CN111483528A - Climbing robot with pneumatic control device - Google Patents
Climbing robot with pneumatic control device Download PDFInfo
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- CN111483528A CN111483528A CN201910078589.XA CN201910078589A CN111483528A CN 111483528 A CN111483528 A CN 111483528A CN 201910078589 A CN201910078589 A CN 201910078589A CN 111483528 A CN111483528 A CN 111483528A
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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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- 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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Abstract
The invention discloses a climbing robot with a pneumatic control device, which comprises a control device, a robot body, a first slide block, a second slide block and the pneumatic control device, wherein the robot body is a structure frame in a shape of Chinese character 'ri' consisting of four longitudinal cylinders and three transverse cylinders, connecting pieces connected with the longitudinal cylinders are arranged at two ends of the transverse cylinders arranged in the middle, and the upper end and the lower end of each connecting piece are respectively connected with the bottoms of the longitudinal cylinders arranged at the upper side and the tops of the longitudinal cylinders arranged at the lower side; the longitudinal cylinder is connected with a first sliding block, the first sliding block is provided with a first connecting plate connected with the transverse cylinders, each transverse cylinder is connected with a second sliding block, one end of each second sliding block, which is far away from the transverse cylinder, is connected with a second connecting plate, one end of each transverse cylinder is connected with a third connecting plate connected with the first sliding block, and the second connecting plate, the third connecting plate and the connecting piece are all connected with a pneumatic control device; a first piston for driving the first sliding block to move up and down is arranged in the longitudinal cylinder, and a second piston for driving the second sliding block to move left and right is arranged in the transverse cylinder.
Description
Technical Field
The invention relates to the technical field of climbing robots, in particular to a climbing robot with a pneumatic control device.
Background
Wind power generation is used as a renewable clean energy source, the wind power generation system is widely popularized in all countries in the world in recent years, a wind power generator is used as main equipment in a wind power generation system, maintenance of a wind turbine generator, cleaning of a tower drum, an outer ship body of a ship, a steel tank body and detection of fan blades are more and more important, at present, work such as high-altitude cleaning and inspection of steel structures such as the tower drum of the wind power generator and the like is generally operated by a spider man or a hanging basket carrying man, the labor intensity is high, the construction period is long, the maintenance cost is high, and great potential safety hazards exist.
Disclosure of Invention
The climbing robot comprises a climbing robot body, a fan tower, a control center, a control device, a pneumatic control device and a controller, wherein the climbing robot body is arranged on the fan tower, the control device is connected with the controller through a pneumatic control device, the pneumatic control device is used as a grasping device, the fan tower is fixed on a working position, the fan tower is unfolded to work functionally, the rodless cylinder is used for moving up and down and steering according to a bionic foot animal crawling principle, the purpose of going to any position of the tower or other adsorbable objects is achieved, the climbing robot body is simple in structure, the self weight of the robot body is greatly reduced, the climbing robot body works flexibly and conveniently, the controller is controlled and works through sending instructions by the control center, the whole-process automatic work is achieved, manpower is completely replaced, the problems of potential safety hazards, long period, low efficiency and the like in the manpower working.
In order to solve the technical problems, the invention provides the following technical scheme: a climbing robot with a pneumatic control device comprises a control device, a robot body, a first sliding block, a second sliding block and the pneumatic control device, wherein the robot body is a structure frame in a shape of Chinese character 'ri' consisting of four longitudinal cylinders and three transverse cylinders, the four longitudinal cylinders are arranged in parallel in pairs, the three transverse cylinders are arranged in parallel, connecting pieces connected with the longitudinal cylinders are arranged at two ends of the transverse cylinder arranged in the middle, and the upper end and the lower end of each connecting piece are respectively connected to the bottoms of the longitudinal cylinders arranged at the upper side and the tops of the longitudinal cylinders arranged at the lower side; the first sliding block is connected to each longitudinal cylinder, a first connecting plate connected with the transverse cylinder is arranged at one end, away from the longitudinal cylinder, of the first sliding block, the second sliding block is connected to each transverse cylinder, a second connecting plate is connected to one end, away from the transverse cylinder, of the second sliding block, a third connecting plate connected with the first sliding block is connected to one end of the transverse cylinder, and the pneumatic control devices are connected to the second connecting plate, the third connecting plate and the connecting piece; the pneumatic control device is characterized in that a first piston for driving the first sliding block to move up and down is arranged in the longitudinal cylinder, a second piston for driving the second sliding block to move left and right is arranged in the transverse cylinder, an air source is arranged outside the longitudinal cylinder and outside the transverse cylinder, a vacuum generator is arranged outside the pneumatic rotator, the control device is connected to one side of the longitudinal cylinder, and the control device is respectively in control connection with the longitudinal cylinder, the transverse cylinder and the pneumatic control device.
