CN104674655A - Cable climbing robot - Google Patents
Cable climbing robot Download PDFInfo
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- CN104674655A CN104674655A CN201510089082.6A CN201510089082A CN104674655A CN 104674655 A CN104674655 A CN 104674655A CN 201510089082 A CN201510089082 A CN 201510089082A CN 104674655 A CN104674655 A CN 104674655A
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Abstract
The invention relates to a cable climbing robot, which comprises an outer framework, clamping mechanisms and climbing mechanisms, wherein the clamping mechanisms and the climbing mechanisms are arranged on the outer framework; the outer framework is a cubic framework; each edge of the upper surface and the lower surface of the outer framework is respectively connected with an inner edge frame through a radial frame, and one clamping mechanism and one climbing mechanism are respectively arranged at each side surface of the outer framework; in each clamping mechanism, a ball screw is connected between vertical rods at the side surface of the outer framework; two edges of the ball screw have opposite screwing directions; two screw nuts of the ball screw are respectively hinged to connecting rods; the other end of each of the two connecting rods is hinged to the back part of a clamping support plate, and rolling wheels are arranged at the upper end and the lower end of the clamping support plate and are matched with the radial frame; in each climbing mechanism, a guide rod is hinged to one end of the inner side of the clamping support plate; a guide wheel is arranged on the guide rod; a nitrogen spring is arranged at the other end of the inner side of the clamping support plate and is hinged to a balance beam, and a driving wheel and a driven wheel are respectively arranged at the upper end and the lower end of the balance beam and are connected by a synchronous belt. The cable climbing robot has the advantages that the cable climbing robot can be used for cables with large diameter differences; the clamping force is good; the cable climbing capability and obstacle crossing capability are higher, and the seizure and slippage can be avoided.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of cable inspection and the cable climbing robot of operation.
Background technology
Along with the fast development of bridge construction industry, the scale of cable stayed bridge is increasing, at present, and the cable stayed bridge of main span more than 200 meters nearly more than 200 seats in the world.The detection being increased to bridge of cable stayed bridge number size brings more challenge.Whether cable is the main supporting member of cable stayed bridge, and in being chronically exposed to and exposing to the weather, easily occur damaged situation about even rupturing, need timing to detect its surface complete.Cable suspension, may up to hundred meters in the both sides of cable stayed bridge, and general hand inspection method takes time and effort, and can not ensure personal safety, although utilize hoist engine to detect cable ensure that personal security to a certain extent, still there is the problem of inefficiency.Under this background, cable climbing robot technology is suggested.This technology is exactly utilize the industrial robot designed and produced especially to carry detection system to detect and operation cable.Existing cable climbing robot mainly contains pneumatic worming, electronic continous way and spiral climbing formula.Compare, electronic continous way cable climbing robot have motion continuously reliable, small volume, can wireless remote control and the advantage such as bearing capacity is better, become the direction of cable climbing robot main development.
Cable surface is coated with one deck hank knotting usually, hank knotting can produce in Long-Time Service that some are larger raised or sunken, sometimes cable also can install some small detector elements or ornament, cable climbing robot in the course of the work, needs to cross these obstacles.Consult the up-to-date cable climbing robot of domestic several moneys, as China Patent Publication No. CN201437247, publication date is on April 14th, 2010, the name that utility model is created is called robot capable of crawling cable, that application discloses a kind of robot capable of crawling cable, connected by three connecting rod racks that three dollies form, three summits place upper push-rod chain connection lower push-rod of tripod, upper lower push-rod is equipped with a driving wheel and a driven pulley respectively.Upper push-rod and lower push-rod all produce contact force by oblique pull spring and cable, and whole robot becomes equilateral triangle structure.The cable robot of this utility model has following deficiency.The first, designed triangular frame structure is fixed, so can not be applied on the excessive cable of diameter difference.The second, although use oblique pull spring to have certain obstacle climbing ability, when roller is by larger obstruction, still there is problem that may be stuck.3rd, due to structure restriction, cannot change the enclasping force of robot to cable in the course of the work, when robot is in height stuck or skidding in the air, the uncontrollable robot in ground reclaims.Above problem is ubiquity in the electronic continous way cable climbing robot of existing kind.
Summary of the invention
The object of this invention is to provide a kind of for the cable climbing robot to cable inspection and operation.This robot can be used for the large cable of diameter difference, good to the clamping force of cable, and it is strong to climb cable ability and obstacle climbing ability, and can avoid stuck and skid.
