and integrality, ensure cubical switchboard steady operation.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to cubical switchboard intelligence of wiping line power supply patrols and examines robot.
Background
High-voltage power supply equipment is generally responsible for power supply of a whole area, and has large fault influence range and high emergency repair difficulty. The normal operation of the high-voltage power supply equipment has important significance for the overall stable operation of the power grid. This puts higher demands on the inspection of the high-voltage power supply equipment. The medium-high voltage switch cabinet is one of main equipment in a power distribution network system, the quality of the insulation state of the switch cabinet directly affects the safety and reliability of a power supply system, and huge economic loss can be caused if a power accident occurs. Partial discharge is one of main parameters representing the insulation state of the power equipment, and relevant researches show that the insulation state of the switch cabinet is effectively evaluated by detecting the partial discharge energy, so that the occurrence of power accidents is avoided, and reasonable maintenance suggestions can be given by combining partial discharge data. Compared with an invasive partial discharge detection technology, the non-invasive partial discharge detection technology has no invasion to a switch cabinet structure and a power grid, so that the normal operation of the switch cabinet is not influenced in the routing inspection process of partial discharge, and the method is widely popularized at home and abroad. At present, non-invasive detection technologies for local discharge of switch cabinets at home and abroad mainly comprise: ultrasonic detection, geoelectric wave detection, high-frequency current detection, ultrahigh-frequency detection, and the like. The introduction of ground electric wave, ultrasonic wave and ultrahigh frequency detection technology in the inspection of the high-voltage power supply equipment can simplify the detection of the high-voltage switch cabinet. And the intelligent inspection robot can be combined to realize unmanned, automatic and online operation. But the cubical switchboard check out test set that combines with the robot that patrols and examines lacks at present.
Chinese patent CN107154591B, open 4 days in 2018 9 months in the open date, a transformer substation equipment patrols and examines robot, which comprises a body, be equipped with running gear on the body, including a motor, a controller and a detection head, it has the cavity to open on the body, the apron is articulated to be set up on the body, the lower extreme of reel runs through the apron and extends to the cavity bottom, it has the ring channel to open on reel hypomere inner wall, the horizontal segment both ends of T type piece slide to set up in the ring channel, the output of cylinder is connected with the bottom of T type piece horizontal segment, still include the center pin, a plurality of solar cell panel group, the center pin is connected with the vertical section tip of T type piece. Utilize the robot to replace the manual work to patrol and examine, utilize the motor to drive running gear promptly, running gear drives the body, patrols and examines through the stability that detects the head and continuously to the operating mode of equipment and itself simultaneously, can avoid numerous environmental factor's influence and keep carrying out real-time supervision to each equipment in the transformer substation to in time will patrol and examine information storage, carry out data analysis with the technology portion of supplying the transformer substation, finally ensure the job stabilization nature of the numerous equipment of transformer substation. But the running gear of robot patrols and examines needs dustproof and calibration, and it can not solve and patrols and examines the robot long-term work and be the problem of keeping the accuracy, and it can not solve the technical problem who detects the not equipment of co-altitude of transformer substation.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: the automatic inspection equipment of a switching station combined with an inspection robot is lacked at present. The utility model provides a carry on cubical switchboard intelligence of detecting sensor and patrolling and examining robot that can level and vertical migration is proposed. The intelligent inspection robot for the switch cabinet can detect the positions of the switch cabinet at different heights.
In order to solve the technical problem, the utility model discloses the technical scheme who takes does: the device comprises a straight rail, a vertical rail, a rail car, a base body, a climbing mechanism, a spherical working head, a motion controller, a power supply device and a detector, wherein the straight rail is horizontally and fixedly arranged above a switch cabinet according to the layout of the switch cabinet in a switch room, T-shaped grooves are processed on the lower surface of the straight rail, the rail car is clamped in the T-shaped grooves, the power supply device comprises an insulating base plate, sliding contact lines and insulating soft magnetic strips, two contacts are fixedly arranged at the top of the rail car, the insulating base plate is arranged at the top of the T-shaped groove of the straight rail, two sliding contact lines are embedded in the insulating base plate, the straight rail is a magnetic-conducting straight rail, the insulating soft magnetic strips are arranged below the insulating base plate, the insulating soft magnetic strips are abutted against the insulating base plate, the contacts are flat, the two sliding contact lines are respectively abutted against the tops of the contacts, and the contacts are positioned, the contact is connected with the motion controller, the sliding contact line is connected with a power supply, the vertical rail is fixed on the lower portion of the rail car, the climbing mechanism is installed in the base body and clamped with the vertical rail, the motion controller is connected with the rail car and the climbing mechanism, the spherical working head is hinged to the bottom end of the base body, and the detector is installed in the spherical working head. Accomplish the lift of vertical direction through perpendicular rail, can drive the detector and detect the not high position of cubical switchboard, improve and patrol and examine accuracy and integrality, ensure cubical switchboard steady operation.
