CN108297956A - A kind of automatic climbing robot - Google Patents
A kind of automatic climbing robot Download PDFInfo
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- CN108297956A CN108297956A CN201711314127.0A CN201711314127A CN108297956A CN 108297956 A CN108297956 A CN 108297956A CN 201711314127 A CN201711314127 A CN 201711314127A CN 108297956 A CN108297956 A CN 108297956A
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- arm
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- 230000009194 climbing Effects 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Classifications
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- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology field, it is suitable for that upper and lower thickness is uneven and the side with flange obstacle, round bar, specifically a kind of automatic climbing robot, it is characterised in that：It can longitudinal extension module of the obvolvent on waiting for pole-climbing, several telescopic arm modules in longitudinal extension module and the crank rocker module for driving longitudinal extension module flexible including one.
Description
Technical field
The present invention relates to robotic technology field, it is specifically a kind of be suitable for up and down thickness it is uneven and carry flange obstacle
Side, round bar full-automatic climbing robot.
Background technology
The universal lower thick upper thin of electric pole in current power plant and substation, carries flange, and surrounding circuit is various.Climbing at present
Robot cannot adapt to simultaneously upper and lower thickness it is uneven and with flange obstacle side, round bar climbing, such as obstacle detouring pole-climbing machine
People (ZL201110359574.4), Paused rod climbing robot (ZL200910223463.3).In order to solve these problems, it needs to set
A kind of climbing robot that is full automatic, being suitable for upper and lower thickness square bar, round bar uneven and with flange obstacle is counted, is utilized
Robot imitates the action that people climbs tree, and completing climbing process simultaneously has extremely strong obstacle climbing ability, improve social production efficiency.
Invention content
The purpose of the present invention is overcoming the shortcomings of in background technology, one kind is provided and is suitable for that thickness is uneven up and down and carries
The side of flange obstacle, the full-automatic climbing robot of round bar.
The technical solution adopted by the present invention is：
A kind of automatic climbing robot, it is characterised in that：Including one can longitudinal extension module of the obvolvent on waiting for pole-climbing,
The crank rocker module that several telescopic arm modules and driving longitudinal extension module in longitudinal extension module are stretched.
The submodule that the longitudinal extension module is arranged symmetrically by two forms, and each submodule includes：
Upper layer semicircular ring and lower layer's semicircular ring, the two are corresponding up and down；
First, second, third pipe of vertical arrangement arrangement；First pipe is arranged in upper layer semicircular ring and lower layer's semicircular ring
One end, the second pipe is arranged in the midpoint of upper layer semicircular ring and lower layer's semicircular ring, third pipe be arranged in upper layer semicircular ring and
The other end of lower layer's semicircular ring；By first movement, secondary, the second prismatic pair and cylindrical pair are set on first to upper layer semicircular ring successively
On pipe, the second pipe and third pipe；
First locking cap；Upper end for the third pipe for connecting two submodules；
Second locking cap；Lower end for the third pipe for connecting two submodules, together with the first locking cap in guarantee
Two third pipe keeping parallelisms of layer semicircular ring two submodule when sliding up and down；
First pipe and the second pipe are fixedly connected by the first fixed block and the second fixed block with lower layer semicircular ring respectively；
Limit cap；It is mounted on the third pipe on the upside of revolute pair by jackscrew, constrains the longitudinal movement of revolute pair；
Four arms install window；Two of which arm installation window is separately mounted between the first pipe and the second pipe
The first, second semicircular ring point midway, other two arm installation window be separately mounted to the second pipe and third pipe
Between the first, second semicircular ring on point midway；
Two open lockings；Be separately mounted to that first movement is secondary and the first fixed block on, and opened with another submodule
Locking coordinates one by one；
Ultrasonic wave module；The bottom of window is installed mounted on an arm of lower layer's semicircular ring.
The telescopic arm module include the first stepper motor, motor rack, shaft coupling, leading screw, feed screw nut, guide rail slide block,
Guide rail, steering engine, wheel fork, rubber tire, ratchet, lock pawl, spring leaf, ear hole and involve spring；
First stepper motor is mounted on the outer end of motor rack；Shaft coupling is by the motor output shaft of leading screw and the first stepper motor
It links together；The longitudinal threaded through-hole of feed screw nut is through on leading screw, and the lateral blind hole-of feed screw nut is installed mounted on arm
In window；Feed screw nut is fixed on guide rail slide block；Guide rail is mounted on the downside of motor rack, while coordinating with guide rail slide block；Rudder
Machine is mounted on the inner end of motor rack；Wheel fork is mounted on steering engine output shaft；Rubber tire is fixed and is mounted on wheel fork with ratchet；Stop
Pawl is mounted on wheel fork, while being coordinated with ratchet；Spring leaf is mounted on wheel fork, compresses lock pawl；Involve spring to be arranged two
In a submodule between two adjacent telescopic arm modules of left and right, adjacent expansion arm module is linked together, spring is involved
End is hooked on the ear hole of motor rack inner end.