The present invention for the technical scheme realizing its goal of the invention and take is: a kind of cable climbing robot, comprises the clamp system on outside framework, outside framework and climbing mechanism, and its design feature is:
Described outside framework is cube frame; The upper surface of outside framework is all connected with interior frame side by radial shelf with each limit of soffit, each side of outside framework all has a clamp system and climbing mechanism;
The concrete composition of each clamp system is: between the vertical rod of outside framework side, the contrary ball-screw of both sides rotation direction is connected by bearing, feed screw nut on ball-screw both sides is all hinged with connecting rod, the other end of two connecting rods is articulated with on the hinge in vertical clamping brace backboard portion jointly, ball-screw is by the driving stepper motor be fixed on outside framework, and the upper and lower side of clamping brace plate all installs the roller coordinated with the corresponding radial shelf on outside framework;
The concrete composition of each climbing mechanism is: the hinged guide peg in one end inside the clamping brace plate on outside framework, the other end of guide peg installs directive wheel, be connected with extension spring between guide peg and clamping brace plate, the other end inside clamping brace plate is fixedly connected with nitrogen spring; The nitrogen spring other end is articulated with in the middle part of equalizer bar, and the upper and lower side of equalizer bar is separately installed with driven pulley and driving wheel, is connected with Timing Belt between driven pulley and driving wheel, and driving wheel is connected with the drive motors be fixed on equalizer bar.
The operating principle of clamp system of the present invention is: driving stepper motor ball screw turns, thus one end of feed screw nut on drive ball-screw and the hinged connecting rod of feed screw nut thereof does relative motion, the connecting rod other end promotes clamping brace plate, the roller of the upper and lower side of clamping brace plate moves along the radial shelf on outside framework to cable, makes directive wheel, driving wheel and driven pulley compress cable; Motor reversal, reverse motions is done in one end of feed screw nut and the hinged connecting rod of feed screw nut thereof, and now, connecting rod pulls clamping brace plate away from cable, thus makes directive wheel, driving wheel and driven pulley leave cable.
The operating principle of climbing mechanism of the present invention is: drive motors drives driving wheel to rotate by reducer, Timing Belt successively, and driving wheel drives driven pulley to rotate together by Timing Belt, thus realizes cable climbing robot creeping on cable.The direction of creeping of cable climbing robot is controlled by the rotating of drive motors.
Compared with prior art, the invention has the beneficial effects as follows:
One, clamp cable to relative clamp system and climbing mechanism from four direction by two, its clamping force is large, and firmly, it is strong to climb cable ability in clamping.
Two, the clamp system of all directions is by different step motor control, and the distance between the clamping brace plate in each direction and cable can be different, thus can adapt to the cable of tabular, simultaneous adaptation the diameter range of cable large.
Three, each ball-screw controls the clamping in a cable climbing robot direction, when running into obstacle, and can by unclamping one of them clamp system, successfully avoid cable side, or the various component that relative both sides are installed, its obstacle climbing ability is strong, good by property.
Four, conveniently by the control to stepper motor, can realize controlling cable clamping force, can either ensure that clamping is firmly, avoid skidding, can avoid again stuck simultaneously, good by property.
Five, nitrogen spring volume is little, elastic force is large, stroke is long, stable working, spring curve is mild, and do not need pretension, nitrogen spring is adopted to provide pressure for robot, constant pressure, avoid cable climbing robot to climb cable when running into obstacle, spring is stuck to the excessive appearance of cable pressure because being subject to excessive compressive force, substantially increase its obstacle performance, ensure that the operating efficiency of cable climbing robot bridge machinery.
Five, clamping brace plate is provided with directive wheel, driving wheel and driven pulley, a balladeur train and cable have three contact points, ensure that with the contact of cable firm, clamping force is good, is connected between driving wheel and driven pulley by equalizer bar simultaneously, and the middle part of equalizer bar is connected with clamping brace plate by nitrogen spring and linear bearing, driving wheel (driven pulley) can be rotated around the hinge of equalizer bar, and the retrogressing of whole equalizer bar and resilience, make its obstacle climbing ability strong, clamping force is good simultaneously.
Further, be fixed with line slideway between the vertical rod of outside framework side of the present invention, line slideway is positioned at the outside of ball-screw, and two of line slideway slide blocks are fixedly connected with two feed screw nuts respectively.
Like this, line slideway can share the active force of feed screw nut to the vertical direction that leading screw produces, and avoids ball-screw to be subject to excessive Moment for a long time and deformation failure.