Preferably, the detector includes an infrared detector, a video monitor, and a partial discharge detector, the infrared detector, the video monitor, and the partial discharge detector are all disposed in the spherical working head, the infrared detector detects a temperature distribution of the switch cabinet, the video monitor monitors a live video picture, the partial discharge detector includes an ultrasonic detector, a transient ground voltage detector, and a very high frequency vibration detector, the ultrasonic detector detects ultrasonic waves emitted from the switch cabinet, the transient ground voltage detector detects a transient ground voltage of a set detection point on the switch cabinet, and the very high frequency vibration detector detects a very high frequency vibration of a set portion of the switch cabinet. The infrared camera shoots a target output heat map in real time, the temperature of the target is measured, diagnosis and analysis are carried out according to the operation condition of the heating equipment, potential defects of the equipment are found in time, early warning is given out, equipment protection is carried out in advance, hidden dangers are eliminated, and the operation life and efficiency of the equipment are improved; the camera with high image quality shoots the whole course of the inspection process, transmits a real-time video stream to the station control service host, can call a real-time image at any time through the station control service host, controls the robot to observe any position, detects the partial discharge phenomenon inside the switch cabinet in a mode of mutually combining three modes of ultrasonic waves, Transient Earth Voltage (TEV) and ultrahigh frequency, and performs alarm processing on abnormal detection data by comparing with a threshold value and a map of a preset value.
As preferred, the railcar includes a pair of main wheel, automobile body, connecting portion and two at least tight pulleys, the main wheel is articulated respectively to be installed the left and right sides at automobile body middle part, the main wheel with the T type groove of straight rail is close to straight rail lower surface horizontal inner wall butt, horizontal inner wall be the track face of marcing, the main wheel is driven alone by two step motor that receive motion controller control respectively, the tight pulley is articulated to be installed at automobile body top surface, tight pulley distributes both ends around the automobile body, the firm butt in inner wall top of tight pulley and straight rail T type groove, connecting portion fixed mounting is in automobile body below, connecting portion and T type groove are at the opening both sides butt of straight rail lower surface, connecting portion and perpendicular rail fixed connection. The fastening wheel can be with automobile body and T type groove top butt, make the automobile body remain stable around the automobile body. The connecting part is abutted against the two sides of the opening of the lower surface of the straight rail through the T-shaped groove, so that the vehicle body and the connecting part can be prevented from deviating from the front and back directions.
Preferably, the left side and the right side of the vertical rail are both provided with strip-shaped teeth, the base body is provided with a blind hole for accommodating the vertical rail, the climbing mechanism comprises two gears, the left side and the right side of the blind hole are provided with accommodating cavities, the gears are hinged and installed in the accommodating cavities, the gears are meshed with the strip-shaped teeth, and the gears are driven by a stepping motor controlled by a motion controller. The meshing of the gear rack can provide reliable supporting force in the vertical direction, and the supporting force is used for supporting the weight of the base body and the spherical working head.
Preferably, the dustproof cloth is respectively positioned at the left side and the right side of the straight rail, the part of the dustproof cloth, which is close to the outer side of the straight rail, is fixedly connected with the corresponding side of the straight rail, the part of the dustproof cloth, which is close to the middle part of the straight rail, is partially overlapped, the magnetic blocks are uniformly arranged at the two sides of the overlapped part of the dustproof cloth in pairs along the extending direction of the straight rail, the magnetic blocks in pairs attract each other, and the connecting part is propped open and penetrates through the overlapped part of the two dustproof cloths at the position of the connecting part. The paired magnetic blocks attract each other, so that the dustproof cloth can be partially overlapped, dust and foreign matters are effectively prevented from entering the T-shaped groove, and the resistance caused by passing through the rail car is small.
