CN109625112A - A kind of climbing level robot - Google Patents
A kind of climbing level robot Download PDFInfo
- Publication number
- CN109625112A CN109625112A CN201811428981.4A CN201811428981A CN109625112A CN 109625112 A CN109625112 A CN 109625112A CN 201811428981 A CN201811428981 A CN 201811428981A CN 109625112 A CN109625112 A CN 109625112A
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- Prior art keywords
- climbing
- climbing wheel
- wheel group
- pole
- bracket
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of climbing level robot is disclosed, which includes: bracket, multiple climbing wheel groups, and climbing wheel group is connect with bracket, and bracket is circumferentially surrounded by pole-climbing, and multiple climbing wheel groups are distributed on bracket；Bracket be retractable structure can adapt to different-diameter by pole-climbing；Climbing wheel in climbing wheel group is contacted with by the surface of pole-climbing, and with by the axially vertical of pole-climbing, climbing wheel group can be rolled along by the axial rolling of pole-climbing or stopping in the axle center of climbing wheel；At least one climbing wheel group in multiple climbing wheel groups is to clamp climbing wheel group, it clamps climbing wheel group and is equipped with clamping device, clamping device is used to that climbing wheel group to be made to run along by the radial direction of pole-climbing, to make climbing wheel group and be locked by the surface of pole-climbing and be fixed on climbing level robot by pole-climbing.The present invention is separated by controlling the mechanism action that change with column diameter and clamping wheel movement of climbing, and is reduced to clamp to climb and is taken turns the elongation of clamping device, the response speed of raising system stiffness and anti-skidding pinching action, raising working efficiency and safety.
Description
Technical field
The present invention relates to field of special robots, more particularly, to a kind of climbing level robot.
Background technique
With the development of the society, the maintenance task that more and more dangerous or workers are not easy to reach needs climbing robot
To complete.Wherein climbing level robot is an important branch in climbing robot, such as the set hydraulic headstock gear in power station
Piston rod, stand light pole in city and some median size diameters by pole-climbing.
It is mostly relatively severe by the environment of the detection of pole-climbing to these and task is heavy, it is artificial make climbing operating efficiency it is low and
It is often relatively difficult even dangerous.
Summary of the invention
The purpose of the present invention is to propose to a kind of climbing level robots, the intelligent operation by robot are realized, instead of manually making
Industry not only improves working efficiency, while also avoiding so that worker is freed from dangerous, severe, onerous toil environment
Insecurity factor during workpeople's climbing.
To achieve the above object, the invention proposes a kind of climbing level robots, comprising: bracket, multiple climbing wheel groups, it is described to climb
Wheel group is connect with the bracket, and the bracket is circumferentially surrounded by pole-climbing, and multiple climbing wheel groups are distributed in the bracket
On；
The bracket be retractable structure can adapt to different-diameter by pole-climbing；
Climbing wheel in the climbing wheel group is contacted with by the surface of pole-climbing, and the axle center of the climbing wheel is hung down with by the axial direction of pole-climbing
Directly, the climbing wheel group can be rolled along by the axial rolling of pole-climbing or stopping；
At least one climbing wheel group in multiple climbing wheel groups is to clamp climbing wheel group, and the clamping climbing wheel group, which is equipped with, clamps dress
It sets, the clamping device is used to that the climbing wheel group to be made to run along by the radial direction of pole-climbing, to make the climbing wheel group and by pole-climbing
It locks and is fixed on climbing level robot by pole-climbing in surface.
Preferably, the bracket be triangular framing, three vertex of the triangular framing be respectively set there are three connection
Plate, three sides of the triangular form frame are telescopic sleeving rod.
Preferably, the telescopic sleeving rod on the wherein one side on three side of triangular form frame be retractable loop bar, it is described can
It opens and closes loop bar one end and the bracket is hinged, the junction of the other end and the bracket is equipped with locking switch.
Preferably, one of them of three connecting plates is connect with the clamping climbing wheel group, other two connections
Plate is connect with two climbing wheel groups respectively.
Preferably, the connecting plate connecting with the clamping climbing wheel group is equipped with guide rail hole, lead screw hole and transmission gear, institute
Transmission gear is stated inside the connecting plate.
Preferably, the clamping device includes lead screw and guide rail, and the lead screw passes through the lead screw hole and can be described
In lead screw hole axially movable, the guide rail passes through the guide rail hole and can slide axially in the guide rail hole, described
One end of guide rail is connect with the clamping climbing wheel group, and one end of the lead screw is connect with the clamping climbing wheel group.