Further, ball-screw of the present invention by the stepper motor driven concrete mode be fixed on outside framework is: one is fixed on two relative ball-screws of driving stepper motor on outside framework: described stepper motor is connected with a ball-screw by reducer, and described ball-screw is connected by Timing Belt with another ball-screw.
Like this, meeting cable climbing robot under the compliance of tabular cable and the prerequisite of obstacle climbing ability, by simple mode, the clamp system realized by step motor control is relative clamps or unclamps cable, reduces the weight of cost and whole cable climbing robot.
Further, the guide peg of a pair climbing mechanism relatively of the present invention and the directive wheel of installation thereof are positioned at the upper end of clamping brace plate, and another is positioned at the lower end of clamping brace plate to the guide peg of climbing mechanism and the directive wheel of installation thereof.
Like this, directive wheel on adjacent clamping brace plate one on the other, driving wheel and driven pulley are also one on the other, make cable bearing up-down force even, and uplink and downlink are creeped, Shi Junyou creeps the strong driving wheel of ability and driven pulley front, the good directive wheel of guidance capability, rear, makes all have good ability of creeping and guidance capability during its uplink and downlink.
Further, the concrete structure that described driving wheel is connected with the drive motors be fixed on equalizer bar is: drive motors is by being connected with driving wheel by reducer, Timing Belt successively.
Like this, by the connection of Timing Belt, control rotating and the velocity of rotation of drive motors, robot crawling direction and creep speed can be manipulated.
Further, drive motors of the present invention is brshless DC motor.
This motor is lightweight and volume is little, and the linearity of mechanical property and control characteristic is good, and speed adjustable range is wide, and the life-span is long, easy to maintenance, and noise is little.
Further, outside framework of the present invention is the dismountable framework in side, and one of them lateral frame is connected by pin with other sides.
Like this, convenient disassembly, improves operating efficiency.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention face structural representation.
Fig. 2 is the A-A generalized section of Fig. 1.
Fig. 3 is the C-C cross-sectional schematic of Fig. 1.
Fig. 4 is the side-looking structural representation of the embodiment of the present invention.
Fig. 5 is the plan structure schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Embodiment
Fig. 1-5 illustrates, a kind of detailed description of the invention of the present invention is: a kind of cable climbing robot, and comprise the clamp system on outside framework 100, outside framework 100 and climbing mechanism, its design feature is:
Described outside framework 100 is cube frame; The upper surface of outside framework 100 is all connected with interior frame side 102 by radial shelf 101 with each limit of soffit, each side of outside framework 100 all has a clamp system and climbing mechanism;
The concrete composition of each clamp system is: between the vertical rod of outside framework 100 side, the contrary ball-screw 201 of both sides rotation direction is connected by bearing, feed screw nut 202 on ball-screw 201 both sides is all hinged with connecting rod 203, the other end of two connecting rods 203 is articulated with on the hinge at vertical clamping brace plate 204 back jointly, ball-screw 201 is driven by the stepper motor 205 be fixed on outside framework 100, and the upper and lower side of clamping brace plate 204 all installs the roller 207 coordinated with the corresponding radial shelf 101 on outside framework 100;
The concrete composition of each climbing mechanism is: the hinged guide peg 301 in the one end inside the clamping brace plate 204 on outside framework, the other end of guide peg 301 installs directive wheel 302, be connected with extension spring 303 between guide peg 301 and clamping brace plate 204, the other end inside clamping brace plate 204 is fixedly connected with nitrogen spring 307; Nitrogen spring 307 other end is articulated with in the middle part of equalizer bar 305, the upper and lower side of equalizer bar 305 is separately installed with driven pulley 308 and driving wheel 309, be connected with Timing Belt between driven pulley 308 and driving wheel 309, driving wheel 309 is connected with the drive motors 310 be fixed on equalizer bar 305.
Be fixed with line slideway 208 between the vertical rod of outside framework 100 side described in this example, line slideway 208 is positioned at the outside of ball-screw 201, and two of line slideway 208 slide blocks are fixedly connected with two feed screw nuts 202 respectively.
The concrete mode that ball-screw 201 described in this example is driven by the stepper motor 205 be fixed on outside framework 100 is: a stepper motor 205 be fixed on outside framework 100 drives two relative ball-screws 201: described stepper motor 205 is connected with a ball-screw 201 by reducer, and described ball-screw 201 is connected by Timing Belt with another ball-screw 201.
The guide peg 301 of a pair climbing mechanism relative described in this example and the directive wheel 302 installed thereof are positioned at the upper end of clamping brace plate 204, and another is positioned at the lower end of clamping brace plate 204 to the guide peg 301 of climbing mechanism and the directive wheel 302 installed thereof.
