CN105539625A - Climbing robot based on guide rail - Google Patents
Climbing robot based on guide rail Download PDFInfo
- Publication number
- CN105539625A CN105539625A CN201610019177.5A CN201610019177A CN105539625A CN 105539625 A CN105539625 A CN 105539625A CN 201610019177 A CN201610019177 A CN 201610019177A CN 105539625 A CN105539625 A CN 105539625A
- Authority
- CN
- China
- Prior art keywords
- climbing
- guide rail
- driven
- driven climbing
- robot based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a climbing robot based on a guide rail and belongs to the technical field of lifting equipment. The robot comprises an installing frame, a carrier, a power assembly, a lifting assembly and an electronic control assembly. The power assembly and the lifting assembly are linked with the carrier in the same direction, the electronic control assembly is electrically connected with the power assembly, and the power assembly drives the lifting assembly to move up and down. The lifting assembly comprises a driving element, an upper driven climbing element and a lower driven climbing element which are connected into a whole. Lifting rolling elements are hinged to the back side of the driving element, the back side of the upper driven climbing element and the back side of the lower driven climbing element respectively. The upper driven climbing element and the lower driven climbing element are both provided with a climbing chain wheel. The driving element is located between the upper driven climbing element and the lower driven climbing element and drives the climbing chain wheel of the upper driven climbing element and the climbing chain wheel of the lower driven climbing element to rotate. The electronic control assembly comprises a program control plate and a switch handle. The switch handle controls the power assembly. The climbing robot has the advantages of being high in operation safety, wide in application range, capable of achieving the crisis resolving and escape function and the like.
Description
Technical field
The invention belongs to jacking equipment technical field, especially relate to that a kind of safety is high, applied range, possess the climbing robot based on guide rail of crisis releasing and escaping function; Can be used as outdoor construction climbing equipment, high level rescues the uses such as (escaping) generating apparatus, fire escape, the escape way in old house, manned elevator.
Background technology
Jacking equipment is the device that a kind of people of realization or thing complete lower and eminence and move back and forth, and the important indicator of jacking equipment is: 1, safety; 2, dismantled and assembled property; 3, crisis releasing and escaping function is possessed.
Lifting mechanism common at present has civilian elevator, companion ladder for building.Civilian elevator requires higher to auxiliary facility, generally cannot operation use out of doors; Adopting cable to realize promoting, easily there is falling accident in cable breaks, in addition, has a power failure and be unfavorable for escape in operation.Companion ladder for building, is applicable to outdoor use, but needs to set up steel pipe support, and build relative complex, cost is also higher; Meanwhile, building companion ladder adopts cable to realize promoting, and cable breaks easily falling accident occurs, and safety is not high.In addition, as there is power-off, when being in high-altitude, being unfavorable for suing and labouring, not possessing crisis releasing and escaping function.
Because outdoor study scene is not quite similar, such as field of electricity construction, needs job execution on pinnacled electric tower, will use lifting climbing equipment, due to the restriction of workyard, adopts existing building companion ladder to there is larger inconvenience; As scene of fire, normal channel is blocked, and does not have actv. jacking equipment to come auxiliary salvage work; So design that a safety is high, applied range, the climbing robot based on guide rail that possesses crisis releasing and escaping function be the technical barrier that current industry urgently breaks through.
Summary of the invention
Technical matters to be solved by this invention is: provide that a kind of safety is high, applied range, possess the climbing robot based on guide rail of crisis releasing and escaping function.
The technical solution used in the present invention is: a kind of climbing robot based on guide rail, comprise erecting frame, erecting frame is provided with carrier, Power Component, lifting assembly and electrically-controlled component, described Power Component and lifting assembly and carrier realize linking in the same way, electrically-controlled component is electrically connected with Power Component, and Power Component drives lifting assembly to move up and down; Described lifting assembly comprises the driving link connected as one, upper driven climbing part and lower driven climbing part, and the back side of driving link, upper driven climbing part and lower driven climbing part is all hinged with spacing rolling member; Upper driven climbing part and lower driven climbing part are equipped with climbing sprocket wheel; The climbing sprocket rotation of described driving link between upper driven climbing part and lower driven climbing part and on driving on driven climbing part and lower driven climbing part; Electrically-controlled component comprises program board and switch handle, and described switch handle controls the operation of Power Component, and switch handle is arranged on erecting frame, and driving link and Power Component link; Described driving link comprises main frame, main shaft, main gear, and main shaft runs through main frame, and one end is connected with worm speed reducer, and the other end is connected with main gear, and main gear is arranged on the lateral surface of main frame; Described upper driven climbing part comprises upper frame body, upper rotating shaft, upper driven gear, climbing sprocket wheel, and upper rotating shaft axle runs through upper frame body, and climbing sprocket wheel is positioned at upper frame body and links with upper rotating shaft circumference; Described lower driven climbing part comprises lower frame body, lower rotary shaft, lower driven gear, climbing sprocket wheel, and lower rotary shaft axle runs through lower frame body, and climbing sprocket wheel is positioned at lower frame body and links with lower rotary shaft circumference.
