CN113682392A - Cylindrical climbing robot - Google Patents
Cylindrical climbing robot Download PDFInfo
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- CN113682392A CN113682392A CN202111057985.8A CN202111057985A CN113682392A CN 113682392 A CN113682392 A CN 113682392A CN 202111057985 A CN202111057985 A CN 202111057985A CN 113682392 A CN113682392 A CN 113682392A
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- trolley
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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
Abstract
The embodiment of the application discloses cylindricality body climbing robot for adapt to the cylindricality body of different footpaths. The method specifically comprises the following steps: the two trolley modules and the tension adjusting module are arranged on the base; the gantry type adjusting and tensioning module comprises a transverse frame body, and a first frame body and a second frame body which are arranged on two sides of the transverse frame body, the transverse frame body is connected with one trolley module of the two trolley modules, the first frame body is connected with one side of the other trolley module of the two trolley modules, and the second frame body is connected with the other side of the other trolley module so as to adjust the relative distance between the two trolley modules to adapt to the size diameter of the columnar body; the trolley module can climb along the cylindrical body under the driving of the motor.
Description
Technical Field
The embodiment of the application relates to the field of robots, in particular to a cylindrical climbing robot.
Background
The cable-stayed bridge is widely applied in the world due to the characteristics of large span, beautiful appearance, economy, applicability and the like. The cable serving as a main bearing member of the cable-stayed bridge is exposed in various complex natural environments for a long time, and the polyethylene sheath on the surface has the phenomena of corrosion, cracking, hardening, aging and the like in different degrees, so that the steel wires in the sheath are damaged by corrosion, wire breakage and the like, the detection of the cable is very important, and the reliability of the cable directly influences the safety of the bridge. In order to ensure the safe use of the cable, the safety performance of the cable needs to be regularly checked and maintained.
The current common detection mode is mainly manual detection, and the manual detection has the disadvantages of high labor intensity, low efficiency, high cost and poor safety. In recent years, cable robots for detection and repair are developed, and the main structural forms include wheels, creeping type, spiral type, adsorption type, and the like, wherein the wheels are common. At present, a multi-side pinch-wheel type climbing mechanism is generally adopted, and has the advantages of continuous motion, high reliability, high motion efficiency, high speed, convenience in control and the like.
However, when the robot is actually used on a cable, the robot adopts a fixed and closed wheel type clamping structure, the diameter changing range is limited by an outer frame, and the adaptability to the change of the diameter of the cable is poor.
Disclosure of Invention
The embodiment of the application provides a cylindricality body climbing robot for adapt to the cylindricality body of different footpaths.
The utility model provides a cylindricality body climbing robot that this application embodiment provided includes:
the two trolley modules and the tension adjusting module are arranged on the base;
the tensioning adjusting module is of a gantry structure and comprises a transverse frame body, a first frame body and a second frame body, the first frame body and the second frame body are arranged on two sides of the transverse frame body, the transverse frame body is fixedly connected with one trolley module of the two trolley modules, the first frame body is connected with one side of the other trolley module of the two trolley modules, the second frame body is connected with the other side of the other trolley module, and the two trolley modules can be adjusted to be in a relative position relation to surround the cylindrical body;
the first frame body and/or the second frame body are/is matched with the transverse frame body and used for adjusting the relative distance between the two trolley modules to adapt to the size of the cylindrical body;
the trolley module comprises a motor, and the trolley module can climb along the cylindrical body under the driving of the motor.
Optionally, the trolley module includes: the device comprises a frame, a transmission assembly and a wheel assembly;
the motor is arranged on the frame;
the motor passes through the transmission assembly with the wheel subassembly is connected to the drive wheel subassembly is followed the cylindricality body climbing.
Optionally, the wheel assembly comprises: the device comprises a wheel shaft, a spring damping pre-tightening mechanism, a universal joint, a connecting assembly and wheels;
the connecting assembly is fixedly connected with the frame;
the connecting assembly is movably connected with one end of the spring damping pre-tightening mechanism and is fixedly connected with one end of the universal joint;
the wheel is connected with the other end of the spring damping pre-tightening mechanism and is fixedly connected with the other end of the universal joint;
the wheel shaft is fixed on the connecting assembly, the transmission assembly is in driving connection with the wheel shaft, and the wheel can climb along the cylindrical body under the driving of the transmission assembly.