Preferably, the magnetic movement controller further comprises an induction coil, the induction coil is fixedly installed at the front part or the rear part of the connecting part, induced electromotive force is generated when the induction coil passes through the paired magnetic blocks, and the induction coil is connected with the movement controller. Every time the induction coil passes through a pair of magnetic blocks, pulses in opposite directions are generated twice, the distance between the magnetic blocks is known, and the position calibration can be completed by detecting the induction pulses, so that the high running precision can be still maintained after the rail car runs for a long time.
The utility model discloses a substantive effect is: accomplish the lift of vertical direction through perpendicular rail, can drive the detector and detect the not high position of cubical switchboard, improve and patrol and examine accuracy and integrality, ensure cubical switchboard steady operation.
Drawings
Fig. 1 is a schematic structural view of the intelligent inspection robot for the switch cabinet according to the embodiment.
Fig. 2 is a sectional view of a base structure of the intelligent inspection robot of the switch cabinet according to the embodiment.
Fig. 3 is a schematic structural diagram of a railcar according to an embodiment.
FIG. 4 is a schematic structural diagram of a joint between a straight rail and a curved rail according to an embodiment.
FIG. 5 is a side view of a railcar and straight rails according to an embodiment.
Fig. 6 is a schematic view of a dust cloth according to an embodiment.
Fig. 7 is a schematic structural diagram of a power supply device according to an embodiment.
FIG. 8 is a side view of a power supply apparatus according to an embodiment.
Wherein: 1. straight rail, 2, T-shaped groove, 3, traveling rail surface, 4, dustproof cloth, 5, vertical rail, 6, base body, 7, bent rail, 8, gear, 9, spherical working head, 10, additional wheel, 11, main wheel, 12, rail car, 13, connecting part, 14, fastening wheel, 15, turning rail surface, 16, magnetic block, 17, induction coil, 18, trolley wire, 19, insulating substrate, 20, insulating soft magnetic strip, 21 and contact.
Detailed Description
The following provides a more detailed description of the present invention, with reference to the accompanying drawings.
The first embodiment is as follows:
a sliding contact line powered switch cabinet intelligent inspection robot is shown in figure 1, is a structural schematic diagram of a switch cabinet intelligent inspection robot in an embodiment, is shown in figure 7, is a structural schematic diagram of a power supply device in an embodiment, is shown in figure 8, is a side schematic diagram of a power supply device in an embodiment, and comprises a straight rail 1, a bent rail 7, a vertical rail 5, a rail car 12, a base body 6, a climbing mechanism, a spherical working head 9, a motion controller and a detector, wherein the straight rail 1 is horizontally and fixedly arranged above the switch cabinet according to the switch cabinet layout in a switch room, the bent rail 7 is connected between two sections of the straight rails 1, T-shaped grooves 2 are respectively processed on the lower surfaces of the straight rail 1 and the bent rail 7, the rail car 12 is clamped in the T-shaped grooves 2, the power supply device comprises an insulating substrate 19, a sliding contact line 18 and an insulating soft magnetic strip 20, two contacts 21 are fixedly arranged on the top of the rail, the T-shaped grooves 19 of the straight rails, two sliding contact lines 18 are embedded in an insulating substrate 19, the straight rail is a magnetic conductive straight rail, an insulating soft magnetic strip 20 is placed below the insulating substrate 19, the insulating soft magnetic strip 20 is abutted with the insulating substrate 19, a contact 21 is flat, the two sliding contact lines 18 are respectively abutted with the top of the contact 21, the contact 21 is located between the insulating soft magnetic strip 20 and the insulating substrate 19, the contact 21 is connected with a motion controller, the sliding contact lines 18 are connected with a power supply, a vertical rail 5 is fixed at the lower part of a rail car 12, a climbing mechanism is installed in a base body 6 and is clamped with the vertical rail 5, the motion controller is connected with the rail car 12 and the climbing mechanism, a spherical working head 9 is hinged and installed at the bottom end of the base body 6, a detector is installed in the spherical working head 9, and the spherical working head.