Described driving link and Power Component realize linking through worm speed reducer, and described Power Component is motor, and the main shaft of worm speed reducer structure is provided with the hand assembly controlling main axis.
Described hand assembly comprises handle, cone tooth group, bearing, and a cone tooth in cone tooth group and main shaft axial limiting circumference link, and another cone tooth in cone tooth group and handle link.
The described cone tooth be connected with handle with between handle for grafting is connected.
Described erecting frame is also provided with protection latching device, and described protection latching device comprises the locking teeth, baffle plate and the driving lever that are connected successively, and described locking teeth is two, and baffle plate is connected with driving lever with locking teeth respectively.
The back side of described driving link, upper driven climbing part and lower driven climbing part is all hinged with two groups of spacing rolling members, and described spacing rolling member is track adjusting wheel.
The soffit of described erecting frame is provided with spacing guide wheel.
Described lifting assembly outer wrapping protective cover, and the front of described protective cover is provided with several draw rings, and the handle of hand assembly is placed in the side of protective cover.
The front of described protective cover is provided with some grooves, and the lamellar body of the composition protective cover be connected between groove has elasticity.
The invention has the beneficial effects as follows: a kind of climbing robot based on guide rail of the present invention possesses following advantage:
1, adopt chain wheel mode to realize lifting, because worm speed reducer possesses auto-lock function, compare cable wire elevating safety higher.
2, the extensible track through strip is basic as lifting, and mechanism is simply easy for installation, can adapt to most complex environment and landform, is especially applicable to scene of fire salvage work, directly can builds along house sidings and be convenient to fire-fighting and rescue; Also electric tower construction operation field is applicable to, applied range.
3, the present invention is except motor is as except preferred power units, is also provided with hand-operated mechanism as insurance system, can drop to ground, make the present invention more safe, possess crisis releasing and escaping function through the hand vectors safe that realizes.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is structural representation of the present invention.
Fig. 3 is that the present invention is in conjunction with guide rail schematic diagram.
Fig. 4 is part-structure schematic diagram of the present invention.
Fig. 5 is part-structure schematic diagram of the present invention.
Fig. 6 is part-structure schematic diagram of the present invention.
Fig. 7 is that the hand assembly of part of the present invention and Power Component are in conjunction with schematic diagram.
Fig. 8 is that the present invention protects latching device schematic diagram.
In figure: erecting frame 1; Carrier 2; Battery holding tank 2.1; Power Component 3; Lifting assembly 4; Driving link 4.1; Main frame 4.1.1; Main shaft 4.1.2; Main gear 4.1.3; Upper driven climbing part 4.2; Upper frame body 4.2.1; Upper driven gear 4.2.3; Lower driven climbing part 4.3; Lower frame body 4.3.1; Lower driven gear 4.3.3; Spacing rolling member 5; Climbing sprocket wheel 6; Worm speed reducer 7; Hand assembly 8; Upper connector 9; Lower attaching parts 10; Protection latching device 11; Locking teeth 11.1, baffle plate 11.2 and driving lever 11.3; Protective cover 12; Draw ring 12.1; Groove 12.2; Switch handle 13.
Detailed description of the invention
With reference to a kind of climbing robot based on guide rail shown in Fig. 1-Fig. 8, comprise erecting frame 1, erecting frame 1 is provided with carrier 2, Power Component 3, lifting assembly 4 and electrically-controlled component, described Power Component 3 and lifting assembly 4 realize linking in the same way with carrier 2, and described carrier 2 is provided with battery holding tank 2.1.Electrically-controlled component is electrically connected with Power Component 3, and Power Component 3 drives lifting assembly 4 to move up and down; Described lifting assembly 4 comprises the driving link 4.1 connected as one, upper driven climbing part 4.2 and lower driven climbing part 4.3, and the back side of driving link 4.1, upper driven climbing part 4.2 and lower driven climbing part 4.3 is all hinged with spacing rolling member 5; Upper driven climbing part 4.2 and lower driven climbing part 4.3 are equipped with climbing sprocket wheel 6; The climbing sprocket wheel 6 of described driving link 4.1 between upper driven climbing part 4.2 and lower driven climbing part 4.3 and on driving on driven climbing part 4.2 and lower driven climbing part 4.3 rotates; Electrically-controlled component comprises program board and switch handle, and described switch handle 13 controls the operation of Power Component 3, and switch handle 13 is arranged on erecting frame 1, and driving link 4.1 and Power Component 3 link.