The concrete structure that driving wheel 309 described in this example is connected with the drive motors 310 be fixed on equalizer bar 305 is: drive motors 310 is connected with driving wheel 309 by reducer, Timing Belt successively.
Drive motors 310 described in this example is brshless DC motor.
Outside framework 100 described in this example is the dismountable framework in side, and one of them lateral frame is connected by pin with other sides.
Claims (7)
1. a cable climbing robot, comprises the clamp system on outside framework (100), outside framework (100) and climbing mechanism, it is characterized in that:
Described outside framework (100) is cube frame; The upper surface of outside framework (100) is all connected with interior frame side (102) by radial shelf (101) with each limit of soffit, outside framework (100) each side all has a clamp system and climbing mechanism;
The concrete composition of each clamp system is: between the vertical rod of outside framework (100) side, the contrary ball-screw (201) of both sides rotation direction is connected by bearing, feed screw nut (202) on ball-screw (201) both sides is all hinged with connecting rod (203), the other end of two connecting rods (203) is articulated with on the hinge at vertical clamping brace plate (204) back jointly, ball-screw (201) is driven by the stepper motor (205) be fixed on outside framework (100), the upper and lower side of clamping brace plate (204) all installs the roller (207) coordinated with the corresponding radial shelf (101) on outside framework (100),
The concrete composition of each climbing mechanism is: the hinged guide peg in one end (301) of clamping brace plate (204) inner side on outside framework, the other end of guide peg (301) installs directive wheel (302), be connected with extension spring (303) between guide peg (301) and clamping brace plate (204), the other end of clamping brace plate (204) inner side is fixedly connected with nitrogen spring (307); Nitrogen spring (307) other end is articulated with equalizer bar (305) middle part, the upper and lower side of equalizer bar (305) is separately installed with driven pulley (308) and driving wheel (309), be connected with Timing Belt between driven pulley (308) and driving wheel (309), driving wheel (309) is connected with the drive motors (310) be fixed on equalizer bar (305).
2. described a kind of cable climbing robot according to claim 1, it is characterized in that: between the vertical rod of described outside framework (100) side, be fixed with line slideway (208), line slideway (208) is positioned at the outside of ball-screw (201), and two slide blocks of line slideway (208) are fixedly connected with two feed screw nuts (202) respectively.
3. described a kind of cable climbing robot according to claim 1, it is characterized in that: the concrete mode that described ball-screw (201) is driven by the stepper motor (205) be fixed on outside framework (100) is: a stepper motor (205) be fixed on outside framework (100) drives two relative ball-screws (201): described stepper motor (205) is connected with a ball-screw (201) by reducer, and described ball-screw (201) is connected by Timing Belt with another ball-screw (201).
4. a kind of cable climbing robot according to claim 1, it is characterized in that: the guide peg (301) of described a pair climbing mechanism relatively and the directive wheel (302) of installation thereof are positioned at the upper end of clamping brace plate (204), and another guide peg to climbing mechanism (301) and the directive wheel (302) installed thereof are positioned at the lower end of clamping brace plate (204).
5. a kind of cable climbing robot according to claim 1, is characterized in that: the concrete structure that described driving wheel (309) is connected with the drive motors (310) be fixed on equalizer bar (305) is: drive motors (310) is connected with driving wheel (309) by reducer, Timing Belt successively.
6. a kind of cable climbing robot according to claim 1, is characterized in that: described drive motors (310) is brshless DC motor.