As shown in fig. 2, for the base structure cross-sectional view of embodiment a cubical switchboard intelligence inspection robot, the bar tooth has all been processed to the vertical rail 5 left and right sides, and base member 6 is processed and is had the blind hole that is used for holding vertical rail 5, and climbing mechanism includes two gears 8, and the blind hole left and right sides is processed and is had the appearance chamber, and gear 8 articulates and installs in holding the intracavity, and gear 8 meshes with the bar tooth, and gear 8 is driven by the step motor who receives motion controller control. The meshing of the racks of the gear wheels 8 can provide a reliable vertical support force for supporting the weight of the base body 6 and the spherical working head 9.
The detector comprises an infrared detector, a video monitor and a partial discharge detector, wherein the infrared detector, the video monitor and the partial discharge detector are all arranged in the spherical working head 9, the infrared detector detects the temperature distribution of the switch cabinet, the video monitor monitors on-site video pictures, the partial discharge detector comprises an ultrasonic detector, a transient ground voltage detector and a ultrahigh frequency vibration detector, the ultrasonic detector detects ultrasonic waves emitted by the switch cabinet, the transient ground voltage detector detects the transient ground voltage of a set detection point on the switch cabinet, and the ultrahigh frequency vibration detector detects ultrahigh frequency vibration of a set part of the switch cabinet. The infrared camera shoots a target output heat map in real time, the temperature of the target is measured, diagnosis and analysis are carried out according to the operation condition of the heating equipment, potential defects of the equipment are found in time, early warning is given out, equipment protection is carried out in advance, hidden dangers are eliminated, and the operation life and efficiency of the equipment are improved; the camera with high image quality shoots the whole course of the inspection process, transmits a real-time video stream to the station control service host, can call a real-time image at any time through the station control service host, controls the robot to observe any position, detects the partial discharge phenomenon inside the switch cabinet in a mode of mutually combining three modes of ultrasonic waves, Transient Earth Voltage (TEV) and ultrahigh frequency, and performs alarm processing on abnormal detection data by comparing with a threshold value and a map of a preset value.
As shown in fig. 3, which is a schematic structural diagram of a rail car according to an embodiment, as shown in fig. 4, which is a schematic structural diagram of a junction between a straight rail and a curved rail according to an embodiment, as shown in fig. 5, which is a schematic structural diagram of a rail car according to an embodiment, as shown in a side view of a rail car according to an embodiment, a rail car 12 includes a pair of main wheels 11, a pair of additional wheels 10, a car body, a connecting portion 13, and at least two fastening wheels 14, the main wheels 11 are respectively and hingedly mounted on left and right sides of the middle portion of the car body, the main wheels 11 are abutted against the T-shaped grooves 2 of the straight rail 1 and the curved rail 7 near the straight rail 1 and the lower surface of the curved rail 7, the horizontal inner walls are traveling rail surfaces 3, the main wheels 11 are driven by stepping motors controlled by motion controllers, the additional wheels 10 are respectively and concentrically and fixedly, fastening wheel 14 articulates installs at the automobile body top surface, and fastening wheel 14 distributes both ends around the automobile body, and fastening wheel 14 and the firm butt in inner wall top of straight rail 1 and curved rail 7T type groove 2, connecting portion 13 fixed mounting are in the automobile body below, and connecting portion 13 and T type groove 2 are at the opening both sides butt of straight rail 1 and curved rail 7 lower surface, connecting portion 13 and vertical rail 5 fixed connection. The external diameter of the additional wheel 10 is smaller than that of the main wheel 11, when one side of the vehicle body is supported by the additional wheel 10 and the turning track surface 15, and the other side is supported by the main wheel 11 and the traveling track surface 3, the rotation of the main wheel 11 drives the additional wheel 10 to rotate, the two sides generate differential motion, the proper diameters of the main wheel 11 and the additional wheel 10 are set, the vehicle body turning motion caused by the differential motion is matched with the curvature of the curved track 7, and the turning motion is finished. The fastening wheels 14 can hold the vehicle body in contact with the top of the T-shaped groove 2, and stabilize the vehicle body in the front-rear direction. The connecting portion 13 abuts against the T-shaped groove 2 on both sides of the opening on the lower surfaces of the straight rail 1 and the curved rail 7, and the vehicle body and the connecting portion 13 can be prevented from being displaced in the front-rear direction.