Described driving link 4.1 realizes linking through worm speed reducer 7 with Power Component 3, and described Power Component 3 is motor, and the main shaft of worm speed reducer 7 structure is provided with the hand assembly 8 controlling main axis.
Described hand assembly 8 comprises handle, cone tooth group, bearing, and a cone tooth in cone tooth group and main shaft axial limiting circumference link, and another cone tooth in cone tooth group and handle link.
The described cone tooth be connected with handle with between handle for grafting is connected.
The back side of described driving link 4.1, upper driven climbing part 4.2 and lower driven climbing part 4.3 is all hinged with two groups of spacing rolling members 5, and described spacing rolling member 5 is track adjusting wheel, and the soffit of described erecting frame 1 is provided with spacing guide wheel.
Described driving link 4.1, upper driven climbing part 4.2 and lower driven climbing part 4.3 are connected as a single entity and refer to and be provided with at least two upper connectors 9 for both being coupled together between driving link 4.1 and upper driven climbing part 4.2, upper end and the upper driven climbing part 4.2 of described upper connector 9 are rotatedly connected, and lower end and the driving link 4.1 of upper connector 9 are rotatedly connected; Be provided with at least two lower attaching partss 10 for both being coupled together between driving link 4.1 and lower driven climbing part 4.3, lower end and the lower driven climbing part 4.3 of described lower attaching parts 10 are rotatedly connected, and upper end and the driving link 4.1 of lower attaching parts 10 are rotatedly connected.
Described driving link 4.1 comprises main frame 4.1.1, main shaft 4.1.2, main gear 4.1.3, main shaft 4.1.2 runs through main frame 4.1.1, one end is connected with worm speed reducer 7, and the other end is connected with main gear 4.1.3, and main gear 4.1.3 is arranged on the lateral surface of main frame 4.1.1; Described upper driven climbing part 4.2 comprises upper frame body 4.2.1, upper rotating shaft, upper driven gear 4.2.3, climbing sprocket wheel 6, and upper rotating shaft axle runs through upper frame body 4.2.1, and climbing sprocket wheel 6 is positioned at upper frame body 4.2.1 and links with upper rotating shaft circumference; Described lower driven climbing part 4.3 comprises lower frame body 4.3.1, lower rotary shaft, lower driven gear 4.3.3, climbing sprocket wheel 6, and lower rotary shaft axle runs through lower frame body 4.3.1, and climbing sprocket wheel 6 is positioned at lower frame body 4.3.1 and links with lower rotary shaft circumference; The upper end of described upper connector 9 is connected with upper axis of rotation, and lower end and the driving link 4.1 of upper connector 9 are rotatedly connected; Lower end and the lower rotary shaft of described lower attaching parts 10 are rotatedly connected, and upper end and the driving link 4.1 of lower attaching parts 10 are rotatedly connected.
The design of upper connector 9 and lower attaching parts 10, driving link 4.1, upper driven climbing part 4.2 are realized articulated manner with lower driven climbing part 4.3 three and be connected, also just mean, in operational process, when guide rail has certain radian time, driving link 4.1, upper driven climbing part 4.2 and lower driven climbing part 4.3 can be suitable swing, ensure climbing sprocket wheel 6 can fit closely with guide rail, improve climbing reliability.
Described erecting frame 1 is also provided with protection latching device 11; described protection latching device 11 comprises the locking teeth 11.1, baffle plate 11.2 and the driving lever 11.3 that are connected successively; described locking teeth 11.1 is two, and baffle plate 11.2 is connected with driving lever 11.3 with locking teeth 11.1 respectively.
Described lifting assembly 4 outer wrapping protective cover 12, and the front of described protective cover 12 is provided with several draw rings 12.1, and the handle of hand assembly 8 is placed in the side of protective cover 12.