The crank rocker module by two sub- module compositions being arranged symmetrically, each submodule respectively drive one it is vertical
To the submodule of flexible module, each submodule of crank rocker module includes the first direct current generator, synchronous belt, crank, rocking bar；
Synchronous pulley in first direct current generator output shaft drives crank to circumferentially rotate by synchronous belt, and crank is moved by rocking bar and second
Dynamic secondary connection.
Beneficial effects of the present invention are as follows：
1, the present invention adapts to the bar of upper and lower plucked, whether is it there is obstacle, no matter it is square bar or round bar,
It can automatically climb；
2, the present invention is converted using the traveling of ratchet self-locking implementation mechanism with stopping, so that mechanism is more simplified reliable；
3, the present invention utilizes Gravitational sliding, saves the energy；
4, the present invention realizes obstacle detouring using spring and eight telescopic arm modules are involved with respect to circular motion, is skillfully constructed.
Description of the drawings
Fig. 1 is the crank rocker module front view of the present invention；
Fig. 2 is the longitudinal extension module front view of the present invention；
Fig. 3 is the longitudinal extension module stereogram of the present invention；
Fig. 4 is the telescopic arm stereogram of the present invention；
Fig. 5 be the present invention one of overall structure stereogram (the telescopic arm inner end of levels semicircular ring level with
Under)；
Fig. 6 be the overall structure stereogram of the present invention two (the telescopic arm inner end in lower layer's semicircular ring more than level, on
Telescopic arm inner end in layer semicircular ring is below horizontal)；
Fig. 7 be the overall structure stereogram of the present invention three (telescopic arm inner end in lower layer's semicircular ring below horizontal, on
Telescopic arm inner end in layer semicircular ring is more than level)；
Fig. 8 is the vertical view of the present invention；
Fig. 9 be the present invention telescopic arm module in feed screw nut stereogram.
Specific implementation mode
The invention will be further described below, but the invention is not limited in following embodiments.
The present invention includes crank rocker modules A, longitudinal extension module B and telescopic arm module C.The crank rocker module
Mainly it is made of crank, rocking bar and the first direct current generator；The longitudinal extension module is mainly by upper and lower two layers of annulus and the six roots of sensation
Vertically tube forms；The telescopic arm module C installs window B3 by arm respectively and is connected on upper layer and lower layer annulus.
(1) crank rocker module
As shown in Figure 1, the crank rocker modules A is by two sub- module compositions being arranged symmetrically, each crank rocker
Each submodule of modules A includes the first direct current generator A1, synchronous belt A2, crank A3, rocking bar A4.First direct current generator A1 outputs
Synchronous pulley on axis drives crank A3 to circumferentially rotate by synchronous belt, and crank A3 is connect with rocking bar A4.