7. a kind of cable climbing robot according to claim 1, is characterized in that: described outside framework (100) is the dismountable framework in side, and one of them lateral frame is connected by pin with other sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510089082.6A CN104674655B (en) | 2015-02-27 | 2015-02-27 | A kind of cable climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510089082.6A CN104674655B (en) | 2015-02-27 | 2015-02-27 | A kind of cable climbing robot |
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| CN104674655A true CN104674655A (en) | 2015-06-03 |
| CN104674655B CN104674655B (en) | 2016-06-29 |
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| CN201510089082.6A Expired - Fee Related CN104674655B (en) | 2015-02-27 | 2015-02-27 | A kind of cable climbing robot |
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Cited By (17)
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| CN105158276A (en) * | 2015-08-05 | 2015-12-16 | 中铁大桥科学研究院有限公司 | Device for detecting bridge suspension rod and detection method of device |
| CN106052920A (en) * | 2016-05-19 | 2016-10-26 | 武汉理工大学 | Intelligent lifting positioning cable force detecting device |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN108516027A (en) * | 2018-05-17 | 2018-09-11 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
| CN109050702A (en) * | 2018-07-27 | 2018-12-21 | 于显超 | A kind of climbing robot |
| CN110952443A (en) * | 2019-11-21 | 2020-04-03 | 深圳市人工智能与机器人研究院 | Split type cable climbing detection robot |
| CN111097145A (en) * | 2020-01-18 | 2020-05-05 | 郑州科技学院 | Electric power meter reading device |
| CN111595856A (en) * | 2020-06-13 | 2020-08-28 | 浙江工业大学 | Wall-climbing robot for flaw detection of guyed bridge |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
| CN113511280A (en) * | 2021-07-05 | 2021-10-19 | 中国矿业大学 | Steel wire rope climbing robot |
| CN114216029A (en) * | 2022-02-21 | 2022-03-22 | 金田产业发展(山东)集团有限公司 | Site survey device for architectural design |
| CN114803774A (en) * | 2022-04-26 | 2022-07-29 | 鞍钢集团矿业有限公司 | Multi-adaptive steel wire rope flaw detection robot and using method thereof |
| CN116298700A (en) * | 2023-05-18 | 2023-06-23 | 陕西浩悦博纳网络科技有限公司 | 5G-based power communication cable state monitoring system |
| CN117697796A (en) * | 2024-02-06 | 2024-03-15 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
| CN111595856B (en) * | 2020-06-13 | 2024-06-11 | 浙江工业大学 | Wall climbing robot for flaw detection of rope pulling bridge |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105158276A (en) * | 2015-08-05 | 2015-12-16 | 中铁大桥科学研究院有限公司 | Device for detecting bridge suspension rod and detection method of device |
| CN106052920A (en) * | 2016-05-19 | 2016-10-26 | 武汉理工大学 | Intelligent lifting positioning cable force detecting device |
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| CN108216409B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Flexible peristaltic climbing robot |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | Reducing clamping device |
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| CN108516027A (en) * | 2018-05-17 | 2018-09-11 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
| CN108516027B (en) * | 2018-05-17 | 2024-03-15 | 香港中文大学（深圳） | Support leading wheel structure and have cable climbing robot of this structure |
| CN109050702A (en) * | 2018-07-27 | 2018-12-21 | 于显超 | A kind of climbing robot |
| CN109050702B (en) * | 2018-07-27 | 2024-05-14 | 宁波昂霖智能装备有限公司 | Climbing robot |
| CN110952443A (en) * | 2019-11-21 | 2020-04-03 | 深圳市人工智能与机器人研究院 | Split type cable climbing detection robot |
| CN111097145A (en) * | 2020-01-18 | 2020-05-05 | 郑州科技学院 | Electric power meter reading device |
| CN111595856A (en) * | 2020-06-13 | 2020-08-28 | 浙江工业大学 | Wall-climbing robot for flaw detection of guyed bridge |
| CN111595856B (en) * | 2020-06-13 | 2024-06-11 | 浙江工业大学 | Wall climbing robot for flaw detection of rope pulling bridge |
| CN111688837B (en) * | 2020-06-19 | 2021-11-23 | 重庆大学 | High-speed climbing robot based on active clamping device |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
| CN113511280A (en) * | 2021-07-05 | 2021-10-19 | 中国矿业大学 | Steel wire rope climbing robot |
| CN114216029A (en) * | 2022-02-21 | 2022-03-22 | 金田产业发展(山东)集团有限公司 | Site survey device for architectural design |
| CN114216029B (en) * | 2022-02-21 | 2022-05-03 | 金田产业发展(山东)集团有限公司 | Site survey device for architectural design |
| CN114803774B (en) * | 2022-04-26 | 2023-12-15 | 鞍钢集团矿业有限公司 | Multi-adaptive wire rope flaw detection robot and using method thereof |
| CN114803774A (en) * | 2022-04-26 | 2022-07-29 | 鞍钢集团矿业有限公司 | Multi-adaptive steel wire rope flaw detection robot and using method thereof |
| CN116298700A (en) * | 2023-05-18 | 2023-06-23 | 陕西浩悦博纳网络科技有限公司 | 5G-based power communication cable state monitoring system |
| CN116298700B (en) * | 2023-05-18 | 2024-05-28 | 北京鹏鹄物宇科技发展有限公司 | 5G-based power communication cable state monitoring system |
| CN117697796A (en) * | 2024-02-06 | 2024-03-15 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
| CN117697796B (en) * | 2024-02-06 | 2024-05-03 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
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| CN104674655B (en) | 2016-06-29 |
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