CN110654472A - Self-adaptive flexible holding climbing platform of wind power tower cylinder frame type - Google Patents
Self-adaptive flexible holding climbing platform of wind power tower cylinder frame type Download PDFInfo
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- CN110654472A CN110654472A CN201910896771.6A CN201910896771A CN110654472A CN 110654472 A CN110654472 A CN 110654472A CN 201910896771 A CN201910896771 A CN 201910896771A CN 110654472 A CN110654472 A CN 110654472A
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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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Abstract
Wind power tower cylinder frame-type self-adaptation flexibility is embraced tightly and is climbed platform, including frame girder (3), its characterized in that: the wind power blade and tower maintenance self-adaptive flexible enclasping climbing platform is characterized in that a middle cross beam (4) is vertically fixed in the middle of a frame main beam (3), a sliding connection beam (9) is fixed at one end of the frame main beam (3) through a fixed connecting piece (8), a guide rod (17) is fixed at the other end of the frame main beam (3) through a mounting seat (16), an enclasping driving device (20) is installed on the guide rod (17), and the enclasping driving device (20) is connected with the mounting seat (16) through a flexible belt (21).
Description
Technical Field
The invention relates to a wind power tower climbing platform, in particular to a wind power tower frame type self-adaptive flexible enclasping climbing platform, and belongs to the technical field of wind power maintenance equipment.
Background
The wind energy is a clean energy and has wide application prospect. In China, the wind power industry is expanded at a high speed, the installed capacity is increased day by day, corresponding unit equipment is aged day by day, and the failure rate and the damage rate are increased gradually. The wind turbine generator is generally installed in a region with strong wind energy but a remote place, and a large amount of manpower and material resources are consumed for regular maintenance, so that a great economic burden is brought to a wind power generation enterprise, and the economic benefit of the wind power enterprise is directly influenced.
Due to the geographical environment factors of the wind power plant, large-scale maintenance equipment such as hoisting equipment needs to spend a large amount of time to arrive at the site, installation is time-consuming and labor-consuming, and the maintenance additionally increases the operating cost of wind power enterprises. Moreover, the wind power blade and the tower barrel work in a severe working condition for a long time. At present, the wind power generation airports in China still adopt manual operation methods to carry out maintenance work such as cleaning, coating, detection and the like on the towers and the blades of the fans. For example, the working modes of an overhead vertical hanging basket, a hydraulic lifting platform, an overhead suspension rope and the like are adopted; the problems of high safety risk, high working intensity, long working time and the like exist in the high-altitude operation, along with the improvement of the scientific and technological level of China, the personal safety guarantee of workers is more and more emphasized by enterprises and workers, and the adoption of machines to replace manual work is a necessary trend in development.
In the maintenance of the wind generating set, maintenance personnel and related maintenance equipment need to be transported to the tower top of hundreds of meters for high-altitude operation, workers face great safety risks during working, and how to safely, efficiently and qualitatively construct the wind generating set becomes a long-standing unsolved technical problem. The robot for detecting, maintaining and maintaining the wind power blades is not used for replacing manual work to carry out high-altitude operation in the industry, the working efficiency can be improved, the maintenance cost of the wind power generator set can be reduced, and if the technical problems can be solved, the robot has wide application prospect and high social benefit.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of high maintenance difficulty, high risk, high cost and low efficiency of the existing wind generating set, and provides a wind power tower frame type self-adaptive flexible holding climbing platform which is reasonable in structure, can quickly and automatically climb a wind power tower and perform maintenance operation on wind power blades and a tower.
In order to achieve the purpose, the technical solution of the invention is as follows: wind power tower cylinder frame-type self-adaptation flexibility is embraced tightly and is climbed platform, including the frame girder, its characterized in that: the middle part of the frame main beam is vertically fixed with a middle cross beam, the pair of frame main beams and the middle cross beam form an I shape, one end of the frame main beam is fixed with a sliding connection beam through a fixed connecting piece, an equipment carrying frame is arranged on the inner side sliding surface of the sliding connection beam through a sliding seat, the hollow area of the equipment carrying frame is a blade operation area, a plurality of detection and maintenance equipment can be arranged on the equipment carrying frame, the other end of the frame main beam is fixed with a guide rod through an installation seat, a holding driving device is arranged on the guide rod, the holding driving device is connected with the installation seat through a flexible belt, a connecting rod parallel to the guide rod is arranged on the outer side of the holding driving device, the outer end of the connecting rod is vertically fixed with an outer end cross rod, the middle cross beam is vertically fixed with a pair of vertical connecting rods, the upper part, the lower part of the vertical connecting rod is provided with a second inner arc wheel through a wheel seat, the inner side of the outer end cross rod is provided with a third inner arc wheel through a wheel seat, and any one or more inner arc wheels of the first inner arc wheel, the second inner arc wheel and the third inner arc wheel are provided with a driving device.
