CN114055520A - Soft and hard combined type track and system for intelligent inspection robot - Google Patents
Soft and hard combined type track and system for intelligent inspection robot Download PDFInfo
- Publication number
- CN114055520A CN114055520A CN202111679299.4A CN202111679299A CN114055520A CN 114055520 A CN114055520 A CN 114055520A CN 202111679299 A CN202111679299 A CN 202111679299A CN 114055520 A CN114055520 A CN 114055520A
- Authority
- CN
- China
- Prior art keywords
- rail
- soft
- hard
- supporting
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 31
- 239000002131 composite material Substances 0.000 claims abstract description 12
- 230000007704 transition Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 description 23
- 239000010959 steel Substances 0.000 description 23
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000003889 chemical engineering Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention aims to provide a soft and hard composite track and a system for an intelligent inspection robot, which comprise: the device comprises a hard rail, a connecting hardware fitting, a soft rail and a supporting assembly; one end of the connecting hardware fitting is connected with one end of the hard rail; the soft rail is in lap joint with the other end of the hardware fitting assembly; the support assembly is connected with the connecting hardware fitting and is used for supporting the connecting hardware fitting; in order to tension the soft rail, the end part, close to the soft rail and overlapped with the connecting hardware fitting, of the soft rail is connected with the supporting component. According to the soft and hard combined type robot track, the soft track and the hard track are connected together through the connecting hardware fitting, flexible selection and matching can be achieved between the soft track form and the hard track form, the advantages of the soft track and the hard track are fully utilized, and meanwhile cost and difficulty of laying the robot track can be reduced.
Description
Technical Field
The invention belongs to the field of intelligent inspection robots, and particularly relates to a soft and hard combined type robot track and system for an intelligent inspection robot.
Background
The inspection robot is mainly used in indoor and outdoor inspection work, the inspection function of the inspection robot has the functions of autonomous movement, high-precision navigation, accurate positioning and the like, various sensors are used for collecting data, an artificial intelligence detection algorithm is matched, real-time detection of inspection target states is achieved, various faults found in inspection are fed back in time, manual execution of inspection tasks is assisted or replaced, and the inspection robot is widely applied to industries such as mines, ports, steel, cement, electric power, chemical engineering, livestock raising and the like.
The robot is patrolled and examined to current intelligence, its walking mode is diversified, and wherein hang rail formula intelligence and patrol and examine the robot, because its light weight, miniaturized design have characteristics such as good adaptability to scenes such as narrow passageway, piping lane, plank road, obtain more and more extensive application.
The track that patrols and examines that rail formula intelligence patrols and examines that robot used generally divide into two kinds: for an open field with a large space, a tension steel cable (a soft rail for short) is generally adopted as a robot track; for the environment such as indoor and gallery with limited space, a rigid rail (hard rail for short) with a specific cross-sectional shape is generally adopted as a robot rail after being designed and processed.
The existing rail-hanging type intelligent inspection robot rail system is limited by the design characteristics of a robot body walking device, and one of the two rail forms is basically selected independently for application. These two track forms have respective advantages and disadvantages: the flexible rail based on the steel cable is low in cost, simple in construction and suitable for long-distance erection, but the large-span steel cable is large in tension force, the steel cable is suspended after erection, a robot is easy to slip when walking, the positioning accuracy is low, the steel cable cannot turn, and the transition connection between two sections of steel cables is difficult when the rail is long and needs sectional erection; the customized rigid rail based on the specific section shape has good precision and rigidity, can be used for manufacturing a bent rail to enable the rail to turn, is stable in walking state and high in positioning precision, is suitable for indoor space application, and has high manufacturing cost and high erection construction requirements.
In the actual industrial application scene of robot is patrolled and examined to intelligence, often can meet the environment that also has buildings such as pylon, corridor simultaneously in the open place, the single track design form of robot is patrolled and examined to intelligence this moment just can not be fine the on-the-spot actual conditions of satisfying, consequently need one kind with lower costs, soft, hard track can make up in a flexible way, it is lower to setting up the environmental requirement, can satisfy and hang the novel track design mode that the track formula intelligence is patrolled and examined the robot is stable, the task is patrolled and examined in efficient execution, in order to solve above-mentioned problem.
Disclosure of Invention
The invention aims to provide a soft and hard combined type track and a system for an intelligent inspection robot, which can flexibly match soft and hard tracks and reduce the cost and difficulty of laying the track of the robot.