The front of described protective cover 12 is provided with some grooves 12.2, and the lamellar body of the composition protective cover 12 be connected between groove 12.2 has elasticity.The design of this structure, object is: in order to reduce volume of the present invention and materials, so it is smaller to say that the volume of protective cover 12 does, it is closer that gear on the inwall of protective cover 12 and lifting assembly 4 pastes, when guide rail is straight not, so gear has the past evagination of certain amplitude, and top is to the inwall of protective cover 12; The frontal design of protective cover 12 is become groove 12.2 by the present invention, and the lamellar body so separated by groove is flexible, and when gear is encountered time, also have the buffering of certain amplitude, gear can not be subject to larger resistance, ensure to run usually and the service life of accessory.
Principle of work of the present invention is: start Power Component 3 by electrically-controlled component, through worm speed reducer 7, power is passed to main shaft 4.1.2, main shaft 4.1.2 drives main gear 4.1.3 to rotate, in main gear 4.1.3 drive, driven gear 4.2.3 and lower driven gear 4.3.3 rotates, upper driven gear 4.2.3 and lower driven gear 4.3.3 rotates, drive respective climbing sprocket wheel 6 respectively, climbing sprocket wheel 6 is climbed along the guide rail of correspondence, can realize up-and-down movement.When breaking down, such as, having a power failure, can hand assembly 8 be passed through, by hand mode, drive worm speed reducer 7 to rotate, complete down maneuver.
A kind of climbing robot based on guide rail of the present invention possesses following advantage:
1, adopt chain wheel mode to realize lifting, because worm speed reducer possesses auto-lock function, compare cable wire elevating safety higher.
2, the extensible track through strip is basic as lifting, and mechanism is simply easy for installation, can adapt to most complex environment and landform, is especially applicable to scene of fire salvage work, directly can builds along house sidings and be convenient to fire-fighting and rescue; Also electric tower construction operation field is applicable to, applied range.
3, the present invention is except motor is as except preferred power units, is also provided with hand-operated mechanism as insurance system, can drop to ground, make the present invention more safe, possess crisis releasing and escaping function through the hand vectors safe that realizes.
Claims (8)
1. the climbing robot based on guide rail, it is characterized in that: comprise erecting frame (1), erecting frame (1) is provided with carrier (2), Power Component (3), lifting assembly (4) and electrically-controlled component, described Power Component (3) and lifting assembly (4) realize linking in the same way with carrier (2), electrically-controlled component is electrically connected with Power Component (3), and Power Component (3) drives lifting assembly (4) to move up and down; Described lifting assembly (4) comprises the driving link (4.1) connected as one, upper driven climbing part (4.2) and lower driven climbing part (4.3), and the back side of driving link (4.1), upper driven climbing part (4.2) and lower driven climbing part (4.3) is all hinged with spacing rolling member (5); Upper driven climbing part (4.2) and lower driven climbing part (4.3) are equipped with climbing sprocket wheel (6); Described driving link (4.1) to be positioned between driven climbing part (4.2) and lower driven climbing part (4.3) and to drive climbing sprocket wheel (6) rotation on upper driven climbing part (4.2) and lower driven climbing part (4.3); Electrically-controlled component comprises program board and switch handle, described switch handle controls the operation of Power Component (3), switch handle is arranged on erecting frame (1), and driving link (4.1) and Power Component (3) link; Described driving link (4.1) comprises main frame (4.1.1), main shaft (4.1.2), main gear (4.1.3), main shaft (4.1.2) runs through main frame (4.1.1), one end is connected with worm speed reducer (7), the other end is connected with main gear (4.1.3), and main gear (4.1.3) is arranged on the lateral surface of main frame (4.1.1); Described upper driven climbing part (4.2) comprises upper frame body (4.2.1), upper rotating shaft, upper driven gear (4.2.3), climbing sprocket wheel (6), upper rotating shaft axle runs through upper frame body (4.2.1), and climbing sprocket wheel (6) is positioned at upper frame body (4.2.1) and links with upper rotating shaft circumference; Described lower driven climbing part (4.3) comprises lower frame body (4.3.1), lower rotary shaft, lower driven gear (4.3.3), climbing sprocket wheel (6), lower rotary shaft axle runs through lower frame body (4.3.1), and climbing sprocket wheel (6) is positioned at lower frame body (4.3.1) and links with lower rotary shaft circumference.
2. the climbing robot based on guide rail according to claim 1, it is characterized in that: described driving link (4.1) and Power Component (3) realize linking through worm speed reducer (7), described Power Component (3) is motor, and the main shaft of worm speed reducer (7) structure is provided with the hand assembly (8) controlling main axis.