Furthermore, a frame inner space region surrounded by the frame main beam, the middle cross beam, the guide rod, the outer end cross rod and the connecting rod is a tower climbing region, and the inner side cambered surfaces of the first inner cambered surface wheel, the second inner cambered surface wheel and the third inner cambered surface wheel, which are close to the tower climbing region, are respectively tightly attached to the outer wall of the wind power tower.
Furthermore, a connecting inclined rod is fixedly connected to a right-angle position between the frame main beam and the middle cross beam, a connecting inclined rod is also fixedly connected to a right-angle position between the outer end cross beam and the connecting rod, and a supporting frame with a reinforcing effect is fixedly connected between the frame main beam and the vertical connecting rod.
Furthermore, functional equipment such as a blade cleaning device, a blade spraying device and a detection device can be installed on the sliding connection beam.
Further, a plurality of distance sensors corresponding to the wind power blades are installed at positions, close to the blade operation area, on the equipment carrying frame, and the distance sensors are connected with the input end of the controller.
Further, the enclasping driving device comprises a guide rod sliding seat, a rack, a gear and a driving motor, the rack is fixedly arranged on the side face of the guide rod, the guide rod sliding seat is installed on the guide rod and the rack, the gear is installed on the guide rod sliding seat and meshed with the rack, the driving motor is installed inside the guide rod sliding seat, and the gear is fixed on an output shaft of the driving motor.
Furthermore, a tension sensor is installed on the installation seat, one end of the flexible belt is fixed on the tension sensor, and the other end of the flexible belt is installed on the enclasping driving device.
Further, the guide rod 17 is provided with an inclination sensor 32 for sensing the relative horizontal position of the frames at the two sides, and the inclination sensor 32 is used for sensing the relative horizontal position of the frames at the two sides, so that the walking speed of the driving wheels at the two sides can be controlled.
The invention has the beneficial effects that:
1. the self-adaptive flexible holding structure is adopted, the flexible belt can be tensioned according to the change of the outer diameter of the wind power tower cylinder through the holding driving device, the inner arc wheel is driven to be tightly attached to the outer wall of the wind power tower cylinder, the vertical movement is realized by utilizing the friction force between the inner arc wheel and the wind power tower cylinder, the self-adaptive flexible holding structure can adapt to the change of the outer diameters of the wind power tower cylinders with different heights, and the technical problem is solved ingeniously.
2. The invention adopts the equipment carrying frame which can move according to the shape and the position of the blade, the hollow area of the equipment carrying frame is the blade working area, and functional equipment such as a blade cleaning device, a blade spraying device, a detection device and the like can be arranged on the equipment carrying frame.
3. The automatic climbing device is reasonable in structure, can quickly and automatically climb the wind power tower drum, can automatically maintain the wind power blades, is high in working efficiency, reduces the maintenance operation cost, avoids workers from working high above the ground, improves the safety performance, and has wide application prospect and social and practical values.
Drawings
Fig. 1 is a schematic structural view of a climbing platform of the invention.
Fig. 2 is a schematic structural diagram of the climbing platform provided by the invention after being installed with a spray coating layer.
Fig. 3 is a side schematic view of the present invention.
Fig. 4 is a schematic view of another angle of fig. 2.
Fig. 5 is a schematic view of the structure of the auxiliary clamping device of the present invention.
Fig. 6 is a partially enlarged view of fig. 5.
Fig. 7 is a cross-sectional view of fig. 6.
FIG. 8 is a schematic structural view of the present invention operating on a wind tower.