In order to achieve the purpose, the technical scheme provided by the invention comprises the following steps:
a soft or hard combined type track for intelligent inspection robot includes:
a hard rail;
one end of the connecting hardware fitting is connected with one end of the hard rail;
the soft rail is in lap joint with the other end of the hardware fitting assembly;
the supporting assembly is connected with the connecting hardware fitting and used for supporting the connecting hardware fitting;
the end part, close to the soft rail and overlapped with the connecting hardware fitting, of the soft rail is connected with the supporting assembly.
The link fitting includes:
a first end transition piece connected with an end of the hard rail;
one end of the hardware fitting body is connected with the first end head transition piece and is used for being matched with the intelligent inspection robot;
and the second end transition piece is in lap joint with the soft rail.
And one end of the hardware fitting body, which is close to the soft rail, is provided with a slot for penetrating through the soft rail to ensure that the center of the soft rail is overlapped with the center of the hard rail.
The second end head transition piece is a U-shaped piece with a downward opening and is used for being lapped with the soft rail through the opening end.
The support assembly, comprising:
one end of each pile leg is grounded;
the first connecting plate is connected with the other end of the pile leg and used for supporting the connecting hardware fitting;
and the tensioning mechanism is arranged between the first connecting plate and the soft rail and is used for tensioning the soft rail.
The support assembly further comprises:
the guide piece is arranged on the first connecting plate and faces the connecting hardware fitting, and is used for guiding the motion of the intelligent inspection robot.
The tensioning mechanism comprises:
the turn buckle is arranged on the first connecting plate;
the rigging lantern ring is connected with the turnbuckle bolt and the soft rail;
and the buckle is arranged on the soft rail and used for locking the soft rail.
The utility model provides a soft or hard combined type robot rail system of robot is patrolled and examined to intelligence, includes: a soft and hard composite robot track as described above;
the hard rail supporting assembly is arranged below the hard rail and used for supporting the hard rail;
and the soft rail supporting component is arranged below the soft rail and used for supporting the soft rail.
The hard rail support assembly comprising:
a first leg;
the first supporting plate is connected with the supporting leg;
the second supporting plate is adjustably connected with the first supporting plate;
the side edge of the second supporting plate is detachably connected with the hard rail;
the flexible rail support assembly comprises:
a second leg;
a flexible rail support connected to the second leg;
the inner part of the soft rail supporting plate is hollow and is used for penetrating and fixing the soft rail.
The soft and hard combined type robot track system of the intelligent inspection robot further comprises a soft rail obstacle crossing assembly which is used for simultaneously connecting two soft rails during sectional erection:
the soft rail obstacle crossing assembly comprises:
obstacle-crossing supporting legs;
the connecting plate is connected with the end part of the obstacle crossing supporting leg;
the two connecting mechanisms are respectively arranged on two sides of the connecting plate and are used for connecting two adjacent soft rails;
the obstacle crossing hardware fitting is detachably arranged on the connecting plate;
and two ends of the obstacle crossing hardware are in lap joint with the soft rail.
The invention has at least the following beneficial effects:
according to the soft and hard combined type robot track, the soft track and the hard track are connected together through the connecting hardware fitting, flexible selection and matching can be achieved between the soft track form and the hard track form, the advantages of the soft track and the hard track are fully utilized, and meanwhile cost and difficulty of laying the robot track can be reduced.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of an embodiment of the present invention for turning and converting a soft rail into a hard rail;
FIG. 2 is a schematic view of a rigid rail support assembly according to the present invention;
FIG. 3 is a schematic structural view of a flexible rail support assembly provided by the present invention;
FIG. 4 is a schematic structural diagram of a soft track obstacle crossing assembly according to the present invention;
FIG. 5 is a schematic illustration of the first end transition piece and hard rail attachment of the present invention;
FIG. 6 is a schematic view of the second end transition piece of the present invention in connection with a flexible rail;
in the drawings, A indicates that: and (5) inspecting the robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Part of the definitions in the present invention:
hard rail: the method is characterized in that profile steels are adopted for manufacturing, and a plurality of profile steels are spliced and assembled by connecting pieces to manufacture the hard track with the specified length and shape; the hard rail is preferably flat oval pipe-shaped steel;
soft rail: and (3) tensioning and fixing the steel wire ropes on the pile legs distributed at a certain distance by adopting finished steel wire ropes, and forming a steel wire rope flexible rail between two adjacent pile legs.