As shown in fig. 6, which is a schematic view of a dustproof cloth structure of an embodiment, the dustproof cloths 4 are respectively located at left and right sides of the straight rail 1 and the curved rail 7, portions of the dustproof cloths 4 close to outer sides of the straight rail 1 and the curved rail 7 are fixedly connected with corresponding sides of the straight rail 1 and the curved rail 7, portions of the dustproof cloths 4 close to middle portions of the straight rail 1 and the curved rail 7 are partially overlapped, a plurality of magnetic blocks 16 are uniformly arranged at two sides of the overlapped portion of the dustproof cloths 4 in pairs along an extending direction of the straight rail 1 and the curved rail 7, the paired magnetic blocks 16 attract each other, and the connecting portion 13 is spread and penetrates through the overlapped portion of the two dustproof cloths 4 at the position of the connecting portion. The paired magnetic blocks 16 attract each other, so that the dustproof cloth 4 can be partially overlapped, dust and foreign matters are effectively prevented from entering the T-shaped groove 2, and resistance caused by passing through the rail car 12 is small.
The induction coil 17 is fixedly installed at the front or rear of the connecting part 13, the induction coil 17 generates induced electromotive force when passing through the paired magnetic blocks 16, and the induction coil 17 is connected with the motion controller. Each induction coil 17 passes through a pair of magnetic blocks 16, two pulses in opposite directions are generated, the distance between the magnetic blocks 16 is known, and the position calibration can be completed by detecting the induction pulses, so that the high running precision is still maintained after the rail car 12 runs for a long time.
Accomplish the lift of vertical direction through vertical rail 5, can drive the detector and detect the not high position of cubical switchboard, improve and patrol and examine accuracy and integrality, ensure cubical switchboard steady operation.
The above embodiment is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the technical scope of the claims.
Claims (7)
1. An intelligent inspection robot of a switch cabinet powered by a sliding contact line, which is characterized in that,
the device comprises a straight rail, a vertical rail, a rail car, a base body, a climbing mechanism, a spherical working head, a motion controller, a power supply device and a detector, wherein the straight rail is horizontally and fixedly arranged above a switch cabinet according to the layout of the switch cabinet in a switch room, T-shaped grooves are processed on the lower surface of the straight rail, the rail car is clamped in the T-shaped grooves, the power supply device comprises an insulating base plate, sliding contact lines and insulating soft magnetic strips, two contacts are fixedly arranged at the top of the rail car, the insulating base plate is arranged at the top of the T-shaped groove of the straight rail, two sliding contact lines are embedded in the insulating base plate, the straight rail is a magnetic-conducting straight rail, the insulating soft magnetic strips are arranged below the insulating base plate, the insulating soft magnetic strips are abutted against the insulating base plate, the contacts are flat, the two sliding contact lines are respectively abutted against the tops of the contacts, and the contacts are positioned, the contact is connected with the motion controller, the sliding contact line is connected with a power supply, the vertical rail is fixed on the lower portion of the rail car, the climbing mechanism is installed in the base body and clamped with the vertical rail, the motion controller is connected with the rail car and the climbing mechanism, the spherical working head is hinged to the bottom end of the base body, and the detector is installed in the spherical working head.
2. The intelligent inspection robot for switch cabinets powered by trolley lines of claim 1,
the detector includes infrared detector, video monitor and partial discharge detector, infrared detector, video monitor and partial discharge detector all settle in the spherical working head, the temperature distribution of infrared detector detection cubical switchboard, video monitor monitoring scene video picture, the partial discharge detector includes ultrasonic detector, transient state ground voltage detector and superfrequency vibration detector, the ultrasonic wave that ultrasonic detector detected the cubical switchboard and sent, transient state ground voltage detector detects the transient state of the settlement check point on the cubical switchboard and to the ground voltage, superfrequency vibration detector detects the superfrequency vibration that the cubical switchboard set for the position.