Preferably, the clamping device further includes lead screw driving motor, and the motor shaft of the lead screw driving motor is provided with
Gear is driven, the driving gear is engaged with the transmission gear, and the transmission gear and the lead screw cooperate.
Preferably, each climbing wheel group includes at least one climbing wheel driving motor and multiple climbing wheels, the climbing wheel driving
The motor shaft of motor is connected with the wheel shaft of the climbing wheel by gear set, and the climbing wheel driving motor passes through the gear set drive
Multiple climbing wheels in same direction, identical speed rotation.
Preferably, multiple climbing wheel side by side parallel settings in the climbing wheel group, the surface of the climbing wheel is indent
It is arc-shaped.
It preferably, further include control unit, described control unit and the climbing wheel driving motor and lead screw driving motor electricity
Property connection, for controlling multiple climbing wheel groups synchronous workings and controlling the locking device work.
The invention has the benefit that moving in turn by the present invention in that climbing with the mechanism action that column diameter changes with clamping
It separates, reduces the distance for clamping wheel radial movement of climbing, improve system stiffness and promote the response speed of anti-skidding pinching action,
It realizes and manual work is replaced by robot, so that worker is freed from dangerous, severe, onerous toil environment,
Working efficiency is not only improved, while also avoiding the insecurity factor during workpeople's climbing.
The device of the invention has other characteristics and advantages, these characteristics and advantages from the attached drawing being incorporated herein and with
It will be apparent in specific embodiment afterwards, or will be in the attached drawing and subsequent specific embodiment being incorporated herein
Middle to be stated in detail, the drawings and the detailed description together serve to explain specific principles of the invention.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, which is characterized in that in exemplary embodiments of the present invention, identical with reference to mark
Number typically represent same parts.
Fig. 1 shows a kind of structural schematic diagram of climbing level robot according to an embodiment of the invention.
Fig. 2 shows a kind of detailed schematics of climbing level robot according to an embodiment of the invention.
Fig. 3 shows a kind of retractable loop bar schematic diagram of climbing level robot according to an embodiment of the invention.
Description of symbols:
1, bracket, 2, climbing wheel group；3, climbing wheel group is clamped；4, telescopic sleeving rod；5, connecting plate；6, climbing wheel；7, climbing wheel driving electricity
Machine；8, guide rail；9, lead screw；10, lead screw driving motor；11, retractable loop bar；12, locking switch.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
A kind of climbing level robot of the invention includes: bracket, multiple climbing wheel groups, and climbing wheel group is connect with bracket, and bracket is along week
To surrounding by pole-climbing, multiple climbing wheel groups are distributed on bracket；
Bracket be retractable structure can adapt to different-diameter by pole-climbing；
Climbing wheel in climbing wheel group is contacted with by the surface of pole-climbing, the axle center of climbing wheel with by the axially vertical of pole-climbing, climbing wheel group
It can be rolled along by the axial rolling of pole-climbing or stopping；
At least one climbing wheel group in multiple climbing wheel groups is to clamp climbing wheel group, clamps climbing wheel group and is equipped with clamping device, clamps
Device is used to that climbing wheel group to be made to run along by the radial direction of pole-climbing, to make climbing wheel group and be locked by the surface of pole-climbing and make pole-climbing machine
People is fixed on by pole-climbing.
Specifically, multiple climbing wheel groups are uniformly distributed on telescoping shoring column and surround by pole-climbing, climbing wheel group can with climbed
The surface contact of bar is simultaneously along by the axial rolling of pole-climbing, and clamping climbing wheel group can be radially movable, so as to stop robot
Only by any position of pole-climbing, realizing the mechanism action and the movement point for clamping climbing wheel group that control changes with column diameter
From raising system stiffness and the response speed for promoting anti-skidding pinching action.
In one example, bracket is triangular framing, and three vertex of triangular framing are respectively set there are three connecting plate,
Three sides of triangular form frame are telescopic sleeving rod.
Specifically, it can effectively ensure that the stabilization of mechanical strength and structure using triangular framing, telescopic rod can pass through
Telescopic adjustment adapt to different-diameter by pole-climbing, realize the scalability of triangular framing, have adapt to it is different by pole-climbing
Ability.
In one example, the telescopic sleeving rod on the wherein one side on three side of triangular form frame is retractable loop bar, retractable set
Bar one end and bracket are hinged, and the junction of the other end and bracket is equipped with locking switch.