The invention takes the first embodiment of the invention that the soft rail is turned and converted into the hard rail;
referring to fig. 1, a soft and hard composite track for a smart inspection robot includes: the device comprises a hard rail 1, a connecting hardware fitting 2, a soft rail 3 and a support assembly 4; one end of the connecting hardware fitting 2 is connected with one end of the hard rail 1; the soft rail 3 is in lap joint with the other end of the hardware fitting component 2; the support component 4 is connected with the connecting hardware fitting 2 and is used for supporting the connecting hardware fitting 2; in order to tension the flexible rail 3, the end of the flexible rail 3, which is close to the overlapping end of the flexible rail 3 and the connecting hardware fitting 2, is connected with the support component 4.
In order to enable the inspection robot to smoothly pass through, one end of the hardware fitting body 202, which is close to the soft rail 3, is provided with a slot, which is used for penetrating through the soft rail 3 to enable the center of the soft rail 3 to be coincident with the center of the hard rail 1; the second end transition piece 203 is a U-shaped piece with a downward opening, and is used for being overlapped with the flexible rail 3 through the opening end; can also use between first end transition 201 and the hard rail 1 to be connected with above-mentioned same structure, hang rail formula intelligence and patrol and examine the robot and just can follow on the soft rail and move smoothly to the hard rail through the turn gold utensil.
The above-mentioned support assembly 4 includes: legs 401, first connecting plate 402, tensioning mechanism 403, and guides 404; one end of the pile leg 401 is grounded through an expansion bolt; the first connecting plate 402 is connected with the other end of the pile leg 401 through a bolt and is used for supporting the connecting hardware fitting 2; a tensioning mechanism 403 is connected between the first connecting plate 402 and the flexible rail 3 for tensioning the flexible rail; the guide piece 404 is connected to the first connecting plate 402 and faces one side of the connecting fitting 2, so that excessive shaking and possible collision with the pile leg 401 when the robot body turns can be avoided.
In a specific production, the tensioning mechanism 403 may adopt: the structure of the flower basket bolt 4031, the rigging collar 4032 and the buckle 4033; tensioning the flexible rail 3; specifically, the turn buckle 4031 is connected to the first connecting plate 402; a rigging collar 4032 is connected to the turnbuckle 4031 and to the flexible rail 3; the buckle 4033 is arranged on the soft rail 3 and used for locking the soft rail 3.
The invention also provides an embodiment: the utility model provides a soft or hard combined type robot rail system of robot is patrolled and examined to intelligence, includes: the soft and hard combined type robot track, the hard rail supporting component 5, the soft rail supporting component 6 and the soft rail obstacle crossing component 7 are arranged as described above; wherein, the hard rail supporting component 5 is arranged below the hard rail 1 and used for supporting the hard rail 1; the soft rail supporting assembly 6 is arranged below the soft rail 3, and the soft rail obstacle crossing assembly 7 is used for supporting the soft rail 3; when the device is used for sectional erection, the device is simultaneously connected with two soft rails 3, so that a robot can conveniently pass through the device.
When the device is used specifically, the number of the used hard rails 1 is generally 6m, a plurality of profiles can be spliced when the rails are laid for a long distance, two adjacent hard rail profiles can be connected through a first supporting plate 502 and a second supporting plate 503 shown in fig. 2, the hard rail joints are ensured to be matched, and the side edges of the second supporting plate 503 are connected with the hard rails 1 through bolts; moreover, a long hole can be formed at the joint between the first supporting plate 502 and the second supporting plate 503 to conveniently adjust the distance between the first supporting plate 502 and the second supporting plate 503, and finally, the reliable connection with the hard rail 1 is realized; the first leg 501 is connected with the first supporting plate 502 and plays a role of supporting the hard rail 1; if there is not enough space on site to place the first support leg 501, the first support plate 502 and the second support plate 503 can also be directly fixed to the support of the tower, corridor, etc. structure itself.
For the flexible rail, as shown in fig. 3, a steel pipe section with two chamfered ends can be used to manufacture a flexible rail support member 602 at a position where a steel wire rope needs to be supported, and after the steel wire rope passes through the flexible rail support member 602 and is pressed by a screw, the flexible rail support member 602 is fixed on a second support leg 601 or a support of a tower frame, a corridor or other structures by using a connecting block 603; the soft rail supporting assembly 6 can reduce the span between two fixed points of the steel wire rope, prevent the steel wire rope from generating larger suspension, reduce the tension of the steel wire rope and simultaneously can not influence the normal operation of the robot.