In the figure: wind power tower 1, wind power blade 2, frame girder 3, middle beam 4, connecting diagonal rod 5, vertical connecting rod 6, support frame 7, fixed connecting piece 8, sliding connection beam 9, sliding seat 10, gas storage tank 11, first intrados wheel 12, second intrados wheel 13, third intrados wheel 14, drive arrangement 15, mount pad 16, guide bar 17, outer end horizontal pole 18, connecting rod 19, hold driving device 20 tightly, flexible belt 21, tower cylinder climbing region 22, horizontal telescoping device 23, carry equipment frame 24, carry equipment 25, hoist device 26, guide bar sliding seat 27, rack 28, gear 29, driving motor 30, tension sensor 31, and inclination sensor 32.
Detailed Description
The invention is described in further detail below with reference to the following description of the drawings and the detailed description.
Referring to fig. 1 to 8, the frame type adaptive flexible enclasping climbing platform for the wind power tower comprises a frame girder 3, and is characterized in that: the middle part of the frame girder 3 is vertically fixed with a middle cross beam 4, the pair of frame girders 3 and the middle cross beam 4 form an I shape, one end of the frame girder 3 is fixed with a sliding connection beam 9 through a fixed connection part 8, the other end of the frame girder 3 is fixed with a guide rod 17 through a mounting seat 16, a holding driving device 20 is installed on the guide rod 17, the holding driving device 20 is connected with the mounting seat 16 through a flexible belt 21, a connecting rod 19 parallel to the guide rod 17 is installed on the outer side of the holding driving device 20, an outer end cross rod 18 is vertically fixed on the outer end of the connecting rod 19, a pair of vertical connecting rods 6 is vertically fixed on the middle cross beam 4, a first inner arc wheel 12 is installed on the upper part of the vertical connecting rod 6 through a wheel seat, a second inner arc wheel 13 is installed on the lower part of the vertical connecting rod 6 through a wheel seat, a third inner arc wheel 14 is installed, any one or more of the first intrados wheel 12, the second intrados wheel 13 and the third intrados wheel 14 is/are provided with a driving device 15.
The inner space region of the frame, which is enclosed by the frame main beam 3, the middle cross beam 4, the guide rods 17, the outer end cross rods 18 and the connecting rods 19, is a tower climbing region 22, and the inner side cambered surfaces, close to the tower climbing region 22, of the first inner cambered surface wheel 12, the second inner cambered surface wheel 13 and the third inner cambered surface wheel 14 are respectively attached to the outer wall of the wind power tower 1.
The right angle position between the frame main beam 3 and the middle cross beam 4 is fixedly connected with a connecting inclined rod 5, the right angle position between the outer end cross beam 18 and the connecting rod 19 is also fixedly connected with the connecting inclined rod 5, and a supporting frame 7 with a reinforcing function is fixedly connected between the frame main beam 3 and the vertical connecting rod 6.
A mounting equipment frame 24 is installed on the inner sliding surface of the sliding connecting beam 9 through a sliding seat 10 or a horizontal telescopic device 23, the area in the frame of the mounting equipment frame 24 is the area for overhauling and maintaining the wind power blade 2, mounting equipment 25 or a hoisting device 26 is installed on the mounting equipment frame 24, and the mounting equipment 25 is arranged corresponding to the wind power blade 2.
The mounting device 25 includes a cleaning device, a spraying device, a detecting device, or an image collecting device.
A plurality of distance sensors corresponding to the wind power blades 2 are installed at positions, close to the region where the wind power blades are overhauled and maintained, on the mounting equipment frame 24, and the distance sensors are connected with the input end of the controller.
The clasping driving device 20 comprises a guide rod sliding seat 27, a rack 28, a gear 29 and a driving motor 30, the rack 28 is fixedly arranged on the side surface of the guide rod 17, the guide rod sliding seat 27 is installed on the guide rod 17 and the rack 28, the gear 28 is installed on the guide rod sliding seat 27, the gear 29 is meshed with the rack 28, the driving motor 30 is installed inside the guide rod sliding seat 27, and the gear 29 is fixed on an output shaft of the driving motor 30.
The mounting base 16 is provided with a tension sensor 31, one end of the flexible belt 21 is fixed on the tension sensor 31, and the other end of the flexible belt 21 is mounted on the enclasping driving device 20.