Foretell climbing robot with pneumatic control device, wherein, controlling means include the control box and set up in inside controller, the valve island of control box, the control box connect in indulge one side of jar, vacuum generator the air supply all with the valve island is connected, be equipped with on the valve island respectively with indulge the jar horizontal jar pneumatic circulator connects the trachea, control respectively the control connection the valve island vacuum generator indulge the jar horizontal jar pneumatic control device.
The climbing robot with the pneumatic control device is characterized in that the control box is connected to the two longitudinal cylinders on the upper side or the two longitudinal cylinders on the lower side.
The climbing robot with the pneumatic control device is characterized in that a support connected with the third connecting plate is arranged at any one end of two ends of the transverse cylinder.
The climbing robot with the pneumatic control device is characterized in that the transverse cylinders on the upper side and the lower side are provided with fixing rods which are connected with the end points of the longitudinal cylinders and are deviated from one side of the connecting piece respectively.
The climbing robot with the pneumatic control device comprises a push-pull assembly and a sucker assembly, wherein the push-pull assembly comprises a push-pull cylinder and a fixing flange, the sucker assembly comprises a sucker and a fixing frame, the push-pull rod inside the push-pull cylinder is connected with the fixing flange in a driving mode, one end of the fixing flange, which deviates from the push-pull cylinder, is connected with the fixing frame, the sucker is connected with one end, which deviates from the fixing frame, of the fixing flange, and an interface connected with an air pipe is arranged on the sucker.
The climbing robot with the pneumatic control device is characterized in that three push-pull rods connected with the fixing flange are arranged inside the push-pull cylinder.
The climbing robot with the pneumatic control device is characterized in that the connecting piece is provided with a fixing plate connected with the push-pull cylinder, and the push-pull cylinder is connected to one side of the fixing plate.
The climbing robot with the pneumatic control device is characterized in that two connecting grooves are symmetrically formed in one side, deviating from the fixing plate, of the connecting piece.
According to the technical scheme provided by the climbing robot with the pneumatic control device, the climbing robot has the advantages that: through pneumatic control device as promptly device, adsorb the climbing robot on fan tower section of thick bamboo and fix and expand functional work at the operating position, utilize the bionic sufficient animal of rodless cylinder to creep the principle about going on, turn to the removal, reach the purpose of going to the optional position of a tower section of thick bamboo or other adsorbable objects, moreover, the steam generator is simple in structure, greatly reduced the self weight of robot, make nimble convenience during operation, send the control and the work of order realization to the controller through control center, full automation work, the manpower has been replaced completely, also effectively avoided the potential safety hazard in the manpower working process, the cycle length, the inefficiency scheduling problem, has very practical value, and the steam generator is simple in structure, and is suitable for use
Drawings
FIG. 1 is a schematic view of a climbing robot provided with a pneumatic control device according to the present invention in use;
FIG. 2 is a schematic structural view of a climbing robot provided with a pneumatic control device according to the present invention;
figure 3 is a schematic view of a climbing robot provided with a pneumatic control device according to a second state of use of the invention;
FIG. 4 is a schematic view of a connection structure of a push-pull assembly and a sucker assembly in the climbing robot provided with a pneumatic control device according to the present invention;
FIG. 5 is a schematic structural view of a suction cup assembly in a climbing robot provided with a pneumatic control device according to the present invention;
figure 6 is a schematic view of the structure of the connecting piece in the climbing robot provided with a pneumatic control device according to the invention.
Wherein the reference numbers are as follows: the robot comprises a control device 101, a robot body 102, a push-pull assembly 103, a sucker assembly 104, a longitudinal cylinder 201, a transverse cylinder 202, a fixed rod 203, a push-pull cylinder 204, a connecting piece 205, a first sliding block 206, a second sliding block 207, a first connecting plate 209, a second connecting plate 210, a third connecting plate 211, a bracket 212, a push-pull rod 301, a fixed flange 302, a sucker 303, a fixed frame 304, a fixed plate 401 and a connecting groove 402.
Detailed Description
In order to make the technical means, the characteristics, the purposes and the functions of the invention easy to understand, the invention is further described with reference to the specific drawings.
The climbing robot is used as a grasping device, is adsorbed on a fan tower cylinder and is fixed at a working position to perform functional work, and moves up and down and in a steering mode by utilizing the bionic foot animal crawling principle of a rodless cylinder to achieve the purpose of going to any position of the tower cylinder or other adsorbable objects.