(2) longitudinal extension module
As shown in Fig. 1 to Fig. 3, Fig. 5 to Fig. 8, the submodule that the longitudinal extension module is arranged symmetrically by two forms,
Two submodules can close up or open.Longitudinally in each stretch module submodule include upper layer semicircular ring B1, lower layer semicircular ring B2,
Arm installs window B3, the first locking cap B4, the second locking cap B5, cylindrical pair B6, limitation cap B7, revolute pair B8, first movement
Secondary B9, the second prismatic pair B10, open locking B11, ultrasonic wave module B12, the first pipe B13, the second pipe B14 and third pipe
B15。
First pipe B13, the second pipe B14 and third pipe B15 distribution such as Fig. 8, the first pipe B13 and the second pipe
B14 is fixedly connected with lower layer semicircular ring B2 by the first fixed block B16, the second fixed block B17 respectively, third pipe B15 difference
It is fixed on the second locking cap B5；Upper layer semicircular ring B1 passes through first movement secondary B9, the second prismatic pair B10 and cylindrical pair B6 difference
It is set on the first pipe B13, the second pipe B14 and third pipe B15；Upper and lower layer semicircular ring B1, B2 is respectively dispersed with two hands
Arm installs window B3, as shown in Figure 2 and Figure 3, two of which arm installation window be separately mounted to the first pipe and the second pipe it
Between the first, second semicircular ring B1, B2 point midway, other two arm installation window is separately mounted to the second pipe and the
The point midway of B1, B2 in the first, second semicircular ring between three pipes；First locking cap B4 is fixed on the two of two submodules
The upper end of a third pipe B15, for ensureing that two thirds of upper layer semicircular ring B1 two submodules when sliding up and down are justified
Pipe B15 keeping parallelism relationships；In open locking B11, (upper and lower layer semicircular ring is all for making upper and lower layer semicircular ring B1, B2 by cylindrical pair B6
Have open locking) open under conditions of realize rotation waited in pole-climbing with that can be sleeved on when originally；Limitation cap B7 is pacified by jackscrew
On the upside of revolute pair B8, for constraining the longitudinal movement of revolute pair B8；Ultrasonic wave module B12 is mounted on lower layer semicircular ring B2's
The downside of one arm installation window B3.
Upper and lower layer semicircular ring B1, B2 is connect with two crank rocker modules As, specifically：The rocking bar of crank rocker modules A
A4 is connect with the second prismatic pair B10, and the first direct current generator A1 of crank rocker modules A is separately mounted to the second lower ends pipe B14,
As shown in Figure 2 and Figure 3.
(3) telescopic arm module
As shown in Fig. 2,3,8,9, the telescopic arm module include the first stepper motor C1, motor rack C2, shaft coupling C3,
Leading screw C4, feed screw nut C5, guide rail slide block C6, guide rail C7, steering engine C8, wheel fork C9, rubber tire C10, ratchet C11, lock pawl C12,
Spring leaf C13, ear hole C14 and involve spring C15.
The first stepper motor C1 is mounted on the outer end of motor rack C2；Shaft coupling C3 is electric by leading screw C4 and the first stepping
The motor output shaft of machine C1 links together；The longitudinal threaded through-hole C5-1 of feed screw nut C5 is through on leading screw C4, feed screw nut
The lateral blind hole C5-2 of two of C5 is mounted in arm installation window B3, and installation window is connect by screw with two lateral blind holes
It is fixed, feed screw nut C5 is positioned, such as Fig. 9；Feed screw nut C5 is fixed on guide rail slide block C6；Guide rail C7 is mounted on motor rack C2
Downside, while with guide rail slide block C6 coordinate；Steering engine C8 is mounted on the inner end of motor rack C2；Wheel fork C9 is mounted on steering engine C8 outputs
On axis；Rubber tire C10 and ratchet C11 is fixed and is mounted on wheel fork C9；Lock pawl C12 is mounted on wheel fork C9, while and ratchet
C11 coordinates；Spring leaf C13 is mounted on wheel fork C9, pushes down lock pawl C12；Involve spring C15 and a left side is set in two submodules
Between right two adjacent telescopic arm module C, adjacent expansion arm module C is linked together, the end for involving spring is hooked on
On the ear hole C14 of the inner ends motor rack C2.
The arm that telescopic arm module C is mounted on upper layer and lower layer semicircular ring B1, B2 by feed screw nut C5 respectively installs window
In B3.
Working principle of the present invention is as follows：
(1) process being sleeved on bar
Open locking is opened, the rotation of upper layer and lower layer annulus is opened and is sleeved on bar to be climbed, the open locking of two submodules is shut.
(2) it swashes process
Eight inner ends telescopic arm module C are in corresponding annulus horizontal plane hereinafter, such as Fig. 5, since ratchet C11 limits rubber tire
C10 can only be one-directionally rotated, and steering engine C8, which is rotated to, at this time only allows rubber tire C10 that can be rotated along when pole-climbing is climb, and nothing
Wait for that pole-climbing is rotated down in method edge.It is waited in pole-climbing since the gravity robot is self-locking in.By being mounted on lower layer semicircular ring B2
On the first direct current generator A1, drive crank and rocker mechanism A, since crank rocker A can make between upper layer and lower layer annulus B1, B2
Apart from generating period distance Cheng Bianhua, levels semicircular ring B1, B2 is set to replace self-locking, and then under the action of crank rocker A
Upper layer semicircular ring B1 is set to put a layer semicircular ring B2 upwards, lower layer semicircular ring B2 pushes up upper layer semicircular ring B1, realizes entire mechanism upwards
It climbs upwards；
Swash chance barrier when, entire mechanism kinematic and it is normal swash as because telescopic arm module C diagonally downward and is equipped with and leads
The even reason of spring C15 when each comfortable across obstacle of such as Fig. 7, upper and lower two groups of telescopic arm modules C, can all be strutted by barrier,
Thus across barrier.
(3) downslide process
A. when no obstacle outstanding, eight inner ends telescopic arm module C in corresponding annulus horizontal plane hereinafter, such as Fig. 5,
(at this time the axis of the four rubber tire C10 in upper layer be in four rubber tire C10 of vertical state and lower layer axis be in horizontality or on
The axis that the axis of four rubber tire C10 of layer is in four rubber tire C10 of horizontality and lower layer is in vertical state, that is, ensures only to permit
Perhaps one layer of annulus is moved in vertical direction, and another layer of annulus is then self-locking in and waits in pole-climbing) by upper four telescopic arm modules C
The steering engine C8 at end and the steering engine C8 of lower four telescopic arm modules inner end are rotated by 90 ° simultaneously, that is, ensure levels semicircular ring B1, B2
Alternating is self-locking on glided bar, and then is realized and glided by gravity.
B. when encountering flange, (on entire annulus it is four to stretch by two telescopic arm module C on lower layer semicircular ring B2
Contracting arm module C is two in semicircular ring) the first stepper motor C1 of outer end, telescopic arm module C is with itself and lower layer's semicircle for driving
The installation point of ring B2 is fulcrum, first turns to level, then turning over for opposite lower layer semicircular ring B2 is completed under the cooperation of crank rocker A
Transhipment is dynamic, such as Fig. 6.Then steering engine C8 rotations allow rubber tire C10 to be rotated down along bar, make to stretch using gravity and crank rocker A
Contracting arm module C obstacle detourings, later again by the first stepper motor C1 of 4 outer ends telescopic arm C on lower layer semicircular ring B2, driving is stretched
Contracting arm module C first turns to level, then complete phase under the cooperation of crank rocker A using the installation point of itself and annulus as fulcrum
To the flip-flop movement of lower layer's semicircular ring, state becomes again as shown in figure 5, realizing lower layer's semicircular ring obstacle detouring, and steering engine rotates 90 at this time
Degree makes lower layer's semicircular ring be self-locking on bar；Upper layer semicircular ring obstacle detouring is similarly.When the chance that glides hinders, if the state of robot such as Fig. 5
When, rod piece cannot be strutted by depending merely on gravity, then ultrasonic wave module B12 feeds back to control panel mainboard, be controlled on upper layer and lower layer annulus
First direct current generator works, and adding a power makes telescopic arm module group strut, to the obstacle detouring that smoothly glides.
Listed above is only specific embodiments of the present invention.It is clear that the invention is not restricted to which above example, can also have
Many variations.All changes that those skilled in the art directly can export or associate from present disclosure
Shape is considered as protection scope of the present invention.
Claims (4)
1. a kind of automatic climbing robot, it is characterised in that：It can longitudinal extension module of the obvolvent on waiting for pole-climbing including one
(B), the crank that several telescopic arm modules (C) in longitudinal extension module and driving longitudinal extension module are stretched shakes
Bar module (A).
2. a kind of automatic climbing robot according to claim 1, it is characterised in that：The longitudinal extension module (B) by
Two submodule compositions being arranged symmetrically, each submodule include：
Upper layer semicircular ring (B1) and lower layer's semicircular ring (B2), the two are corresponding up and down；
The first, second, third pipe (B13, B14, B15) of vertical arrangement arrangement；First pipe (B13) is arranged in upper layer semicircle
Under ring (B1) and one end of layer semicircular ring (B2), the second pipe (B14) are arranged in upper layer semicircular ring (B1) and lower layer's semicircular ring
(B2) midpoint, third pipe (B15) are arranged in the other end of upper layer semicircular ring (B1) and lower layer's semicircular ring (B2)；Upper layer semicircle
Ring (B1) is set on the first pipe successively by first movement secondary ((B9)), the second prismatic pair (B10) and cylindrical pair (B6)
(B13), on the second pipe (B14) and third pipe (B15)；
First locking cap (B4)；Upper end for the third pipe (B15) for connecting two submodules；
Second locking cap (B5)；Lower end for the third pipe (B15) for connecting two submodules, with the first locking cap (B4) one
Act two third pipe (B15) keeping parallelisms for ensureing upper layer semicircular ring (B1) two submodules when sliding up and down；
First fixed block (B16) and the second fixed block (B17), respectively by the first pipe (B13) and the second pipe (B14) and lower layer
Semicircular ring (B2) is fixedly connected；
Limit cap (B7)；It is mounted on the third pipe (B15) on the upside of revolute pair (B8) by jackscrew, constraint revolute pair (B8)
Longitudinal movement；
Four arm installation windows (B3)；Two of which arm installation window (B3) is separately mounted to the first pipe (B13) and the
The point midway of the first, second semicircular ring (B1, B2) between two pipes (B14), other two arm install window (B3) point
Not An Zhuan in the first, second semicircular ring between the second pipe (B14) and third pipe (B15) (B1, B2) point midway；
Two open lockings (B11)；Be separately mounted on first movement secondary (B9) and the first fixed block, and with another submodule
Open locking coordinate one by one；
Ultrasonic wave module (B12)；Mounted on the bottom of the arm installation window (B3) of lower layer's semicircular ring (B2).
3. a kind of automatic climbing robot according to claim 2, it is characterised in that：The telescopic arm module (C) includes
First stepper motor (C1), shaft coupling (C3), leading screw (C4), feed screw nut (C5), guide rail slide block (C6), is led at motor rack (C2)
Rail (C7), steering engine (C8), wheel fork (C9), rubber tire (C10), ratchet (C11), lock pawl (C12), spring leaf (C13), ear hole
(C14) and involve spring (C15)；
First stepper motor (C1) is mounted on the outer end of motor rack (C2)；Shaft coupling (C3) is by leading screw (C4) and the first stepper motor
(C1) motor output shaft links together；The longitudinal threaded through-hole (C5-1) of feed screw nut (C5) is through on leading screw (C4), leading screw
The lateral blind hole (C5-2) of nut (C5) is mounted in arm installation window (B3)；Feed screw nut (C5) is fixed on guide rail slide block
(C6) on；Guide rail (C7) is mounted on the downside of motor rack (C2), while coordinating with guide rail slide block (C6)；Steering engine (C8) is mounted on electricity
The inner end of rack (C2)；Wheel fork (C9) is mounted on steering engine (C8) output shaft；Rubber tire (C10) is fixed with ratchet (C11) and installs
On wheel fork (C9)；Lock pawl (C12) is mounted on wheel fork (C9), while being coordinated with ratchet (C11)；Spring leaf (C13) is installed
On wheel fork (C9), lock pawl (C12) is compressed；Involve spring (C15) adjacent two in the left and right in two submodules are set and stretches
Between contracting arm module (C), adjacent expansion arm module (C) is linked together, the end for involving spring (C15) is hooked on motor rack
(C2) on the ear hole (C14) of inner end.
4. a kind of automatic climbing robot according to claim 2 or 3, it is characterised in that：The crank rocker module
(A) by two sub- module compositions being arranged symmetrically, each submodule respectively drives the submodule of a longitudinal extension module (B),
Each submodule of crank rocker module (A) includes the first direct current generator (A1), synchronous belt (A2), crank (A3), rocking bar (A4)；
Synchronous pulley on first direct current generator (A1) output shaft drives crank (A3) to circumferentially rotate by synchronous belt, and crank (A3) passes through
Rocking bar (A4) is connect with the second prismatic pair (B10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314127.0A CN108297956B (en) | 2017-12-12 | 2017-12-12 | Automatic climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314127.0A CN108297956B (en) | 2017-12-12 | 2017-12-12 | Automatic climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108297956A true CN108297956A (en) | 2018-07-20 |
| CN108297956B CN108297956B (en) | 2024-02-23 |
Family
ID=62869891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711314127.0A Active CN108297956B (en) | 2017-12-12 | 2017-12-12 | Automatic climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108297956B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839723A (en) * | 2018-08-20 | 2018-11-20 | 广西电网有限责任公司电力科学研究院 | A kind of pole climbing device and its pole-climbing method |
| CN109484505A (en) * | 2018-11-21 | 2019-03-19 | 杨聪智 | Climb unit and climbing device |
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| CN109484505A (en) * | 2018-11-21 | 2019-03-19 | 杨聪智 | Climb unit and climbing device |
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| Publication number | Publication date |
|---|---|
| CN108297956B (en) | 2024-02-23 |
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