Specifically, the telescopic rod on one side is equipped with hinge and locking switch, and locking switch of performing fighting covers on by pole-climbing, leads to
Cross telescopic rod adjust adapt to different-diameter so that climbing wheel group is then shut off locking switch with being contacted by pole-climbing surface by pole-climbing
It climbs.
In one example, one of them of three connecting plates is connect with climbing wheel group is clamped, other two connecting plates difference
It is connect with two climbing wheel groups.
Specifically, a clamping climbing wheel group and two climbing wheel groups are respectively set in three vertex in triangular supports, make
The pinching action of robot can be realized by clamping climbing wheel group with one, due to use triangular structure to clamp climbing wheel group and
Climbing wheel group can climb simultaneously, realize multiple groups climbing wheel and synchronize to heart action, avoid by not climbing in same plane multiple groups
Wheel increases climbing resistance caused by heart deviation.
In one example, the connecting plate connecting with clamping climbing wheel group is equipped with guide rail hole, lead screw hole and transmission gear, transmission
Gear is set to inside the connecting plate.
In one example, clamping device includes lead screw and guide rail, lead screw pass through lead screw hole and can in lead screw hole edge
It being axially moved, guide rail passes through guide rail hole and can slide axially in guide rail hole, and one end of guide rail is connect with climbing wheel group is clamped,
One end of lead screw is connect with climbing wheel group is clamped.
In one example, clamping device further includes lead screw driving motor, and the motor shaft of lead screw driving motor is provided with drive
Moving gear, driving gear are engaged with transmission gear, and transmission gear and lead screw cooperate.
Specifically, clamping device is fixedly connected with clamping climbing wheel group by guide rail and passes through the rotation of motor driven lead screw
It drives guide rail and clamps climbing wheel group to by the apparent motion of pole-climbing, it, can due to clamping climbing wheel group and climbing wheel group triangular arrangement
Drive all climbing wheel groups to by the pinching action of pole-climbing.
In one example, each climbing wheel group includes at least one climbing wheel driving motor and multiple climbing wheels, climbing wheel driving electricity
The motor shaft of machine is connected with the wheel shaft of climbing wheel by gear set, and climbing wheel driving motor passes through the multiple climbing wheel edges of the gear set drive
The same direction, the rotation of identical speed.
In one example, multiple climbing wheel side by side parallel setting in climbing wheel group, the surface of climbing wheel are the arc-shaped of indent.
Specifically, climbing wheel motor driven drives multiple climbing wheels to move together, and the contact surface of climbing wheel and cylinder is using indent
Cambered surface design, increases the contact area of climbing wheel and cylinder, and contacting climbing wheel from dotted line with the contact surface of cylinder becomes face contact, and
And do not destroy climbing surface.
It in one example, further include that control unit, control unit and climbing wheel driving motor and lead screw driving motor are electrical
Connection, for controlling multiple climbing wheel group synchronous workings and control locking device work.
Specifically, all climbing wheel driving motors are controlled by control unit to work asynchronously, when designated position is arrived in climbing, control
Climbing wheel group processed and clamping climbing wheel group stop motion, and start gripping means grips to ensure that robot can be fixed in this position.
Embodiment:
Fig. 1 shows a kind of structural schematic diagram of climbing level robot according to an embodiment of the invention.
Fig. 2 shows a kind of detailed schematics of climbing level robot according to an embodiment of the invention.Fig. 3 is shown
A kind of retractable loop bar schematic diagram of climbing level robot according to an embodiment of the invention.