3. the climbing robot based on guide rail according to claim 2, it is characterized in that: described hand assembly (8) comprises handle, cone tooth group, bearing, a cone tooth in cone tooth group and main shaft axial limiting circumference link, and another cone tooth in cone tooth group and handle link.
4. the climbing robot based on guide rail according to claim 3, is characterized in that: the described cone tooth be connected with handle with between handle for grafting is connected.
5. the climbing robot based on guide rail according to claim 1, it is characterized in that: the back side of described driving link (4.1), upper driven climbing part (4.2) and lower driven climbing part (4.3) is all hinged with two groups of spacing rolling members (5), described spacing rolling member (5) is track adjusting wheel, and the soffit of described erecting frame (1) is provided with spacing guide wheel.
6. the climbing robot based on guide rail according to claim 1; it is characterized in that: described erecting frame (1) is also provided with protection latching device (11); described protection latching device (11) comprises the locking teeth (11.1), baffle plate (11.2) and the driving lever (11.3) that are connected successively; described locking teeth (11.1) is two, and baffle plate (11.2) is connected with driving lever (11.3) with locking teeth (11.1) respectively.
7. the climbing robot based on guide rail according to claim 1, it is characterized in that: described lifting assembly (4) outer wrapping protective cover (12), the front of described protective cover (12) is provided with several draw rings (12.1), and the handle of hand assembly (8) is placed in the side of protective cover (12).
8. the climbing robot based on guide rail according to claim 1, it is characterized in that: the front of described protective cover (12) is provided with some grooves (12.2), the lamellar body of the composition protective cover (12) be connected between groove (12.2) has elasticity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019177.5A CN105539625B (en) | 2016-01-12 | 2016-01-12 | Climbing robot based on guide rail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019177.5A CN105539625B (en) | 2016-01-12 | 2016-01-12 | Climbing robot based on guide rail |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105539625A true CN105539625A (en) | 2016-05-04 |
| CN105539625B CN105539625B (en) | 2019-03-08 |
Family
ID=55819290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610019177.5A Active CN105539625B (en) | 2016-01-12 | 2016-01-12 | Climbing robot based on guide rail |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105539625B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002937A (en) * | 2016-06-12 | 2016-10-12 | 江苏新光数控技术有限公司 | Mechanical arm capable of adjusting height |
| CN106995016A (en) * | 2017-02-22 | 2017-08-01 | 郑义恒 | A kind of spliced antifreeze skin climbing rail system with deceleration |
| CN107640677A (en) * | 2017-10-30 | 2018-01-30 | 宁波天弘电力器具有限公司 | One kind declines early warning component |
| CN107720490A (en) * | 2017-10-27 | 2018-02-23 | 北京国网富达科技发展有限责任公司 | The portable material transportation machine of electric power line pole tower maintenance |
| CN108373134A (en) * | 2018-04-13 | 2018-08-07 | 北京国网富达科技发展有限责任公司 | Electric power line pole tower climb-aiding device |
| 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 |
| CN109132786A (en) * | 2018-09-04 | 2019-01-04 | 深圳市特辰科技股份有限公司 | A kind of single-rail telescopic claw climbing machine |
| CN110255428A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of moving cell applied to guide rail climbing robot |
| CN110255430A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of guide rail climbing robot |
| CN111186749A (en) * | 2020-01-07 | 2020-05-22 | 青岛大学 | Elevator guide rail robot of crawling |
| CN111731403A (en) * | 2020-07-28 | 2020-10-02 | 北京瑞华新科科技有限公司 | Climbing robot, climbing structure and climbing method |
| CN114537547A (en) * | 2022-02-15 | 2022-05-27 | 华侨大学 | Elevator guide rail straightness and depth of parallelism automated inspection mechanism adsorb clamping device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003155182A (en) * | 2001-11-16 | 2003-05-27 | Sansei Kenki Kk | Rack-and-pinion type elevator for construction work |
| CN101304789A (en) * | 2005-11-07 | 2008-11-12 | M+F工程师咨询股份公司 | Climbing aid |