Alternatively to this, the first and second parts may,
the transverse frame body is provided with a hand wheel, any one of the first frame body and the second frame body is provided with a worm gear transmission mechanism and a screw rod transmission mechanism, and the worm gear transmission mechanism and the screw rod transmission mechanism of the same frame body are in driving connection;
the transverse frame body is fixedly connected with the screw rod transmission mechanism through a fixed base;
the hand wheel drives the screw rod transmission mechanism of the first frame body to move along the extension direction of the first frame body through the worm gear transmission mechanism of the first frame body so as to adjust the distance between the transverse frame body and the first frame body; and/or the hand wheel drives the screw rod transmission mechanism of the second frame body to move along the extension direction of the second frame body through the worm and gear transmission mechanism of the second frame body so as to adjust the distance between the transverse frame body and the second frame body.
Alternatively to this, the first and second parts may,
the transverse frame body comprises a linkage shaft, and one end of the linkage shaft is in driving connection with the hand wheel;
the linkage shaft is respectively in driving connection with the turbine worm transmission mechanism of the first frame body and the turbine worm transmission mechanism of the second frame body;
the hand wheel drives the turbine worm transmission mechanism of the first frame body and the turbine worm transmission mechanism of the second frame body to synchronously rotate through the linkage shaft.
Optionally, first support body and arbitrary support body in the second support body includes: the guide shaft and the channel base matched with the guide shaft;
the channel base is fixedly arranged on the extending plane of the frame body, and the extending direction of the channel base is parallel to the moving direction of the screw rod transmission mechanism of the frame body;
one end of the guide shaft is fixedly installed on the fixing base, the guide shaft penetrates through the channel base to move, and the guide shaft and the channel base are used for matching and limiting the frame body to move along the movement direction of the screw rod transmission mechanism of the frame body.
Alternatively to this, the first and second parts may,
the first frame body is movably connected with one side of the other trolley module of the two trolley modules through a movable connecting piece;
the second frame body is detachably connected with the other side of the other group of trolley modules through a fixed buckle.
Optionally, the cylindrical climbing robot further includes: two load traction modules;
the load traction module is of a U-shaped structure and comprises a fixed rod and two compression rods laterally connected with the fixed rod, and an opening of the U-shaped structure faces the cylindrical body; the fixed rod is movably connected with the trolley module through a rotating shaft along the direction opposite to the direction of the opening;
at least one of the pressing rods is provided with a pressing palm and a connecting part;
the connecting part can be connected with a load device moving along the columnar body through a traction piece.
Optionally, the load traction module includes: two connecting rods with adjustable length;
one of the compression rods is connected to the fixed rod through one of the connecting rods, and the connecting length of the connecting rods is adjustable;
the fixing rod is provided with a through hole along the parallel direction of the opening direction, and the through hole is used for the rotating shaft to penetrate through so that the fixing rod is rotatably connected with the frame through the rotating shaft.
Alternatively to this, the first and second parts may,
the two pressing rods comprise an upper pressing rod and a lower pressing rod, and only the lower pressing rod is provided with the connecting part;
a part of the fixed rod, which is close to the lower pressing rod, is provided with a hanging ring;
the fixed rod is movably connected with the frame through an elastic part with one end connected with the hanging ring and one end connected with the frame.
According to the technical scheme, the embodiment of the application has the following advantages:
the cylindrical climbing robot can adjust the relative distance between two groups of trolley modules by adjusting the tensioning module so as to adapt to the cylindrical bodies with different sizes, realize the clamping of the cylindrical bodies with larger sizes and meet the requirements of users.
Drawings
FIG. 1 is a schematic diagram of a column climbing robot in an embodiment of the present application;
FIG. 2 is another schematic view of a column climbing robot in the embodiment of the present application;
FIG. 3 is a schematic diagram of a trolley module of the column climbing robot in the embodiment of the present application;
FIG. 4 is a schematic view of a transmission assembly of the column climbing robot in the embodiment of the present application;
FIG. 5 is a schematic view of a wheel assembly of the column climbing robot in the embodiment of the present application;
FIG. 6 is a schematic diagram of an adjusting and tensioning module of the column climbing robot in the embodiment of the present application;
fig. 7 is a schematic view of a load traction module of the column climbing robot in the embodiment of the present application.