As shown in Figures 1 to 3, a kind of climbing level robot of the invention includes: the climbing wheel group 2, one of A-frame 1, two folder
Tight climbing wheel group 3, climbing wheel group 2, clamp climbing wheel group 3 be respectively arranged at A-frame 1 three vertex and by three connecting plates 5 with
A-frame is fixedly connected, and A-frame 1 is circumferentially surrounded by pole-climbing；A-frame 1 is that retractable structure can adapt to difference
Diameter by pole-climbing；Climbing wheel group 2, clamp climbing wheel group 3 in climbing wheel 6 contacted with by the surface of pole-climbing, the axle center of climbing wheel 6 with climbed
Bar it is axially vertical, climbing wheel group 2, clamp climbing wheel group 3 can along by the axial rolling of pole-climbing or stop roll；Clamp climbing wheel group 3
Equipped with clamping device, clamping device is used to make to clamp climbing wheel group 3 and runs along by the radial direction of pole-climbing, to make two 2 Hes of climbing wheel group
It clamps climbing wheel group 3 and is locked by the surface of pole-climbing and be fixed on climbing level robot by pole-climbing, A-frame 1 is triangle frame
Frame, three sides of triangular form frame are telescopic sleeving rod 4, and the telescopic sleeving rod 4 on wherein one side of triangular form frame is retractable loop bar 11,
Retractable 11 one end of loop bar and A-frame 1 are hinged, and the junction of the other end and A-frame 1 is equipped with locking switch 12, and three
One of them of connecting plate 5 is connect with climbing wheel group 3 is clamped, and other two connecting plates 5 are connect with two climbing wheel groups 2 respectively, with folder
The connecting plate 5 of tight 3 connection of climbing wheel group is equipped with guide rail hole, lead screw hole and transmission gear (not shown), and transmission gear is set to the connection
Inside plate 5, clamping device includes lead screw 9 and guide rail 8, and lead screw 9 passes through lead screw hole and can lead in lead screw hole axially movable
Rail 8 passes through guide rail hole and can slide axially in 8 hole of guide rail, and one end of guide rail 8 is connect with climbing wheel group 3 is clamped, lead screw 9
One end is connect with climbing wheel group 3 is clamped.Clamping device further includes lead screw driving motor 10, the motor shaft setting of lead screw driving motor 10
There is driving gear (not shown), driving gear is engaged with transmission gear, and transmission gear and lead screw 9 cooperate.Each climbing wheel group 2 and folder
Tight climbing wheel group 3 includes a climbing wheel driving motor 7 and two climbing wheels 6, the motor shaft of climbing wheel driving motor 7 and the wheel of climbing wheel 6
Axis is connected by gear set (not shown), and gear set includes being fixed on the driving gear of climbing wheel driving motor shaft end and fixing respectively
Two identical driven gears in two climbing wheel axis one end, two it is driven respectively with driving gear engage, climbing wheel driving motor 7
By two climbing wheels 6 of gear set drive in same direction, the rotation of identical speed, two 6 side by side parallel of climbing wheel in climbing wheel group set
It sets, the surface of climbing wheel 6 is the arc-shaped of indent.Further include control unit (not shown), control unit and climbing wheel driving motor 7 and
Lead screw driving motor 10 is electrically connected, for controlling two climbing wheel groups 2 and clamping the synchronous working of climbing wheel group 3 and control locking dress
Set work.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.
Claims (10)
1. a kind of climbing level robot characterized by comprising bracket, multiple climbing wheel groups, the climbing wheel group and the bracket connect
It connects, the bracket is circumferentially surrounded by pole-climbing, and multiple climbing wheel groups are spaced apart on the bracket；
The bracket be retractable structure can adapt to different-diameter by pole-climbing；
Climbing wheel in the climbing wheel group is contacted with by the surface of pole-climbing, the axle center of the climbing wheel with by the axially vertical of pole-climbing, institute
Stating climbing wheel group can roll along by the axial rolling of pole-climbing or stopping；
At least one climbing wheel group in multiple climbing wheel groups is to clamp climbing wheel group, and the clamping climbing wheel group is equipped with clamping device,
The clamping device is used to that the climbing wheel group to be made to run along by the radial direction of pole-climbing, to make the climbing wheel group and the surface by pole-climbing
It locks and is fixed on climbing level robot by pole-climbing.
2. climbing level robot according to claim 1, which is characterized in that the bracket is triangular framing, the triangle
Three vertex of shape frame are respectively set there are three connecting plate, and three sides of the triangular form frame are telescopic sleeving rod.
3. climbing level robot according to claim 2, which is characterized in that the wherein one side on three side of triangular form frame
The telescopic sleeving rod is retractable loop bar, and described retractable loop bar one end and the bracket are hinged, the other end and the bracket
Junction is equipped with locking switch.
4. climbing level robot according to claim 2, which is characterized in that one of them of three connecting plates with it is described
The connection of climbing wheel group is clamped, other two connecting plates are connect with two climbing wheel groups respectively.
5. climbing level robot according to claim 4, which is characterized in that the connection being connect with the clamping climbing wheel group
Plate is equipped with guide rail hole, lead screw hole and transmission gear, and the transmission gear is set to inside the connecting plate.
6. climbing level robot according to claim 5, which is characterized in that the clamping device includes lead screw and guide rail, institute
State lead screw across the lead screw hole and can in the lead screw hole axially movable, the guide rail pass through the guide rail hole simultaneously energy
Enough to slide axially in the guide rail hole, one end of the guide rail is connect with the clamping climbing wheel group, one end of the lead screw
It is connect with the clamping climbing wheel group.