The guide rod 17 is provided with an inclination angle sensor 32 for sensing the relative horizontal position of the frames at the two sides, and the inclination angle sensor 32 is used for sensing the relative horizontal position of the frames at the two sides to realize the control of the walking speed of the driving wheels at the two sides.
Referring to fig. 1 to 4, the frame of the present invention is a frame structure made of aluminum profiles, and the aluminum profile frame structure has the advantages of high strength, light weight and easy assembly and disassembly. The middle part of the frame structure is provided with a pair of frame main beams 3 which are arranged in parallel, the middle part of each frame main beam 3 is vertically fixed with a middle cross beam 4, and the pair of frame main beams 3 and the middle cross beam 4 form an I shape. The climbing platform is used as a platform for automatically climbing the wind power tower, and can carry different devices according to actual task requirements, such as: the blade cleaning device, the blade spraying device, the detection device or the winch device and the like form different task modules for completing cleaning, detection, spraying and image acquisition of the wind power blade, and can also carry a fixed pulley and a cable rope for hoisting operation of other equipment. When the device is installed, one end of the frame main beam 3 is fixed with a sliding connection beam 9 through a fixed connecting piece 8, and a blade cleaning device, a blade spraying device, a detection device, an image acquisition device and a hoisting device can be installed on the sliding connection beam 9.
Because the wind power tower cylinder 1 is not cylindrical in appearance but has a shape with a certain taper, the requirements cannot be met by using the traditional pole climbing device, in order to effectively solve the technical problem, the self-adaptive flexible holding structure and the symmetrical intrados wheel type driving structures on two sides are adopted in the invention, the other end of the frame main beam 3 is fixed with a guide rod 17 through a mounting seat 16, the holding driving device 20 is installed on the guide rod 17, and the holding driving device 20 can accurately move back and forth along the guide rod 17. The enclasping driving device 20 comprises a guide rod sliding seat 27, a rack 28, a gear 29 and a driving motor 30, a ratchet mechanism is further arranged inside the enclasping driving device 20 and used for locking the gear 29, and an electromagnetic reversing device is mounted on the outer side of the ratchet mechanism and used for controlling the locking direction of the ratchet mechanism. The side of the guide rod 17 is fixedly provided with a rack 28, a guide rod sliding seat 27 is installed on the guide rod 17 and the rack 28, a gear 29 is installed on the guide rod sliding seat 27, the gear 29 is meshed with the rack 28, a driving motor 30 is installed inside the guide rod sliding seat 27, the gear 29 is fixed on an output shaft of the driving motor 30, the driving motor 30 drives the gear 29 to rotate, and the guide rod sliding seat 27 is driven to precisely move back and forth along the guide rod 17 under the meshing of the rack 28 and the gear 28. The clasping driving device 20 is connected with the mounting seat 16 through a flexible belt 21, a tension sensor 31 is mounted on the mounting seat 16, one end of the flexible belt 21 is fixed on the tension sensor 31, and the other end of the flexible belt 21 is mounted on the clasping driving device 20. The tension sensor 31 is used for measuring the tension on the flexible belt 21, and the flexible belt 21 can be tensioned according to the appearance change of the wind power tower 1 by tightly holding the driving device 20, so as to ensure the static friction force during the vertical climbing.
The clasping driving device 20 is connected with the mounting seat 16 through a flexible belt 21, and a connecting rod 19 parallel to the guide rod 17 is mounted on the outer side of the clasping driving device 20. The outer end of connecting rod 19 is fixed with outer end horizontal pole 18 perpendicularly, be fixed with a pair of perpendicular connecting rod 6 perpendicularly on middle part crossbeam 4, first intrados wheel 12 is installed through the wheel seat in the upper portion of perpendicular connecting rod 6, second intrados wheel 13 is installed through the wheel seat in the lower part of perpendicular connecting rod 6, third intrados wheel 14 is installed through the wheel seat in the inboard of outer end horizontal pole 18, first intrados wheel 12 when using, the inboard cambered surface of second intrados wheel 13 and third intrados wheel 14 is hugged closely with the outer wall of wind power tower section of thick bamboo 1 respectively. Any one or more of the first intrados wheel 12, the second intrados wheel 13 and the third intrados wheel 14 is/are provided with a driving device 15, the driving device 15 can adopt a driving mode of a speed reduction motor, the driving device 15 drives one or more intrados wheels to rotate at a low speed, and the vertical climbing of the invention is realized by utilizing the static friction force between the intrados wheels and the wind power tower 1. When the appearance of the wind power tower 1 changes, the holding driving device 20 drives the connecting rod 19, the outer end cross rod 18 and the third inner arc wheel 14 mounted on the outer end cross rod 18 to move and adjust in the horizontal direction, so as to adapt to the appearance change of the wind power tower 1.