3. The trolley line powered switch cabinet intelligent inspection robot according to claim 1 or 2,
the rail car includes a pair of main wheel, automobile body, connecting portion and two at least tight pulleys, the main wheel is articulated respectively to be installed the left and right sides at automobile body middle part, the main wheel with the T type groove of straight rail is close to straight rail lower surface horizontal inner wall butt, horizontal inner wall be the track face of marcing, the main wheel is driven alone by two step motor controlled by motion controller respectively, the tight pulley is articulated to be installed at the automobile body top surface, the tight pulley distributes both ends around the automobile body, the firm butt in inner wall top of tight pulley and straight rail T type groove, connecting portion fixed mounting is in the automobile body below, connecting portion and T type groove are at the opening both sides butt of straight rail lower surface, connecting portion and perpendicular rail fixed connection.
4. The trolley line powered switch cabinet intelligent inspection robot according to claim 1 or 2,
the climbing mechanism comprises two gears, cavities are formed in the left side and the right side of each blind hole, the gears are installed in the cavities in a hinged mode, the gears are meshed with the bar teeth, and the gears are driven by stepping motors controlled by the motion controller.
5. The intelligent inspection robot for switch cabinets powered by trolley lines of claim 3,
the climbing mechanism comprises two gears, cavities are formed in the left side and the right side of each blind hole, the gears are installed in the cavities in a hinged mode, the gears are meshed with the bar teeth, and the gears are driven by stepping motors controlled by the motion controller.
6. The intelligent inspection robot for switch cabinets powered by trolley lines of claim 3,
still include two dustproof cloths and a plurality of magnetic path, dustproof cloths is located the left and right sides of straight rail respectively, the part that dustproof cloths is close to the straight rail outside corresponds side fixed connection with straight rail, there is the part overlap in the part that dustproof cloths is close to straight rail middle part, the even range of straight rail extending direction in a plurality of magnetic path is in the both sides of dustproof cloths overlap portion, mated magnetic path inter attraction, connecting portion struts and passes the overlap portion of two dustproof cloths of its position.
7. The trolley line powered switch cabinet intelligent inspection robot of claim 5,
still include two dustproof cloths and a plurality of magnetic path, dustproof cloths is located the left and right sides of straight rail respectively, the part that dustproof cloths is close to the straight rail outside corresponds side fixed connection with straight rail, there is the part overlap in the part that dustproof cloths is close to straight rail middle part, the even range of straight rail extending direction in a plurality of magnetic path is in the both sides of dustproof cloths overlap portion, mated magnetic path inter attraction, connecting portion struts and passes the overlap portion of two dustproof cloths of its position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920523370.1U CN210210382U (en) | 2019-04-17 | 2019-04-17 | Intelligent inspection robot for switch cabinet powered by sliding contact line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920523370.1U CN210210382U (en) | 2019-04-17 | 2019-04-17 | Intelligent inspection robot for switch cabinet powered by sliding contact line |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111653968A (en) * | 2020-05-15 | 2020-09-11 | 国网浙江桐乡市供电有限公司 | Track type inspection equipment for power distribution room |
| CN112034860A (en) * | 2020-09-14 | 2020-12-04 | 山东商业职业技术学院 | Track type inspection robot |
| CN113000907A (en) * | 2021-03-15 | 2021-06-22 | 南通力科机床制造有限公司 | Planer-type milling machine equipment |
| CN113619750A (en) * | 2021-10-14 | 2021-11-09 | 南通海泰机械设备有限公司 | Ship self-washing cabin machinery |
-
2019
- 2019-04-17 CN CN201920523370.1U patent/CN210210382U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111653968A (en) * | 2020-05-15 | 2020-09-11 | 国网浙江桐乡市供电有限公司 | Track type inspection equipment for power distribution room |
| CN111653968B (en) * | 2020-05-15 | 2021-10-22 | 国网浙江桐乡市供电有限公司 | Track type inspection equipment for power distribution room |
| CN112034860A (en) * | 2020-09-14 | 2020-12-04 | 山东商业职业技术学院 | Track type inspection robot |
| CN113000907A (en) * | 2021-03-15 | 2021-06-22 | 南通力科机床制造有限公司 | Planer-type milling machine equipment |
| CN113619750A (en) * | 2021-10-14 | 2021-11-09 | 南通海泰机械设备有限公司 | Ship self-washing cabin machinery |
| CN113619750B (en) * | 2021-10-14 | 2021-12-24 | 南通海泰机械设备有限公司 | Ship self-washing cabin machinery |
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