7. climbing level robot according to claim 6, which is characterized in that the clamping device further includes lead screw driving electricity
Machine, the motor shaft of the lead screw driving motor are provided with driving gear, and the driving gear is engaged with the transmission gear, described
Transmission gear and the lead screw cooperate.
8. climbing level robot according to claim 7, which is characterized in that each climbing wheel group includes at least one climbing wheel
The motor shaft of driving motor and multiple climbing wheels, the climbing wheel driving motor is connected with the wheel shaft of the climbing wheel by gear set, institute
State climbing wheel driving motor by the multiple climbing wheels of the gear set drive in same direction, identical speed rotation.
9. climbing level robot according to claim 8, which is characterized in that multiple climbing wheels in the climbing wheel group are side by side
It is arranged in parallel, the surface of the climbing wheel is the arc-shaped of indent.
10. climbing level robot according to claim 9, which is characterized in that further include control unit, described control unit with
The climbing wheel driving motor and lead screw driving motor are electrically connected, for controlling multiple climbing wheel group synchronous workings and control
The locking device work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811428981.4A CN109625112B (en) | 2018-11-27 | 2018-11-27 | Pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811428981.4A CN109625112B (en) | 2018-11-27 | 2018-11-27 | Pole-climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109625112A true CN109625112A (en) | 2019-04-16 |
| CN109625112B CN109625112B (en) | 2021-12-24 |
Family
ID=66069636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811428981.4A Active CN109625112B (en) | 2018-11-27 | 2018-11-27 | Pole-climbing robot |
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| CN (1) | CN109625112B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110205930A (en) * | 2019-06-13 | 2019-09-06 | 广东承信公路工程检验有限公司 | Novel bridge cable intelligent measurement robot |
| CN110239641A (en) * | 2019-06-27 | 2019-09-17 | 安徽理工大学 | A kind of step-by-step movement climbing level robot |
| CN110254545A (en) * | 2019-06-25 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN110371207A (en) * | 2019-06-24 | 2019-10-25 | 北京木业邦科技有限公司 | A kind of equally distributed robot capable of climbing trees of wheel group and its control method |
| CN112388645A (en) * | 2020-10-13 | 2021-02-23 | 上海海事大学 | Telescopic self-adaptive infrared detection pole-climbing robot |
| CN112429106A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic-assisted pole-climbing robot |
| CN112429108A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic power-assisted pole-climbing robot |
| CN112429107A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Pole-climbing robot |
| CN112524401A (en) * | 2019-08-29 | 2021-03-19 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
| CN113511280A (en) * | 2021-07-05 | 2021-10-19 | 中国矿业大学 | Steel wire rope climbing robot |
| CN116176724A (en) * | 2023-04-24 | 2023-05-30 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110205930A (en) * | 2019-06-13 | 2019-09-06 | 广东承信公路工程检验有限公司 | Novel bridge cable intelligent measurement robot |
| CN110371207A (en) * | 2019-06-24 | 2019-10-25 | 北京木业邦科技有限公司 | A kind of equally distributed robot capable of climbing trees of wheel group and its control method |
| CN110254545A (en) * | 2019-06-25 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN110239641A (en) * | 2019-06-27 | 2019-09-17 | 安徽理工大学 | A kind of step-by-step movement climbing level robot |
| CN110239641B (en) * | 2019-06-27 | 2024-04-02 | 安徽理工大学 | Stepping pole-climbing robot |
| CN112429108A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic power-assisted pole-climbing robot |
| CN112429106A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic-assisted pole-climbing robot |
| CN112429107A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Pole-climbing robot |
| CN112524401A (en) * | 2019-08-29 | 2021-03-19 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
| CN112524401B (en) * | 2019-08-29 | 2024-04-30 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
| CN112388645A (en) * | 2020-10-13 | 2021-02-23 | 上海海事大学 | Telescopic self-adaptive infrared detection pole-climbing robot |
| CN113511280A (en) * | 2021-07-05 | 2021-10-19 | 中国矿业大学 | Steel wire rope climbing robot |
| CN113511280B (en) * | 2021-07-05 | 2022-11-29 | 中国矿业大学 | Steel wire rope climbing robot |
| CN116176724A (en) * | 2023-04-24 | 2023-05-30 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
| CN116176724B (en) * | 2023-04-24 | 2023-08-25 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
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| Publication number | Publication date |
|---|---|
| CN109625112B (en) | 2021-12-24 |
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