| CN203255838U (en) * | 2013-05-23 | 2013-10-30 | 广西建工集团建筑机械制造有限责任公司 | Single-lifting-point construction lift |
| CN205469361U (en) * | 2016-01-12 | 2016-08-17 | 宁波天弘电力器具有限公司 | Climbing robot based on guide rail |
-
2016
- 2016-01-12 CN CN201610019177.5A patent/CN105539625B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003155182A (en) * | 2001-11-16 | 2003-05-27 | Sansei Kenki Kk | Rack-and-pinion type elevator for construction work |
| CN101304789A (en) * | 2005-11-07 | 2008-11-12 | M+F工程师咨询股份公司 | Climbing aid |
| CN203255838U (en) * | 2013-05-23 | 2013-10-30 | 广西建工集团建筑机械制造有限责任公司 | Single-lifting-point construction lift |
| CN205469361U (en) * | 2016-01-12 | 2016-08-17 | 宁波天弘电力器具有限公司 | Climbing robot based on guide rail |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002937A (en) * | 2016-06-12 | 2016-10-12 | 江苏新光数控技术有限公司 | Mechanical arm capable of adjusting height |
| CN106995016A (en) * | 2017-02-22 | 2017-08-01 | 郑义恒 | A kind of spliced antifreeze skin climbing rail system with deceleration |
| CN107720490A (en) * | 2017-10-27 | 2018-02-23 | 北京国网富达科技发展有限责任公司 | The portable material transportation machine of electric power line pole tower maintenance |
| CN107640677A (en) * | 2017-10-30 | 2018-01-30 | 宁波天弘电力器具有限公司 | One kind declines early warning component |
| CN108373134A (en) * | 2018-04-13 | 2018-08-07 | 北京国网富达科技发展有限责任公司 | Electric power line pole tower climb-aiding device |
| 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 |
| CN109132786B (en) * | 2018-09-04 | 2020-12-04 | 深圳市特辰科技股份有限公司 | Single-guide rail telescopic claw stair climbing machine |
| CN109132786A (en) * | 2018-09-04 | 2019-01-04 | 深圳市特辰科技股份有限公司 | A kind of single-rail telescopic claw climbing machine |
| CN110255430A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of guide rail climbing robot |
| CN110255430B (en) * | 2019-06-20 | 2023-11-03 | 深圳市翠箓科技绿化工程有限公司 | Guide rail climbing robot |
| CN110255428A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of moving cell applied to guide rail climbing robot |
| CN111186749A (en) * | 2020-01-07 | 2020-05-22 | 青岛大学 | Elevator guide rail robot of crawling |
| CN111731403A (en) * | 2020-07-28 | 2020-10-02 | 北京瑞华新科科技有限公司 | Climbing robot, climbing structure and climbing method |
| CN111731403B (en) * | 2020-07-28 | 2023-12-26 | 北京雅利多创新科技有限公司 | Climbing robot, climbing structure and climbing method |
| CN114537547A (en) * | 2022-02-15 | 2022-05-27 | 华侨大学 | Elevator guide rail straightness and depth of parallelism automated inspection mechanism adsorb clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105539625B (en) | 2019-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105539625A (en) | Climbing robot based on guide rail | |
| CN105460850A (en) | Safe lifting appliance | |
| CN105502132A (en) | Lifting equipment with falling preventing function | |
| CN105460743A (en) | Climbing robot | |
| WO2017000520A1 (en) | Vertical rope climbing inspection robot for ultra-deep vertical shaft steel-rope guide | |
| CN105775971B (en) | The safety lifting device of track structure | |
| CN104860161B (en) | Intelligent and safe jacking equipment | |
| CN205294715U (en) | Lifting device for track structure | |
| CN110744564B (en) | Power arm for power transmission line inspection robot and power transmission line inspection robot | |
| CN108466271B (en) | Working method of wire walking robot | |
| CN108297067B (en) | Wire walking robot with lifting rope | |
| CN105217417A (en) | Safety cage structure | |
| CN105502204A (en) | Lifting device in track structure | |
| CN106629530A (en) | High-altitude operating equipment in building | |
| CN205469361U (en) | Climbing robot based on guide rail | |
| CN106510563A (en) | High-altitude robot cleaner | |
| CN205472495U (en) | Safe jacking equipment | |
| CN105173969A (en) | Safe lifting equipment | |
| CN205442329U (en) | Jacking equipment with prevent weighing down function | |
| CN208907002U (en) | A kind of derrick crane pinion and-rack micromainframe climbs system | |
| CN205294559U (en) | Robot of ascending a height | |
| CN108819966B (en) | Straddle type monorail vehicle escape device | |
| CN211116108U (en) | Tunnel is with blockking up conveyor | |
| CN216613943U (en) | Platform rotating device and manned pole-climbing device | |
| CN206719352U (en) | A kind of electric power tower climbs apparatus for examination and repair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |