CN109436113A - A kind of caterpillar robot - Google Patents
A kind of caterpillar robot Download PDFInfo
- Publication number
- CN109436113A CN109436113A CN201811512308.9A CN201811512308A CN109436113A CN 109436113 A CN109436113 A CN 109436113A CN 201811512308 A CN201811512308 A CN 201811512308A CN 109436113 A CN109436113 A CN 109436113A
- Authority
- CN
- China
- Prior art keywords
- caterpillar
- caterpillar robot
- bottom plate
- round brush
- magnetic track
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000004140 cleaning Methods 0.000 claims abstract description 23
- 239000003381 stabilizer Substances 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 239000000872 buffer Substances 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000011010 flushing procedure Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000006173 Good's buffer Substances 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to climbing robot field more particularly to a kind of caterpillar robots.The caterpillar robot includes: bottom plate, the side plate for being rotatably arranged on bottom plate two sides, the magnetic track mechanism being connect with side plate, for driving the caterpillar drive of magnetic track mechanism kinematic, the wiper mechanism of bottom plate one end is set, and the control system on bottom plate is set, the control system is electrically connected with wiper mechanism, caterpillar drive respectively.By being arranged magnetic track mechanism on side plate, side plate is rotatably arranged on bottom plate two sides, and caterpillar robot can be realized and climbed in tower, when tower outer diameter difference, side plate can be rotated relative to bottom plate, and magnetic track mechanism is made preferably to complete to be bonded with tower surface, and versatility is high；Again by increasing a wiper mechanism and control system, under control of the control system, the climbing and cleaning of caterpillar robot can be realized, cleaning efficiency is high, and safety accident occurs caused by reducing because of artificial cleaning.
Description
Technical field
The invention belongs to climbing robot field more particularly to a kind of caterpillar robots.
Background technique
Wind-power electricity generation power supply by Wind turbines, support generating set tower, storage battery charge controller, inverter, unload
The composition such as lotus device, net-connected controller, battery group.Since wind-power electricity generation is carried out in outdoor environment, it is therefore desirable to periodically to wind
The wind power equipments such as electric turbines vane, tower carry out clean and maintenance, to increase the service life of wind power equipment.
Currently artificial high altitude operation is relied primarily on to the cleaning of the wind power equipments such as wind power generation unit blade, tower to have come
At cleaning and safeguard by the way of aerial work platform and spider-man, operating efficiency is low.And Wind turbines are in ring
The location of border rather harsh, external environment is complex, is especially influenced by the uncertain natural cause such as wind and rain thunder and lightning, sternly
The work safety of operating personnel is threatened again.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide one kind to be used for caterpillar robot, thus gram
Take the problems such as existing wind power equipment cannot be guaranteed by inefficiency caused by manually cleaning and worker's operation safety.
Technical scheme is as follows:
The present invention provides a kind of caterpillar robot, comprising: bottom plate, the side plate for being rotatably arranged on bottom plate two sides connect with side plate
The cleaning of bottom plate one end is arranged in for driving the caterpillar drive of magnetic track mechanism kinematic in the magnetic track mechanism connect
Mechanism, and the control system being arranged on bottom plate, the control system are electrically connected with wiper mechanism, caterpillar drive respectively
It connects.
Still more preferably scheme of the invention is: the wiper mechanism includes the round brush installation that bottom plate one end is arranged in
Frame, the round brush being rotatably arranged on round brush mounting rack.
Still more preferably scheme of the invention is: the wiper mechanism further includes being arranged on round brush mounting rack for driving
The round brush driving device of dynamic round brush rotation.
Still more preferably scheme of the invention is: the wiper mechanism further includes the flushing group that round brush side is arranged in
Part.
Still more preferably scheme of the invention is: the caterpillar robot further includes being set on the base for fixing
The clip mechanism of cable, oil pipe or water pipe.
Still more preferably scheme of the invention is: the magnetic track mechanism includes: the crawler belt installation connecting with side plate
Frame, the driven wheel and driving wheel being rotatably arranged on crawler belt mounting rack, and the magnetic track of connection driven wheel and driving wheel；Institute
Driving wheel is stated to connect with caterpillar drive.
Still more preferably scheme of the invention is: the caterpillar robot further includes being used for what crawler belt mounting rack was connect
The first balance mechanism for preventing caterpillar robot from overturning.
Still more preferably scheme of the invention is: first balance mechanism includes: the balance of connecting band track mounting rack
Bracket is arranged in the first stabilizer on balance bracket far from crawler belt mounting rack one end, and is arranged in balance bracket and first
For providing the first elastic mechanism of buffer spring for the first stabilizer between stabilizer.
Still more preferably scheme of the invention is: the caterpillar robot further includes the use connecting with caterpillar drive
In the second balance mechanism for preventing caterpillar robot from overturning.
Still more preferably scheme of the invention is: the caterpillar robot further includes being connect with bottom plate for preventing from carrying out
The suspension hook that carrying machine people falls.
The beneficial effects of the present invention are: side plate is rotatably arranged on bottom plate by being arranged magnetic track mechanism on side plate
Two sides can be realized caterpillar robot and be climbed in tower, and when tower outer diameter difference, side plate can turn relative to bottom plate
It is dynamic, make magnetic track mechanism preferably complete to be bonded with tower surface, versatility is high；Again by increase a wiper mechanism and
The climbing and cleaning of caterpillar robot can be realized under control of the control system in control system, and cleaning efficiency is high,
Safety accident occurs caused by reducing because of artificial cleaning.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of caterpillar robot of the present invention；
Fig. 2 is the structural schematic diagram for the caterpillar robot that the present invention does not install magnetic track mechanism；
Fig. 3 is the view of another angle of Fig. 2；
Fig. 4 is the combining structure schematic diagram of pedestal and side plate and clip mechanism of the present invention；
Fig. 5 is the structural schematic diagram for the caterpillar robot that the present invention does not install wiper mechanism；
Fig. 6 is the combining structure schematic diagram of magnetic track mechanism and caterpillar drive of the present invention；
Fig. 7 is the partial enlarged view of the first balance mechanism of the invention.
Specific embodiment
The present invention provides a kind of caterpillar robot, to keep the purpose of the present invention, technical solution and effect clearer, bright
Really, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that specific implementation described herein
Example is only used to explain the present invention, is not intended to limit the present invention.
A kind of caterpillar robot provided in an embodiment of the present invention, together referring to shown in Fig. 1 to Fig. 7 comprising: bottom plate 1 turns
The dynamic side plate 2 that 1 two sides of bottom plate are set, the magnetic track mechanism 3 being connect with side plate 2, for driving magnetic track mechanism 3 to move
Caterpillar drive 4, the wiper mechanism 5 of 1 one end of bottom plate is set, and the control system 6 being arranged on bottom plate 1, it is described
Control system 6 is electrically connected with wiper mechanism 5, caterpillar drive 4 respectively.By being arranged magnetic track mechanism 3 in side plate 2
On, side plate 2 is rotatably arranged on 1 two sides of bottom plate, and caterpillar robot can be realized and climbed in tower, when tower outer diameter is different
When, side plate 2 can be rotated relative to bottom plate 1, and magnetic track mechanism 3 is made preferably to complete to be bonded with tower surface, and versatility is high；Again
Climbing for caterpillar robot can be realized under the control of control system 6 by increasing a wiper mechanism 5 and control system 6
It climbs and cleaning, cleaning efficiency height, reduction occurs because of safety accident caused by manually cleaning.
Further, the caterpillar drive 4 can provide bigger climb by hydraulic-driven for hydraulic motor
Creep power, improves stability when climbing.Certainly, hydraulic motor herein also could alternatively be driving motor, be driven by motor
Climbing function equally may be implemented in dynamic magnetic track mechanism kinematic.
Further, as shown in Figure 1 and Figure 2, the wiper mechanism 5 includes the round brush mounting rack that 1 one end of bottom plate is arranged in
51, the round brush 52 being rotatably arranged on round brush mounting rack 51.Round brush 52 is mounted on 1 one end of bottom plate by round brush mounting rack 51,
It is mobile that round brush 52 is driven by magnetic track mechanism 3, to realize the function of cleaning tower.Certainly, described clear in the present embodiment
Washing machine structure 5 or bar brush, or giant is directly used, it is same to can be achieved to carry out cleaning function.
Further, as shown in Figure 1 and Figure 2, the wiper mechanism 5 further includes being arranged on round brush mounting rack 51 for driving
The round brush driving device 53 that dynamic round brush 52 rotates.By increasing a round brush driving device 53 for driving round brush 52 to rotate,
The cleaning that tower surface can also be carried out when magnetic track mechanism 3 does not move, effectively improves cleaning efficiency.In the present embodiment
Round brush driving device 53 be driving motor, pass through driving motor and transmission component cooperation driving round brush 52 rotation realize cleaning
Function.
Further, as shown in Figure 1, Figure 2, Figure 3 shows, the wiper mechanism 5 further includes the flushing that 52 side of round brush is arranged in
Component 54.The rinsing module 54 includes the pipeline installation rack 541 connecting with pedestal 1, is arranged on pipeline installation rack 541 and water
The shunt conduit 542 of pipe connection, is arranged in the high-pressure nozzle 543 in shunt conduit 542.By increasing a rinsing module 54,
When round brush carries out cleaning, it is rinsed simultaneously, can further promotes working efficiency, improve clean effect.This reality
It applies in example, the rinsing module 54 further includes the cleaning cover 544 connecting with pipeline installation rack 541, and the high-pressure nozzle 543 is arranged
In cleaning cover 544.By increasing a cleaning cover 544, it can prevent spray from sputtering when rinsing module 54 is rinsed work
It causes to waste.
Further, as Figure 1 and Figure 4, the caterpillar robot further includes being arranged on pedestal 1 to be used for fixed electricity
The clip mechanism 7 of cable, oil pipe or water pipe.By increasing a clip mechanism 7, it can be used for arranging the routes such as cable, oil pipe, effectively
Prevent line clogging or impaired caused by occurring to wind between pipeline.The clip mechanism 7 includes that 1 one end of bottom plate is arranged in
Wire clamp mounting rack 71, multiple the first wire clamps 72 being disposed side by side on wire clamp mounting rack 71 close to 1 one end of bottom plate are multiple to be located at line
It presss from both sides far from 1 one end of bottom plate on mounting rack 71 and pacifies with second wire clamp 73 disposed in parallel of the first wire clamp 72, and setting in wire clamp
Shelve the water pipe tap 74 on 71.In the present embodiment, it can be used for by the cooperation of the first wire clamp 72 and the second wire clamp 73 whole
The cable tubings such as fixed cable, oil pipe to be managed, can be used for connecting conduit pipeline by water pipe tap 74, arrangement speed is fast,
Good finishing effect.
Further, as shown in Figure 5, Figure 6, the magnetic track mechanism 3 includes: the crawler belt mounting rack connecting with side plate 2
31, the driven wheel 32 and driving wheel 33 that are rotatably arranged on crawler belt mounting rack 31, and connection driven wheel 32 and driving wheel 33
Magnetic track 34；The driving wheel 33 is connect with caterpillar drive 4.Driving wheel 33 is driven to rotate by caterpillar drive 4,
Driven wheel 32 and magnetic track 34 can be driven to move, to realize the climbing motion of caterpillar robot.
Further, as shown in Fig. 2, Fig. 5, the caterpillar robot further includes being connect with crawler belt mounting rack 31 for preventing
Only the first balance mechanism 8 of caterpillar robot overturning.It can be in caterpillar robot by wind-force by increasing by the first balance mechanism 8
When effect or when tower uneven surface, balance is kept, prevents from climbing power reduction caused by tilting because of caterpillar robot, to lead
Caterpillar robot is caused to fall.
Further, as shown in Figure 1, Figure 7 shows, first balance mechanism 8 includes: the balance branch of connecting band track mounting rack 31
Frame 81 is arranged in the first stabilizer 82 on balance bracket 81 far from 31 one end of crawler belt mounting rack, and is arranged in balance bracket
81 and first between stabilizer 82 for providing the first elastic mechanism 83 of buffer spring for the first stabilizer 82.In track machines
When people shifts, under the action of the first elastic mechanism 83, the first stabilizer 82, which is appointed, can so be close to tower surface, be crawler belt
Robot provides equilibrant force.In the present embodiment, first elastic mechanism 83 is the sheet metal component of bending, passes through the deformation of sheet metal component
Elastic buffer power is provided.
Further, as shown in Figure 1, Figure 7 shows, the caterpillar robot further includes being connect with caterpillar drive for preventing
Only the second balance mechanism 9 of caterpillar robot overturning.Second balance mechanism 9 is similar to 8 structure of the first balance mechanism, is
The function of balance is completed by balance bracket, stabilizer and elastic mechanism；Difference is, the bullet of second balance mechanism 9
Property mechanism be compressed spring, by compressed spring provide elastic buffer power, production cost is low, good buffer effect.
Further, as shown in Figure 1, the caterpillar robot further includes being connect with bottom plate 1 for preventing track machines
The suspension hook 10 that people falls.By increase a suspension hook 10, can be used for connecting safety rope, can caterpillar robot break down or
Wind-force interference is received, preventing caterpillar robot from falling causes unexpectedly to occur, and improves safety when caterpillar robot uses.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of caterpillar robot characterized by comprising bottom plate, the side plate for being rotatably arranged on bottom plate two sides are connect with side plate
Magnetic track mechanism for driving the caterpillar drive of magnetic track mechanism kinematic, the cleaning machine of bottom plate one end is set
Structure, and the control system being arranged on bottom plate, the control system are electrically connected with wiper mechanism, caterpillar drive respectively.
2. caterpillar robot according to claim 1, which is characterized in that the wiper mechanism includes being arranged in bottom plate one end
Round brush mounting rack, the round brush being rotatably arranged on round brush mounting rack.
3. caterpillar robot according to claim 2, which is characterized in that the wiper mechanism further includes that setting is pacified in round brush
Shelve the round brush driving device for driving round brush to rotate.
4. caterpillar robot according to claim 2, which is characterized in that the wiper mechanism further includes being arranged in round brush one
The rinsing module of side.
5. caterpillar robot according to claim 1, which is characterized in that the caterpillar robot further includes being arranged in pedestal
On for fixing the clip mechanism of cable, oil pipe or water pipe.
6. caterpillar robot according to claim 1, which is characterized in that the magnetic track mechanism includes: to connect with side plate
The crawler belt mounting rack connect, the driven wheel and driving wheel being rotatably arranged on crawler belt mounting rack, and connection driven wheel and driving wheel
Magnetic track；The driving wheel is connect with caterpillar drive.
7. caterpillar robot according to claim 6, which is characterized in that the caterpillar robot further includes installing with crawler belt
The first balance mechanism for preventing caterpillar robot from overturning of frame connection.
8. caterpillar robot according to claim 7, which is characterized in that first balance mechanism includes: connecting band track
The first stabilizer on balance bracket far from crawler belt mounting rack one end, and setting is arranged in flat in the balance bracket of mounting rack
For providing the first elastic mechanism of buffer spring for the first stabilizer between weighing apparatus bracket and the first stabilizer.
9. caterpillar robot according to claim 8, which is characterized in that the caterpillar robot further includes and track drive
The second balance mechanism for preventing caterpillar robot from overturning of device connection.
10. caterpillar robot according to claim 1, which is characterized in that the caterpillar robot further includes connecting with bottom plate
The suspension hook for preventing caterpillar robot from falling connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811512308.9A CN109436113A (en) | 2018-12-11 | 2018-12-11 | A kind of caterpillar robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811512308.9A CN109436113A (en) | 2018-12-11 | 2018-12-11 | A kind of caterpillar robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109436113A true CN109436113A (en) | 2019-03-08 |
Family
ID=65556672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811512308.9A Pending CN109436113A (en) | 2018-12-11 | 2018-12-11 | A kind of caterpillar robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109436113A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
| CN110454337A (en) * | 2019-08-05 | 2019-11-15 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel cleaning bar brush climbing robot |
| CN110469466A (en) * | 2019-08-05 | 2019-11-19 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel greasy filth cleaning climbing robot |
| CN110617185A (en) * | 2019-11-09 | 2019-12-27 | 王明跃 | High-altitude cleaning equipment for wind driven generator |
| CN110802072A (en) * | 2019-11-19 | 2020-02-18 | 中船重工海为郑州高科技有限公司 | Steel curved surface casing washs car |
| CN113279924A (en) * | 2021-07-08 | 2021-08-20 | 石河子大学 | Wind driven generator tower barrel cleaning device |
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| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN102219033A (en) * | 2011-05-05 | 2011-10-19 | 北京理工大学 | Wall surface mobile robot based on gecko motion organism structural form bionics |
| CN105216889A (en) * | 2015-10-16 | 2016-01-06 | 新疆新能钢结构有限责任公司 | Climbing robot |
| CN106393052A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Wall-climbing robot |
| CN107128388A (en) * | 2017-05-23 | 2017-09-05 | 湖南沄耀中创科技有限公司 | A kind of crawler belt climb type wind tower cleaning detection robot of variset |
| CN209274749U (en) * | 2018-12-11 | 2019-08-20 | 世隆裕(深圳)科技有限公司 | A kind of caterpillar robot |
-
2018
- 2018-12-11 CN CN201811512308.9A patent/CN109436113A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN102219033A (en) * | 2011-05-05 | 2011-10-19 | 北京理工大学 | Wall surface mobile robot based on gecko motion organism structural form bionics |
| CN105216889A (en) * | 2015-10-16 | 2016-01-06 | 新疆新能钢结构有限责任公司 | Climbing robot |
| CN106393052A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Wall-climbing robot |
| CN107128388A (en) * | 2017-05-23 | 2017-09-05 | 湖南沄耀中创科技有限公司 | A kind of crawler belt climb type wind tower cleaning detection robot of variset |
| CN209274749U (en) * | 2018-12-11 | 2019-08-20 | 世隆裕(深圳)科技有限公司 | A kind of caterpillar robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
| CN109854464B (en) * | 2019-03-22 | 2024-02-23 | 湖南沄耀中创科技有限公司 | Be applied to magnetism climbing robot that fan tower section of thick bamboo washd and detected |
| CN110454337A (en) * | 2019-08-05 | 2019-11-15 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel cleaning bar brush climbing robot |
| CN110469466A (en) * | 2019-08-05 | 2019-11-19 | 湖南沄耀中创科技有限公司 | A kind of blower fan tower barrel greasy filth cleaning climbing robot |
| CN110454337B (en) * | 2019-08-05 | 2024-04-02 | 湖南沄耀中创科技有限公司 | Wall climbing robot with cleaning strip brushes for fan tower drum |
| CN110469466B (en) * | 2019-08-05 | 2024-04-02 | 湖南沄耀中创科技有限公司 | Wall climbing robot for cleaning oil sludge in tower drum of fan |
| CN110617185A (en) * | 2019-11-09 | 2019-12-27 | 王明跃 | High-altitude cleaning equipment for wind driven generator |
| CN110802072A (en) * | 2019-11-19 | 2020-02-18 | 中船重工海为郑州高科技有限公司 | Steel curved surface casing washs car |
| CN110802072B (en) * | 2019-11-19 | 2024-06-07 | 中船海为高科技有限公司 | Steel curved surface shell cleaning vehicle |
| CN113279924A (en) * | 2021-07-08 | 2021-08-20 | 石河子大学 | Wind driven generator tower barrel cleaning device |
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