When the climbing robot starts to move, an initial value of the tension sensor is set, for example, G1, when the climbing robot climbs upwards, the real-time value of the tension sensor is lower than G1 within a certain range, for example, 20%, the rotary servo motor starts to operate to perform tensioning action, so that the real-time value of the tension sensor is close to G1, and the effect of holding tightly is achieved. If the real-time value of the tension sensor is higher than the G1 within a certain range, such as 20%, the rotating servo motor starts to operate to perform a relaxing action, so that the real-time value of the tension sensor approaches to G1, and a better balancing effect is achieved.
In the upward climbing process, the guide rod 17 moves horizontally along the rack to drive the gear to rotate, the gear is externally connected with the ratchet wheel device to achieve the self-locking effect, and the connecting safety effect is achieved on the frame structures on the two sides. The inclination angle sensor 32 is installed on the guide rod 17 and used for sensing the relative horizontal position of the frames at the two sides and controlling the walking speed of the driving wheels at the two sides. The whole ratchet device has a reversing function, and when the climbing mechanism integrally moves upwards, the gear externally connected ratchet device moves towards the outside. When climbing mechanism wholly moves down, with the help of the switching-over function, the outer ratchet that links of gear is towards inboard operation to make the climbing platform can commutate in real time, do not influence the climbing effect.
In order to conveniently carry various devices in a modularized mode, a mounting device frame 24 is installed on the inner sliding surface of the sliding connecting beam 9 through a sliding seat 10 or a horizontal telescopic device 23, and the area inside the frame of the mounting device frame 24 is an area for overhauling and maintaining the wind power blade 2. The mounting equipment frame 24 is provided with mounting equipment 25 or a hoisting device 26, and the mounting equipment 25 is arranged corresponding to the wind power blade 2. The mounting device 25 includes various devices for cleaning, detecting, spraying, and image capturing the wind turbine blade 2, such as a cleaning device, a spraying device, a detecting device, or an image capturing device.
The frame inner space region that frame girder 3, middle part crossbeam 4, guide bar 17, outer end horizontal pole 18 and connecting rod 19 enclose is tower drum climbing region 22, and wind power tower 1 is located tower drum climbing region 22 when using. In addition, the right angle position between the frame main beam 3 and the middle cross beam 4 is fixedly connected with a connecting inclined rod 5, the right angle position between the outer end cross beam 18 and the connecting rod 19 is also fixedly connected with the connecting inclined rod 5, a supporting frame 7 with a reinforcing effect is fixedly connected between the frame main beam 3 and the vertical connecting rod 6, and the stability of the frame structure is ensured on the premise of ensuring the convenient disassembly and assembly of the whole frame structure.
The above description is provided for the purpose of describing the present invention in more detail, and the detailed description should not be construed as limiting the present invention, and it should be understood that the present invention is not limited to the description, but is applicable to various modifications and alterations by those skilled in the art without departing from the spirit of the present invention.
Claims (9)
1. Wind power tower cylinder frame-type self-adaptation flexibility is embraced tightly and is climbed platform, including frame girder (3), its characterized in that: the middle part of the frame girder (3) is vertically fixed with a middle cross beam (4), the pair of frame girders (3) and the middle cross beam (4) form an I shape, one end of the frame girder (3) is fixed with a sliding connection beam (9) through a fixed connecting piece (8), the other end of the frame girder (3) is fixed with a guide rod (17) through a mounting seat (16), a holding driving device (20) is installed on the guide rod (17), the holding driving device (20) is connected with the mounting seat (16) through a flexible belt (21), a connecting rod (19) parallel to the guide rod (17) is installed on the outer side of the holding driving device (20), an outer end cross rod (18) is vertically fixed at the outer end of the connecting rod (19), a pair of vertical connecting rods (6) is vertically fixed on the middle cross beam (4), a first inner arc wheel (12) is installed on the upper part of the vertical connecting rod (6) through a wheel seat, the lower part of the vertical connecting rod (6) is provided with a second inner arc wheel (13) through a wheel seat, the inner side of the outer end cross rod (18) is provided with a third inner arc wheel (14) through the wheel seat, and any one or more of the first inner arc wheel (12), the second inner arc wheel (13) and the third inner arc wheel (14) are provided with a driving device (15).
2. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: the inner side cambered surfaces of the first inner cambered surface wheel (12), the second inner cambered surface wheel (13) and the third inner cambered surface wheel (14) close to the tower climbing area (22) are respectively tightly attached to the outer wall of the wind power tower (1).
3. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: the frame girder is characterized in that a connecting inclined rod (5) is fixedly connected to a right-angle position between the frame girder (3) and the middle cross beam (4), a connecting inclined rod (5) is also fixedly connected to a right-angle position between the outer end cross beam (18) and the connecting rod (19), and a supporting frame (7) with a reinforcing effect is fixedly connected between the frame girder (3) and the vertical connecting rod (6).
4. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: a mounting equipment frame (24) is installed on the inner side sliding surface of the sliding connection beam (9) through a sliding seat (10) or a horizontal telescopic device (23), the area in the frame of the mounting equipment frame (24) is the area for overhauling and maintaining the wind power blade (2), mounting equipment (25) or a hoisting device (26) is installed on the mounting equipment frame (24), and the mounting equipment (25) is arranged corresponding to the wind power blade (2).
5. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: the mounting equipment (25) comprises a cleaning device, a spraying device, a detection device or an image acquisition device.
6. The wind tower frame-type adaptive flexible enclasping climbing platform according to claim 4, wherein: and a plurality of distance sensors corresponding to the windmill blades (2) are arranged on the mounting equipment frame (24) close to the operation area for overhauling and maintaining the wind power blades, and the distance sensors are connected with the input end of the controller.
7. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: hold driving device (20) tightly and include guide bar sliding seat (27), rack (28), gear (29) and driving motor (30), the fixed rack (28) that is provided with in side of guide bar (17), guide bar sliding seat (27) are installed on guide bar (17) and rack (28), install gear (29) on guide bar sliding seat (27), gear (29) and rack (28) mesh mutually, the internally mounted of guide bar sliding seat (27) has driving motor (30), be fixed with gear (29) on the output shaft of driving motor (30).
8. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: a tension sensor (31) is installed on the installation seat (16), one end of the flexible belt (21) is fixed on the tension sensor (31), and the other end of the flexible belt (21) is installed on the enclasping driving device (20).
9. The wind power tower frame-type adaptive flexible enclasping climbing platform according to claim 1, characterized in that: and an inclination angle sensor (32) for sensing the relative horizontal position of the frames at the two sides is arranged on the guide rod (17).
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| CN201910896771.6A CN110654472A (en) | 2019-09-23 | 2019-09-23 | Self-adaptive flexible holding climbing platform of wind power tower cylinder frame type |
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| CN201910896771.6A CN110654472A (en) | 2019-09-23 | 2019-09-23 | Self-adaptive flexible holding climbing platform of wind power tower cylinder frame type |
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| CN201910896771.6A Pending CN110654472A (en) | 2019-09-23 | 2019-09-23 | Self-adaptive flexible holding climbing platform of wind power tower cylinder frame type |
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| CN111706757A (en) * | 2020-07-20 | 2020-09-25 | 北京理工大学珠海学院 | Pole-climbing holder device |
| CN113664842A (en) * | 2021-08-06 | 2021-11-19 | 长安大学 | Climbing operation robot for pier tower structure detection and control method thereof |
| CN114904235A (en) * | 2022-06-02 | 2022-08-16 | 国网河北省电力有限公司南宫市供电分公司 | Climbing device applied to electric pole |
| CN115195906A (en) * | 2022-06-27 | 2022-10-18 | 国网山东省电力公司曲阜市供电公司 | Auxiliary device for power transmission tower maintenance and working method thereof |
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Application publication date: 20200107 |