As shown in fig. 1-2, a climbing robot with a pneumatic control device, wherein the climbing robot comprises a control device 101, a robot body 102, a first slider 206, a second slider 207, and the pneumatic control device 101, the robot body 102 is a structure frame in a shape of a Chinese character ri consisting of four longitudinal cylinders 201 and three transverse cylinders 202, the four longitudinal cylinders 201 are arranged in parallel in pairs, the three transverse cylinders 202 are arranged in parallel, connecting pieces 205 connected to the longitudinal cylinders 201 are arranged at two ends of the transverse cylinder 202 arranged in the middle, and the upper and lower ends of the connecting pieces 205 are respectively connected to the bottom of the longitudinal cylinder 201 arranged at the upper side and the top of the longitudinal cylinder 201 arranged at the lower side; each longitudinal cylinder 201 is connected with a first sliding block 206, one end of the first sliding block 206, which is far away from the longitudinal cylinder 201, is provided with a first connecting plate 209 connected with the transverse cylinder 202, each transverse cylinder 202 is connected with a second sliding block 207, one end of the second sliding block 207, which is far away from the transverse cylinder 202, is connected with a second connecting plate 210, one end of the transverse cylinder 202 is connected with a third connecting plate 211 connected with the first sliding block 206, and the second connecting plate 210, the third connecting plate 211 and the connecting piece 205 are all connected with a pneumatic control device 101; the vertical cylinder 201 is internally provided with a first piston for driving the first sliding block 206 to move up and down, the horizontal cylinder 202 is internally provided with a second piston for driving the second sliding block 207 to move left and right, the vertical cylinder 201 and the horizontal cylinder 202 are externally connected and provided with air sources, the pneumatic rotator is externally connected and provided with a vacuum generator, the control device 101 is connected to one side of the vertical cylinder 201, and the control device 101 is respectively connected with the vertical cylinder 201, the horizontal cylinder 202 and the pneumatic control device 101 in a control mode.
The climbing robot with the pneumatic control device provided by the embodiment adopts a control device 101 which comprises a control box and a controller and a valve island which are arranged inside the control box, wherein the control box is connected to one side of a longitudinal cylinder 201, a vacuum generator and an air source are both connected with the valve island, the valve island is provided with an air pipe which is respectively connected with the longitudinal cylinder 201, a transverse cylinder 202 and a pneumatic rotator, and the control is respectively connected with the valve island, the vacuum generator, the longitudinal cylinder 201, the transverse cylinder 202 and the pneumatic control device 101 in a control mode.
The climbing robot provided with the pneumatic control device adopts a control box connected to two longitudinal cylinders 201 on the upper side or two longitudinal cylinders 201 on the lower side.
As shown in fig. 3, in the climbing robot provided with the pneumatic control device according to the present embodiment, a bracket 212 connected to the third connecting plate 211 is provided at either end of the two ends of the cylinder.
According to the climbing robot with the pneumatic control device provided by the embodiment, the fixing rods 203 connected with the end points of the longitudinal cylinders 201 are respectively arranged on one sides of the transverse cylinders 202 deviating from the connecting piece 205 on the upper side and the lower side.
As shown in fig. 4-5, in the climbing robot with a pneumatic control device provided in this embodiment, the adopted pneumatic control device 101 includes a push-pull assembly 103 and a suction cup assembly 104, the push-pull assembly 103 includes a push-pull cylinder 204 and a fixed flange 302, the suction cup assembly 104 includes a suction cup 303 and a fixed mount 304, the push-pull rod 301 inside the push-pull cylinder 204 is connected to the fixed flange 302 in a driving manner, one end of the fixed flange 302 departing from the push-pull cylinder 204 is connected to the fixed mount 304, the suction cup 303 is connected to one end of the fixed mount 304 departing from the fixed flange 302, and the suction cup 303 is provided with an interface connected to an.
In the climbing robot provided with the pneumatic control device, three push-pull rods 301 connected with a fixed flange 302 are arranged inside a push-pull cylinder 204.
As shown in fig. 6, the climbing robot with a pneumatic control device provided in this embodiment uses a fixing plate 401 connected to a push-pull cylinder 204 on a connecting member 205, and the push-pull cylinder 204 is connected to one side of the fixing plate 401.
According to the climbing robot with the pneumatic control device provided by the embodiment, two connecting grooves 402 are symmetrically arranged on one side of the connecting piece 205 departing from the fixing plate 401.