When the distance of the flexible rail 3 is long, it is often necessary to erect the flexible rail 3 in sections, i.e. to erect an obstacle-surmounting leg 701 at intervals, which is suitable for the cable to be properly tensioned without generating a significant overhang. When the soft rail is erected in sections, the middle of the steel cable is interrupted, and the problem that whether the robot can smoothly cross the pile leg during operation needs to be solved, the problem can be solved by using the soft rail obstacle crossing assembly 7 shown in fig. 4. The soft rail obstacle crossing assembly 7 is formed by bending a steel pipe section bar which is the same as that of the hard rail 1 into an arc shape, a support is welded on the side surface of the arc shape by using a square pipe, the support is connected with a connecting plate 702 by using a screw, and the connecting plate 702 can be fixed on an obstacle crossing supporting leg 701; two tail ends of the obstacle crossing hardware 704 are respectively connected with a transition piece similar to the second end transition piece 203; the obstacle crossing fitting 704 is basically the same as the connecting fitting 2 in connection manner except that the obstacle crossing fitting 704 is different in shape; through the smooth transition of the end head transition piece, the robot can smoothly move from the soft rail on one side of the pile leg to the soft rail on the other side, so that the obstacle crossing function is realized.
According to the soft and hard combined type robot track and the system used by the intelligent inspection robot, when the rail is laid by the rail-hung type intelligent inspection robot, the soft rail and the hard rail can be flexibly combined and switched according to specific requirements, so that the smooth operation of the robot is ensured, and meanwhile, a series of problems that the long-distance soft rail can be suspended, the tensile force of the soft rail is overlarge, the soft rail is difficult to turn, the conversion and connection of the soft rail and the hard rail are difficult, the track erecting cost is higher, the construction difficulty is large and the like during the track laying can be solved, and the system and the method have important practical significance for promoting the large-scale industrial application of the rail-hung type intelligent inspection robot.
It is to be understood that:
the section bar for manufacturing the hard rail is not limited to a flat oval tube, and common section bars such as a square tube, a round tube and the like can be used as long as the section of the section bar has an arc surface with the size similar to the required size of the driving wheel groove of the inspection robot; the flexible rail may be a steel wire rope or a steel cable.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a soft or hard combined type track for robot is patrolled and examined to intelligence which characterized in that includes:
a hard rail;
one end of the connecting hardware fitting is connected with one end of the hard rail;
the soft rail is in lap joint with the other end of the hardware fitting assembly;
the supporting assembly is connected with the connecting hardware fitting and used for supporting the connecting hardware fitting;
the end part, close to the soft rail and overlapped with the connecting hardware fitting, of the soft rail is connected with the supporting assembly.
2. The composite track according to claim 1, wherein the link hardware includes:
a first end transition piece connected with an end of the hard rail;
one end of the hardware fitting body is connected with the first end head transition piece and is used for being matched with the intelligent inspection robot;
and the second end transition piece is in lap joint with the soft rail.
3. The composite track according to claim 2, wherein the track comprises:
and one end of the hardware fitting body, which is close to the soft rail, is provided with a slot for penetrating through the soft rail to ensure that the center of the soft rail is overlapped with the center of the hard rail.
4. The flexible composite track for the intelligent inspection robot according to claim 2 or 3, wherein:
the second end head transition piece is a U-shaped piece with a downward opening and is used for being lapped with the soft rail through the opening end.
5. The composite track according to claim 1, wherein the support assembly includes:
one end of each pile leg is grounded;
the first connecting plate is connected with the other end of the pile leg and used for supporting the connecting hardware fitting;
and the tensioning mechanism is arranged between the first connecting plate and the soft rail and is used for tensioning the soft rail.
6. The composite track according to claim 5, wherein the support assembly further includes:
the guide piece is arranged on the first connecting plate and faces the connecting hardware fitting, and is used for guiding the motion of the intelligent inspection robot.
7. The composite track according to claim 5, wherein the tensioning mechanism includes:
the turn buckle is arranged on the first connecting plate;
the rigging lantern ring is connected with the turnbuckle bolt and the soft rail;
and the buckle is arranged on the soft rail and used for locking the soft rail.
8. The utility model provides a soft or hard combined type robot rail system of robot is patrolled and examined to intelligence which characterized in that includes:
the rigid-flexible composite robot track of any one of claims 1-7;
the hard rail supporting assembly is arranged below the hard rail and used for supporting the hard rail;
and the soft rail supporting component is arranged below the soft rail and used for supporting the soft rail.
9. The soft and hard composite robot track system for a smart inspection robot according to claim 8, wherein the hard rail support assembly includes:
a first leg;
the first supporting plate is connected with the supporting leg;
the second supporting plate is adjustably connected with the first supporting plate;
the side edge of the second supporting plate is detachably connected with the hard rail;
the flexible rail support assembly comprises:
a second leg;
a flexible rail support connected to the second leg;
the inner part of the soft rail supporting plate is hollow and is used for penetrating and fixing the soft rail.