Detailed Description
The embodiment of the application provides a cylindricality body climbing robot for the cylindricality body that adapts to different footpaths mainly is applied to bridge cable scene, also can be applied to scenes such as the detection and maintenance of street lamp pole or cylinder class member, pipeline class outside detection.
Cables as load-bearing parts are exposed to various complicated natural environments for a long time, and thus are inevitably aged, thereby affecting reliability thereof. The cylindricality body climbing robot in this application embodiment is the cylindricality body of the adaptable different chi footpaths to the realization sets for the purpose.
Referring to fig. 1 and 2, an embodiment of a column climbing robot 100 in an embodiment of the present application includes:
two trolley modules 101 and an adjusting tension module 102;
the tension adjusting module 102 is of a gantry structure and comprises a transverse frame 104, and a first frame 105 and a second frame 106 which are arranged on two sides of the transverse frame 104, wherein the transverse frame 104 is fixedly connected with one trolley module 101 of the two trolley modules 101, the first frame 105 is connected with one side of the other trolley module 101 of the two trolley modules 101, the second frame 106 is connected with the other side of the other trolley module 101, and the two trolley modules 101 can be adjusted to be in a relative position to surround the cylindrical body 200;
the first frame 105 and/or the second frame 106 are/is used for adjusting the relative distance between the two trolley modules 101 to adapt to the size of the cylindrical body 200 under the cooperation of the transverse frame 104;
the trolley module 101 comprises a motor 107, and the trolley module 101 can climb along the cylindrical body 200 under the driving of the motor 107.
In the embodiment of the present application, the cylindrical climbing robot 100 can adjust the relative distance between the two sets of trolley modules 101 by adjusting the tensioning module 102, so as to adapt to the cylindrical bodies 200 with different sizes, and clamp the cylindrical bodies 200 with larger sizes, thereby meeting the requirements of users.
For ease of understanding, the column climbing robot 100 in the embodiment of the present application is described in detail below:
referring to fig. 1, 3, 4 and 5, the column climbing robot 100 includes a trolley module 101, and the trolley module 101 includes: motor 107, frame 108, transmission assembly 109, and wheel assembly 110.
Wherein, transmission assembly 109 includes: a first transmission 111, a second transmission 112, a transmission shaft 113 and a bearing seat 114. The wheel assembly 110 includes: a wheel shaft 115, a spring shock-absorbing pretensioning mechanism 116, a universal joint 117, a connecting component 118 and a wheel 119. The connection assembly 118 includes: a base 120 and a link 121.
The motor 107 is fixedly disposed on the frame 108 and is in driving connection with the first transmission mechanism 111 for providing power to the trolley module 101. A bearing block 114 is fixed to the frame 108 for restraining the drive shaft 113. The transmission shaft 113 drives the second transmission mechanism 112 connected thereto by the first transmission mechanism 111, so as to transmit the drive to the wheel assembly 110.
The wheel shaft 115 of the wheel assembly 110 is in driving connection with the second transmission 112. The base 120 of the wheel assembly 110 is fixed to the frame 108. The base 120 is provided with a through hole, and the wheel shaft 115 penetrates through the through hole to drive the symmetrical wheels 119 on two sides so as to realize the climbing of the trolley module 101 along the cylinder 200. The universal joint 117 is disposed between the base 120 and the wheels 119, one end of the universal joint 117 is fixedly connected to the base 120, and the other end of the universal joint 117 is fixedly connected to the wheels 119, so as to adjust the opening angle of the wheels 119 to adapt to the size of the cylindrical body 200. The base 120 is provided with a connecting rod 121, one end of the spring damping pre-tightening mechanism 116 is hinged with the connecting rod 121, and the other end of the spring damping pre-tightening mechanism is hinged with the wheel 119, so that the realization of high obstacle crossing performance is ensured.
The first transmission mechanism 111 in the embodiment of the present application may be a cylindrical gear transmission mechanism, or may also be a mechanism that can realize a transmission function, such as a synchronous belt transmission mechanism, and is not limited herein.
The second transmission mechanism 112 in the embodiment of the present application may be a bevel gear transmission mechanism, or may be a mechanism that can realize a transmission function, such as a worm gear transmission mechanism, and is not limited herein.
In this embodiment, the trolley module 101 may drive the wheels 119 through the motor 107 to achieve the climbing function. The trolley module 101 also has a universal joint 117, which can adjust the opening angle of the wheels 119 to adapt to the size of the column 200, so as to better adhere to the surface of the column 200. The spring damping pre-tightening mechanism 116 of the trolley module 101 improves obstacle crossing performance and meets the requirements of users.
Referring to fig. 1, 2, 3 and 6, a column climbing robot 100 includes an adjusting tension module 102. The tensioning module 102 is a gantry-type structure, including: a transverse frame 104, a first frame 105 and a second frame 106.
The transverse frame 104 includes a handwheel 122, a bearing block 123 and a linkage shaft 124. The first frame body 105 includes: a frame transmission mechanism (in the embodiment, a worm gear transmission mechanism 125 is taken as an example), a fixed base 126, a screw rod transmission mechanism 127, a guide shaft 128 and a channel base 129 matched with the guide shaft 128. The second frame 106 is similar to the first frame 105, and is not described in detail herein.
It is understood that the frame transmission mechanism may be a worm gear 125, or may be a bevel gear, and the like, which is not limited herein.
Bearing blocks 123 in the transverse frame 104 are fixedly arranged on the frame 108 of the trolley module 101 for limiting the linkage shafts 124. One end of the linkage shaft 124 is in driving connection with the handwheel 122, and the linkage shaft 124 is in driving connection with the worm gear 125 of the first frame 105 and the worm gear 125 of the second frame 106 respectively. The handwheel 119 can drive two worm gears 125 to synchronously drive through a linkage shaft 124.
The worm gear 125 of the first frame 105 is fixed on the fixed base 126 and is drivingly connected with the lead screw 127. The fixed base 126 is fixedly connected to the frame 108 of the trolley module 101. The channel base 129 is installed on a surface of the first body 105, and an extending direction of the channel base 129 is parallel to a moving direction of the screw transmission mechanism 127. One end of the guide shaft 128 is fixedly installed on the fixing base 126, the guide shaft 128 penetrates through the channel base 129 to move, and the guide shaft 128 and the channel base 129 are used for cooperatively limiting the first frame body 105 to move along the moving direction of the screw rod transmission mechanism 127. The connection of the second frame 106 is similar to that of the first frame 105, and is not described herein.
The first frame 105 is movably connected to one side of one of the two sets of trolley modules 101 via a movable connection member 130 at an edge far from the transverse frame 104. The second frame 106 is detachably connected to the other side of the cart module by a fixing buckle 131 at an edge far from the transverse frame 104. When the handwheel 122 drives the worm and gear transmission mechanisms 125 on both sides to synchronously transmit through the linkage shaft 124, the screw transmission mechanisms 127 on both sides move along the extension direction of the respective frame body to adjust the distance between the two sets of trolley modules 101.
It is understood that the movable connecting element 130 may be a hinge, or may be a mechanism such as a fixed buckle that can achieve a movable connecting function, and is not limited herein.
In this embodiment, the adjusting and tensioning module 102 of the cylindrical climbing robot 100 can adjust the relative distance between the two sets of trolley modules 101 through the handwheel 122 in a single degree of freedom, so as to adapt to the cylindrical bodies 200 with different ranges of diameters. And the trolley module 101 and the adjusting and tensioning module 102 are detachably connected through a hinge, a fixed buckle and the like, so that the cylindrical climbing robot 100 can be quickly installed and detached, and the operation of a user is facilitated.
Referring to fig. 1, 2, 3 and 7, the column climbing robot 100 further includes two load traction modules 103. The load traction module 103 is of a U-shaped structure, and the opening of the U-shaped structure faces the cylindrical body. The load traction module 103 includes: a fixing lever 132, two connecting levers 133, an upper pressing lever 134, a lower pressing lever 135, and two pressing fingers 136.
Two connecting rods 133 are L-shaped structures, one end of each connecting rod 133 is connected with the fixing rod 132, the other end is connected with the pressing rod, and the connecting length of the connecting rods 133 is adjustable to adapt to the cylindrical bodies 200 with different sizes. The fixing rod 132 is provided with a through hole along a direction opposite to the direction of the opening of the load-pulling module 103, and the through hole is used for the rotating shaft 137 to penetrate through so that the fixing rod 132 is rotatably connected with the frame 108 of the trolley module 101 through the rotating shaft 137. The upper pressing rod 134 is provided with a pressing palm 136, the lower pressing rod 135 is also provided with a pressing palm 136 opposite to the pressing palm, and the back surface of the surface where the pressing palm 136 of the lower pressing rod 135 is located is provided with a lifting lug 138, so that the two pressing palms 136 tightly hold the cylindrical body 200 to provide friction force and drag the load equipment at the lifting lug 138.
Under the action of a load, the load traction module 103 rotates around the rotating shaft 137, so that the upper and lower pressing hands 136 of each group of modules tightly hold the surface of the cylindrical body 200 and provide friction supporting force, and in the structural member strength range, the larger the load gravity is, the larger the friction supporting force provided by the pressing hands 136 is, and the traction of heavy-load equipment can be realized.
The part of the fixed rod 132 close to the lower pressing rod 135 is provided with a hanging ring 139, and the fixed rod 132 is movably connected with the frame 108 through an extension spring 140 with one end connected with the hanging ring 139 and one end connected with the frame 108 of the trolley module 101, so that the load traction module 103 can be reset under the action of the extension spring 140 under the condition that no load traction equipment is arranged on the hanging ring 138.
In this embodiment, the load traction module 103 may provide enough friction force to pull the load device by the pressing fingers 136 holding the cylindrical body 200, and the load traction module 103 resets without pulling the load device, so as to prevent unnecessary friction from being generated by the contact between the pressing fingers 136 and the cylindrical body.
The above description of the present application with reference to specific embodiments is not intended to limit the present application to these embodiments. For those skilled in the art to which the present application pertains, several changes and substitutions may be made without departing from the spirit of the present application, and these changes and substitutions should be considered to fall within the scope of the present application.
Claims (10)
1. A cylindrical climbing robot, comprising: the two trolley modules and the tension adjusting module are arranged on the base;
the tensioning adjusting module is of a gantry structure and comprises a transverse frame body, a first frame body and a second frame body, the first frame body and the second frame body are arranged on two sides of the transverse frame body, the transverse frame body is fixedly connected with one trolley module of the two trolley modules, the first frame body is connected with one side of the other trolley module of the two trolley modules, the second frame body is connected with the other side of the other trolley module, and the two trolley modules can be adjusted to be in a relative position relation to surround the cylindrical body;
the first frame body and/or the second frame body are/is matched with the transverse frame body and used for adjusting the relative distance between the two trolley modules to adapt to the size of the cylindrical body;
the trolley module comprises a motor, and the trolley module can climb along the cylindrical body under the driving of the motor.
2. The column climbing robot of claim 1, wherein the trolley module comprises: the device comprises a frame, a transmission assembly and a wheel assembly;
the motor is arranged on the frame;
the motor passes through the transmission assembly with the wheel subassembly is connected to the drive wheel subassembly is followed the cylindricality body climbing.
3. The column climbing robot of claim 2, wherein the wheel assembly comprises: the device comprises a wheel shaft, a spring damping pre-tightening mechanism, a universal joint, a connecting assembly and wheels;
the connecting assembly is fixedly connected with the frame;
the connecting assembly is movably connected with one end of the spring damping pre-tightening mechanism and is fixedly connected with one end of the universal joint;
the wheel is connected with the other end of the spring damping pre-tightening mechanism and is fixedly connected with the other end of the universal joint;
the wheel shaft is fixed on the connecting assembly, the transmission assembly is in driving connection with the wheel shaft, and the wheel can climb along the cylindrical body under the driving of the transmission assembly.
4. The column climbing robot of claim 1,
the transverse frame body is provided with a hand wheel, any one of the first frame body and the second frame body is provided with a frame body transmission mechanism and a screw rod transmission mechanism, and the frame body transmission mechanism and the screw rod transmission mechanism of the same frame body are in driving connection;
the transverse frame body is fixedly connected with the screw rod transmission mechanism through a fixed base;
the hand wheel drives the screw rod transmission mechanism of the first frame body to move along the extension direction of the first frame body through the frame body transmission mechanism of the first frame body so as to adjust the distance between the transverse frame body and the first frame body; and/or, the hand wheel passes through the support body drive mechanism of second support body drives the lead screw drive mechanism of second support body is along the extending direction of second support body moves, in order to adjust horizontal support body with distance between the second support body.
5. The column climbing robot of claim 4,
the transverse frame body comprises a linkage shaft, and one end of the linkage shaft is in driving connection with the hand wheel;
the linkage shaft is respectively in driving connection with the frame body transmission mechanism of the first frame body and the frame body transmission mechanism of the second frame body;
the hand wheel drives the frame body transmission mechanism of the first frame body and the frame body transmission mechanism of the second frame body to synchronously rotate through the linkage shaft.
6. The column climbing robot of claim 4, wherein any one of the first frame body and the second frame body comprises: the guide shaft and the channel base matched with the guide shaft;
the channel base is fixedly arranged on the extending plane of the frame body, and the extending direction of the channel base is parallel to the moving direction of the screw rod transmission mechanism of the frame body;
one end of the guide shaft is fixedly installed on the fixing base, the guide shaft penetrates through the channel base to move, and the guide shaft and the channel base are used for matching and limiting the frame body to move along the movement direction of the screw rod transmission mechanism of the frame body.
7. The column climbing robot of claim 1,
the first frame body is movably connected with one side of the other trolley module of the two trolley modules through a movable connecting piece;
the second frame body is detachably connected with the other side of the other group of trolley modules through a fixed buckle.
8. The cylinder climbing robot according to claim 1, further comprising: two load traction modules;
the load traction module is of a U-shaped structure and comprises a fixed rod and two compression rods laterally connected with the fixed rod, and an opening of the U-shaped structure faces the cylindrical body; the fixed rod is movably connected with the trolley module through a rotating shaft along the direction opposite to the direction of the opening;
at least one of the pressing rods is provided with a pressing palm and a connecting part;
the connecting part can be connected with a load device moving along the columnar body through a traction piece.
9. The column climbing robot of claim 8, wherein the load traction module comprises: two connecting rods with adjustable length;
one of the compression rods is connected to the fixed rod through one of the connecting rods, and the connecting length of the connecting rods is adjustable;
the fixing rod is provided with a through hole along the parallel direction of the opening direction, and the through hole is used for the rotating shaft to penetrate through so that the fixing rod is rotatably connected with the frame through the rotating shaft.
10. The column climbing robot of claim 8,
the two pressing rods comprise an upper pressing rod and a lower pressing rod, and only the lower pressing rod is provided with the connecting part;
a part of the fixed rod, which is close to the lower pressing rod, is provided with a hanging ring;
the fixed rod is movably connected with the frame through an elastic part with one end connected with the hanging ring and one end connected with the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111057985.8A CN113682392A (en) | 2021-09-09 | 2021-09-09 | Cylindrical climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111057985.8A CN113682392A (en) | 2021-09-09 | 2021-09-09 | Cylindrical climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115323915A (en) * | 2022-10-17 | 2022-11-11 | 广州市市政工程试验检测有限公司 | Bridge cable pole detects and restores robot |
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2021
- 2021-09-09 CN CN202111057985.8A patent/CN113682392A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115323915A (en) * | 2022-10-17 | 2022-11-11 | 广州市市政工程试验检测有限公司 | Bridge cable pole detects and restores robot |
| CN115323915B (en) * | 2022-10-17 | 2023-01-06 | 广州市市政工程试验检测有限公司 | Bridge cable pole detection and repair robot |
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