The climbing robot provided with the pneumatic control device provided by the embodiment can move in the following modes when in use:
moving upwards: the suction cup 303 is in a suction state by the vacuum generator, and if all the suction cup assemblies 104 are in a suction state, the two suction cup assemblies 104 on the lower lateral cylinder 202 are released from suction, the push-pull cylinder 204 pulls up the two suction cup assemblies 104 on the lower side, the controller drives the two first pistons on the lower side to drive the first slider 206 to move upwards so as to drive the lateral cylinder 202 on the lower side to move to one end near the connecting piece 205, and then the push-pull cylinder 204 pushes out the two suction cup assemblies 104 on the lower side to perform suction, secondly, the four sucker components 104 on the upper side and the middle side are desorbed, the push-pull cylinders 204 on the upper side and the middle side pull the sucker components 104, the controller controls the first piston to work to drive the two longitudinal cylinders 201 on the lower side to move upwards so as to move upwards integrally, then the push-pull cylinders 204 on the upper side and the middle side push the sucker components 104 out and the sucker components 104 adsorb at the same time, and finally the two steps are repeated to move upwards;
moving downwards: assuming that all the sucker components 104 are in a suction state, contrary to the upward movement, firstly the two sucker components 104 on the upper side move downward, and then the sucker components 104 on the middle and lower sides move downward;
moving to the left: assuming that all the sucker assemblies 104 are in an adsorption state, the sucker assemblies 104 on the second sliding blocks 207 on the transverse cylinders 202 on the upper and lower sides release adsorption and simultaneously drive the second sliding blocks 207 to move leftwards through the second pistons, adsorption is performed when the position is reached, all the remaining cylinders release adsorption, the controller controls the second pistons to drive the second sliding blocks 207 to slide rightwards on the transverse cylinders 202 so that the whole body moves leftwards, and adsorption is performed when the position is reached;
rightward movement: assuming that all the sucker components 104 are in an adsorption state, the sucker components 104 on the second slider 207 are adsorbed, all the remaining sucker components 104 are released, and the second piston is controlled to drive the second slider 207 to move so as to move the whole to the right, so that the whole is moved to the right;
turning and moving: assuming that all the sucker assemblies 104 are in a suction state, the two sucker assemblies 104 on the second sliding blocks 207 of the two lateral cylinders 202 on the upper side and the middle side are released from suction, the two push-pull cylinders 204 pull up the sucker assemblies 104, the controller respectively controls the two second pistons to drive the second sliding blocks 207 to move towards the direction of the bracket 212 for the same distance, then the two push-pull cylinders 204 push out the sucker assemblies 104 and simultaneously the sucker assemblies 104 perform suction, then the rest of the sucker assemblies 104 are released from suction, the push-pull cylinders 204 pull up the sucker assemblies 104, then the two sucker assemblies 104 in the suction state are driven by the second sliding blocks 207 to move towards one end away from the bracket 212 under the control of the controller, and then the released sucker assemblies 104 are pushed out by the push-pull cylinders 204 and perform suction to realize rotation towards the left or the right.
In conclusion, the climbing robot with the pneumatic control device can be used as a grasping device through the pneumatic control device, the climbing robot is adsorbed on a fan tower cylinder and fixed at a working position to perform functional work, the rodless cylinder bionic foot animal crawling principle is utilized to perform up-and-down and steering movement, the purpose of going to any position of the tower cylinder or other adsorbable objects is achieved, the structure is simple, the self weight of the robot is greatly reduced, the climbing robot is flexible and convenient to work, the controller is controlled and works by sending instructions through a control center, the climbing robot works automatically in the whole process, manpower is completely replaced, the problems of potential safety hazards, long period, low efficiency and the like in the manual working process are effectively avoided, and the climbing robot has a very practical value.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.
Claims (9)
1. A climbing robot with a pneumatic control device is characterized by comprising a control device, a robot body, a first sliding block, a second sliding block and the pneumatic control device, wherein the robot body is a structure frame in a shape of Chinese character 'ri' consisting of four longitudinal cylinders and three transverse cylinders, the four longitudinal cylinders are arranged in parallel in pairs, the three transverse cylinders are arranged in parallel, connecting pieces connected with the longitudinal cylinders are arranged at two ends of the transverse cylinder arranged in the middle, and the upper end and the lower end of each connecting piece are respectively connected to the bottoms of the longitudinal cylinders arranged at the upper side and the tops of the longitudinal cylinders arranged at the lower side; the first sliding block is connected to each longitudinal cylinder, a first connecting plate connected with the transverse cylinder is arranged at one end, away from the longitudinal cylinder, of the first sliding block, the second sliding block is connected to each transverse cylinder, a second connecting plate is connected to one end, away from the transverse cylinder, of the second sliding block, a third connecting plate connected with the first sliding block is connected to one end of the transverse cylinder, and the pneumatic control devices are connected to the second connecting plate, the third connecting plate and the connecting piece; the pneumatic control device is characterized in that a first piston for driving the first sliding block to move up and down is arranged in the longitudinal cylinder, a second piston for driving the second sliding block to move left and right is arranged in the transverse cylinder, an air source is arranged outside the longitudinal cylinder and outside the transverse cylinder, a vacuum generator is arranged outside the pneumatic rotator, the control device is connected to one side of the longitudinal cylinder, and the control device is respectively in control connection with the longitudinal cylinder, the transverse cylinder and the pneumatic control device.
2. The climbing robot with the pneumatic control device according to claim 1, wherein the control device comprises a control box, and a controller and a valve island which are arranged inside the control box, the control box is connected to one side of the longitudinal cylinder, the vacuum generator and the air source are both connected to the valve island, the valve island is provided with air pipes which are respectively connected to the longitudinal cylinder, the transverse cylinder and the pneumatic rotator, and the controller is respectively connected to the valve island, the vacuum generator, the longitudinal cylinder, the transverse cylinder and the pneumatic control device.
3. A climbing robot provided with a pneumatic control device according to claim 2, characterized in that the control box is connected to two longitudinal cylinders on the upper side and on the lower side.
4. A climbing robot provided with a pneumatic control device according to claim 2, characterized in that a bracket connected with the third connecting plate is provided at either end of the two ends of the cross cylinder.
5. A climbing robot with pneumatic controller as claimed in claim 4, wherein the lateral cylinders on both upper and lower sides are provided with fixing rods at the ends of the longitudinal cylinders, respectively, at the sides of the lateral cylinders facing away from the connecting member.
6. The climbing robot with the pneumatic control device according to claim 5, wherein the pneumatic control device comprises a push-pull assembly and a suction cup assembly, the push-pull assembly comprises a push-pull cylinder and a fixed flange, the suction cup assembly comprises a suction cup and a fixed frame, the push-pull rod inside the push-pull cylinder is connected with the fixed flange in a driving mode, one end, away from the push-pull cylinder, of the fixed flange is connected with the fixed frame, the suction cup is connected with one end, away from the fixed flange, of the fixed frame, and the suction cup is provided with an interface connected with the air pipe.
7. A climbing robot with pneumatic control device according to claim 6, characterized in that three push-pull rods are provided inside the push-pull cylinder, which are connected to the fixed flange.
8. A climbing robot with pneumatic controller as claimed in claim 7, wherein the connecting member has a fixing plate connected to the push-pull cylinder, and the push-pull cylinder is connected to one side of the fixing plate.
9. A climbing robot with pneumatic control device according to claim 8, characterized in that the side of the connecting piece facing away from the fixing plate is symmetrically provided with two connecting slots.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078589.XA CN111483528B (en) | 2019-01-28 | 2019-01-28 | Climbing robot with pneumatic control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078589.XA CN111483528B (en) | 2019-01-28 | 2019-01-28 | Climbing robot with pneumatic control device |
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| CN111483528A true CN111483528A (en) | 2020-08-04 |
| CN111483528B CN111483528B (en) | 2022-11-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441157A (en) * | 2020-10-13 | 2021-03-05 | 国网安徽省电力有限公司 | Walking control method of climbing robot based on angle steel tower |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202765130U (en) * | 2012-05-31 | 2013-03-06 | 王进军 | Suction disc type wall climbing robot |
| CN203381704U (en) * | 2013-07-08 | 2014-01-08 | 西安理工大学 | Telescopic arm of wall-climbing robot |
| CN107364503A (en) * | 2017-07-17 | 2017-11-21 | 上海伟匠机器人科技有限公司 | Climb wall device and its method of creeping, sweeping robot, spray robot |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
-
2019
- 2019-01-28 CN CN201910078589.XA patent/CN111483528B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202765130U (en) * | 2012-05-31 | 2013-03-06 | 王进军 | Suction disc type wall climbing robot |
| CN203381704U (en) * | 2013-07-08 | 2014-01-08 | 西安理工大学 | Telescopic arm of wall-climbing robot |
| CN107364503A (en) * | 2017-07-17 | 2017-11-21 | 上海伟匠机器人科技有限公司 | Climb wall device and its method of creeping, sweeping robot, spray robot |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441157A (en) * | 2020-10-13 | 2021-03-05 | 国网安徽省电力有限公司 | Walking control method of climbing robot based on angle steel tower |
| CN112441157B (en) * | 2020-10-13 | 2022-11-04 | 国网安徽省电力有限公司 | Walking control method of climbing robot based on angle steel tower |
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| CN111483528B (en) | 2022-11-04 |
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