10. The soft and hard composite robot track system for the intelligent inspection robot according to claim 8, further comprising a soft rail obstacle crossing assembly for connecting two soft rails simultaneously during sectional erection:
the soft rail obstacle crossing assembly comprises:
obstacle-crossing supporting legs;
the connecting plate is connected with the end part of the obstacle crossing supporting leg;
the two connecting mechanisms are respectively arranged on two sides of the connecting plate and are used for connecting two adjacent soft rails;
the obstacle crossing hardware fitting is detachably arranged on the connecting plate;
and two ends of the obstacle crossing hardware are in lap joint with the soft rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111679299.4A CN114055520B (en) | 2021-12-31 | 2021-12-31 | Soft and hard combined track and system for intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111679299.4A CN114055520B (en) | 2021-12-31 | 2021-12-31 | Soft and hard combined track and system for intelligent inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114055520A true CN114055520A (en) | 2022-02-18 |
| CN114055520B CN114055520B (en) | 2024-06-14 |
Family
ID=80230666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111679299.4A Active CN114055520B (en) | 2021-12-31 | 2021-12-31 | Soft and hard combined track and system for intelligent inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114055520B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108711776A (en) * | 2018-05-08 | 2018-10-26 | 中科开创（广州）智能科技发展有限公司 | A kind of shaft tower lightning conducter bypass band device for polling transmission line equipment |
| WO2020140417A1 (en) * | 2019-01-02 | 2020-07-09 | 中车株洲电力机车有限公司 | Cable car and cable car curve passing structure |
| CN212473435U (en) * | 2020-04-09 | 2021-02-05 | 洛阳视距智能科技有限公司 | Track tensioning device of inspection robot |
-
2021
- 2021-12-31 CN CN202111679299.4A patent/CN114055520B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108711776A (en) * | 2018-05-08 | 2018-10-26 | 中科开创（广州）智能科技发展有限公司 | A kind of shaft tower lightning conducter bypass band device for polling transmission line equipment |
| WO2020140417A1 (en) * | 2019-01-02 | 2020-07-09 | 中车株洲电力机车有限公司 | Cable car and cable car curve passing structure |
| CN212473435U (en) * | 2020-04-09 | 2021-02-05 | 洛阳视距智能科技有限公司 | Track tensioning device of inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114055520B (en) | 2024-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110230262B (en) | Half-integral hoisting structure and butt joint method for main arch rib of basket type steel pipe arch bridge | |
| CN108240069B (en) | Large-span multi-section combined truss roof structure system and construction method thereof | |
| CN109914266B (en) | Construction method for longitudinally moving and lifting installation of large steel pipe arch | |
| CN109322240A (en) | A kind of extension type channel trestle | |
| CN103882812A (en) | Construction method for midspan main beams of cable-stayed bridge | |
| CN105113414B (en) | A kind of suspension bridge main rope fast erecting method | |
| CN110510527A (en) | Installation system of high slope variable cross-section slope precast block and construction method thereof | |
| CN115030046A (en) | Hydraulic creeping formwork for hollow thin-wall pier and construction method thereof | |
| CN211257341U (en) | Rigid reinforced connection joint of circular steel tube concrete column and I-shaped steel beam | |
| CN114055520A (en) | Soft and hard combined type track and system for intelligent inspection robot | |
| CN103457203B (en) | A kind of robot comprehensive wiring method based on Internet of Things | |
| CN205954965U (en) | Novel node of steel skeleton light floor | |
| CN103147405B (en) | Method for erecting steel girder of cable-stayed bridge with diagonal main trusses | |
| CN204982628U (en) | Horizontal pull rope bridge | |
| CN102442317B (en) | Assembled type cableway transport device | |
| CN201539043U (en) | Novel steadying cable beam string | |
| CN203700937U (en) | Connecting piece for tower and girder of cable-stayed fabricated highway steel bridge | |
| CN111320084A (en) | Assembled building component hoisting equipment and deviation monitoring method thereof | |
| CN102776841A (en) | Long-span steel truss suspension bridge jointing method and device | |
| CN213233144U (en) | Nested three-dimensional steel box girder walking type pushing equipment | |
| KR20090120371A (en) | Moving bridge inspection equipment | |
| CN212076208U (en) | Assembled building component lifting device | |
| CN103422665B (en) | A kind of scaffold | |
| CN206936740U (en) | The split type truss of long range pipe conveyer adhesive tape installation | |
| CN103629438A (en) | Combined-type transition cable leading cage based on cable leading below bridge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |