CN114802513A - Vertical climbing robot for wind power generation tower - Google Patents
Vertical climbing robot for wind power generation tower Download PDFInfo
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- CN114802513A CN114802513A CN202210507292.2A CN202210507292A CN114802513A CN 114802513 A CN114802513 A CN 114802513A CN 202210507292 A CN202210507292 A CN 202210507292A CN 114802513 A CN114802513 A CN 114802513A
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
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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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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Sustainable Energy (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a vertical climbing robot for a wind power generation tower, wherein a plurality of groups of climbing mechanisms at the upper part, a pressing mechanism and climbing mechanisms at the lower part are arranged on a frame; the climbing mechanism drives the friction wheel to rotate through the driving motor, vertical up-and-down movement on the tower wall is achieved, and hovering on the outer wall of the wind power generation tower is achieved through transmission of a worm and gear structure; hold-down mechanism utilizes balanced depression bar atress to rotate through compressing tightly the balanced depression bar of lead screw pulling, provides two equidimension pressures for spring in the climbing mechanism of upper and lower part respectively, passes to the friction pulley through compressing tightly the pole to adjust friction pulley normal pressure size, prevent to press flat wind power generation tower outer wall. The invention has the advantages of novel design, reasonable planning, simple structure, convenient operation, low manufacturing and implementation cost and strong universality, and is suitable for popularization and application.
Description
Technical Field
The invention belongs to the technical field of mechanical and electrical integration, and particularly relates to a vertical climbing robot for a wind power generation tower.
Background
Wind energy is clean energy, and the wind power generation technology in China is in a steady development stage. The east coastal region and the west region have sufficient wind energy, and the development and utilization of the wind energy and the construction of wind power generation equipment are particularly important for promoting sustainable development. The wind power generation equipment is exposed outdoors for a long time, the environmental condition is complex, the mechanism exposed outside is easy to damage, and after the wind power generation equipment is used for a certain period of time, the paint on the shell of the wind power generation equipment falls off and rusts. If the maintenance is not carried out in time, the corrosion can be further deepened, and the subsequent service life of the wind power generation tower is seriously influenced.
At present, the maintenance means is still to suspend the wind power generation tower from high altitude to maintain and spray paint by manually carrying equipment, the means has low working efficiency, small effective spraying area, high danger coefficient and multiple multi-angle spraying.
The column structure diameter that the robot that relates to climbing column structure among the prior art was suitable for is less, and the cylinder structure of climbing itself has certain rigidity, so whether the normal pressure of unnecessary considering climbing robot to cylinder structure can damage cylinder itself when the design.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a vertical climbing robot for a wind power generation tower, which adopts an annular frame structure and a pressing mechanism to maintain the external structures of equipment such as the wind power generation tower and the like, and is suitable for a cylindrical structure such as the wind power generation tower and the like, which has smooth outer wall, fixed limit value of rigidity, large diameter and taper.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a vertical climbing robot for a wind power generation tower comprises a frame surrounding the outer wall of the wind power generation tower;
a plurality of groups of climbing mechanisms at the upper part, pressing mechanisms and climbing mechanisms at the lower part are arranged on the frame;
when the vertical climbing robot for the wind power generation tower works, the synchronous pressing of the pressing rods in the upper climbing mechanism and the synchronous pressing of the pressing rods in the lower climbing mechanism can be realized through the mutual matching adjustment of the motor and the mechanism;
a friction wheel matched with a pressing rod in the upper climbing mechanism is used as an executing mechanism for up-and-down motion, and a friction wheel matched with a pressing rod in the lower climbing mechanism is used as an auxiliary pressing mechanism to ensure coaxiality.
The climbing mechanism drives the friction wheel to rotate through the driving motor, vertical up-and-down movement on the tower wall is achieved, and hovering on the outer wall of the wind power generation tower is achieved through transmission of a worm and gear structure;
the pressing mechanism pulls the balance pressure rod through the pressing screw rod, utilizes the stress of the balance pressure rod to rotate, respectively provides two pressures with the same magnitude for the springs in the upper climbing mechanism and the lower climbing mechanism, and transmits the pressures to the friction wheel through the pressing rod so as to adjust the positive pressure of the friction wheel and prevent the outer wall of the wind power generation tower from being shrunken;
the stress of the balance pressing rod is adaptive to balance rotation, the coaxiality of the vertical climbing robot of the wind power generation tower and the wind power generation tower can be adjusted, and the taper of the outer wall of the wind power generation tower is stably adapted.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the frame comprises two identical semicircular structures, the head end and the tail end of each semicircular structure are provided with primary and secondary hinges, and the two identical semicircular structures are connected end to end.
The four groups of climbing mechanisms on the upper part, the pressing mechanism and the climbing mechanism on the lower part are symmetrically arranged on the frame.
The tracks are uniformly arranged on the upper side and the lower side of the frame, so that the function of expansion is realized.
The climbing mechanism comprises two friction wheels, a pressing rod, a driving motor and a first worm and gear group;
one end of the compressing rod is connected to the frame, and the other end of the compressing rod is provided with a shaft;
the two friction wheels are symmetrically arranged on the shaft of the pressing rod;
the first worm and gear set is arranged in the middle of the shaft and is used as a transmission mechanism for driving the friction wheel to rotate and self-lock;
the driving motor is installed on the pressing rod, the worm in the worm gear and worm group drives the worm gear, the rotating speed of the friction wheel is controlled, positive and negative steering and self-locking are achieved, the vertical climbing robot of the wind power generation tower can move up and down, and self-locking can be guaranteed when no driving force exists.
The middle of the pressing rod is connected with one end of a spring in the pressing mechanism, and the other end of the spring is connected with a balance pressing rod of the pressing mechanism.
The pressing mechanism comprises a pressing motor, a second worm gear group, a pressing screw rod, a rotating balance nut, a balance pressing rod and a spring;
the balance pressing rod is connected with the pressing rod in the upper and lower climbing mechanisms through an upper spring and a lower spring respectively;
the compressing motor drives the second worm gear and worm group to transmit torque to the compressing lead screw through the second worm and the second worm gear, so that the rotating speed, the steering and the self-locking of the compressing lead screw are controlled.
The compression screw drives the rotation balance nut to realize compression balance compression bar and stress balance rotation.
The balance pressure lever rotates the compression spring in a balance mode, and self-adaption of the wind power generation tower taper in the work of the wind power generation tower climbing machine is achieved;
in the work, the upper and lower compression rods transmit the support reaction force to the balance compression rod through the upper and lower springs respectively;
the balance pressure lever is stressed and the rotary balance nut is coordinated to automatically rotate and balance the pressing force of the upper side and the lower side.
Specifically, the method comprises the following steps:
the compressing motor drives the compressing lead screw to rotate through the second worm gear group, the balance nut is rotated to move back and forth on the compressing lead screw, so that the balance pressing rod is driven to apply pressing force to the upper spring and the lower spring, the upper compressing rod and the lower compressing rod have the same pressure, and stress of the upper compressing rod and the lower compressing rod in the climbing mechanism caused by the taper is balanced when the robot runs to the tapered position.
The invention has the following beneficial effects:
1) the climbing mechanism stably crosses the seam of the wind power generation tower in a friction wheel rolling mode; meanwhile, a group of pressing mechanisms with up-and-down symmetrical structures are symmetrically arranged, so that reliable positive pressure is provided, and the machine and the wind power generation tower are ensured to have good coaxiality.
2) The transmission mechanism of the climbing mechanism adopts worm and gear transmission, can realize the self-locking of a friction wheel, and has simple and small structure and high stability;
3) the balance rotation of the balance pressure lever can effectively avoid the defect of insufficient coaxiality of the machine and the wind power generation tower caused by unbalanced pressing force of the upper side and the lower side when the balance pressure lever runs to a working position with a taper;
4) the pressing force transmission mode of the pressing mechanism is a worm gear and worm and screw nut pair, both mechanisms have self-acting performance, and the double self-locking mechanism provides stable pressing force;
5) when the mechanism runs to a working position with a taper, when the spring adjustment cannot meet the condition that the positive pressure is greater than the friction force, the pressing motor can work to drive the screw-nut pair to press the balance pressing rod;
6) the upper side and the lower side of the frame are provided with a track expandable mechanical arm and other working mechanisms to realize the function expansion; the system can replace most of the work originally completed manually, improve the working efficiency, save the cost and ensure the safety of constructors;
7) the structure that wind power generation tower climbed the robot perpendicularly adopts self-locking structure to realize stopping in wind power generation tower optional position many places, and can not drop, and the security is high.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a climbing mechanism of the present invention;
fig. 3 is a schematic view of the hold-down mechanism of the present invention.
Reference numerals: 1-frame, 2-track, 3-shaft, 4-compression rod, 5-spring, 6-friction wheel, 7-first worm gear and worm group, 7-1: first worm, 7-2: the driving device comprises a first worm wheel, an 8-driving motor, a 9-balance pressure lever, a 10-second worm wheel and worm group, and a 10-1: no. two worm, 10-2: a second worm wheel, 11-a rotating balance nut, 12-a compression screw rod, 13-a compression rod groove and 14-a compression motor.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1-3, the invention relates to a vertical climbing robot for a wind power generation tower, which comprises a frame 1 surrounding the outer wall of the wind power generation tower;
four groups of climbing mechanisms at the upper part, pressing mechanisms and climbing mechanisms at the lower part are arranged on the frame 1;
the frame 1 comprises two identical semicircular structures, primary and secondary hinges are arranged at the head end and the tail end of each semicircular structure, and the two identical semicircular structures are connected end to end.
Four groups of climbing mechanisms on the upper part, a pressing mechanism and climbing mechanisms on the lower part are symmetrically arranged on the frame 1, and the stress effect is obvious.
The frame 1 surrounds the bottom initial working position of the wind power generation tower;
the upper side and the lower side of the frame 1 are provided with tracks 2, so that the expansion of the functions of working mechanisms such as mechanical arms and the like can be realized.
When the vertical climbing robot of the wind power generation tower works, four pressing rods in the upper climbing mechanism and four pressing rods in the lower climbing mechanism can be synchronously pressed through mutual matching adjustment of a motor and the mechanisms;
friction wheels matched with four pressing rods in the upper climbing mechanism are used as an executing mechanism for moving up and down, and friction wheels matched with four pressing rods in the lower climbing mechanism are used as an auxiliary pressing mechanism to ensure coaxiality.
The climbing mechanism drives the friction wheel 6 to rotate through the driving motor 8, vertical up-and-down movement on the tower wall is achieved, and hovering on the outer wall of the wind power generation tower is achieved through transmission of a worm and gear structure;
the pressing mechanism pulls the balance pressure rod 9 through the pressing screw rod 12, utilizes the stress of the balance pressure rod 9 to rotate, provides two pressures with the same magnitude for the springs in the upper climbing mechanism and the lower climbing mechanism respectively, and transmits the two pressures to the friction wheel 6 through the pressing rod 4 so as to adjust the positive pressure of the friction wheel 6 and prevent the outer wall of the wind power generation tower from being shrunken;
the stress of the balance pressing rod 9 is adaptive to balance rotation, the coaxiality of the vertical climbing robot of the wind power generation tower and the wind power generation tower can be adjusted, and the taper of the outer wall of the wind power generation tower is stably adapted.
In the embodiment, as shown in fig. 2, the climbing mechanism is connected to the frame 1 and comprises two friction wheels 6, a pressing rod 4, a driving motor 8 and a first worm and gear set 7;
one end of the compressing rod 4 is connected to the frame 1 with the track, and the other end is provided with a shaft 3;
the two friction wheels 6 are symmetrically arranged on the shaft 3 of the pressing rod 4;
the first worm gear and worm group 7 is arranged in the middle of the shaft 3 and is used as a transmission mechanism for driving the friction wheel 6 to rotate and self-lock;
the driving motor 8 is installed on the compression rod 4, the worm at the position of the first worm wheel 7-2 is driven by the first worm 7-1 in the first worm wheel and worm rod group 7 to serve as a driving part, the worm wheel serves as a driven part, the rotating speed of the friction wheel 6 is controlled, positive and negative rotation and self-locking are controlled, the vertical climbing robot of the wind power generation tower is enabled to move up and down, and self-locking can be guaranteed when no driving force exists.
The first worm wheel 7-2 is arranged on the shaft 3, and the first worm 7-1 is arranged on the driving motor 8;
the middle of the pressing rod 4 is connected with one end of a spring 5 in the pressing mechanism, and the other end of the spring 5 is connected with a balance pressing rod 9 of the pressing mechanism.
As shown in fig. 3, the pressing mechanism is connected to the frame 1, and includes a pressing motor 14, a second worm gear set 10, a pressing screw 12, a rotating balance nut 11, a balance pressing rod 9, and a spring 5;
the balance pressing rod 9 is respectively connected with the pressing rods 4 in the upper and lower climbing mechanisms through an upper spring 5 and a lower spring 5;
the balance pressure lever 9 is connected with a rotary balance nut 11;
the rotary balance nut 11 is arranged on a compression screw rod 12;
the compression screw rod 12 is arranged on the frame 1 and drives the rotary balance nut 11 to move back and forth;
the compacting motor 14 drives the second worm gear and worm group 10 to transmit torque to the compacting screw rod 12 through the second worm 10-1 and the second worm gear 10-2, so that the rotating speed, the steering direction and the self-locking of the compacting screw rod 12 are controlled.
The compression screw rod 12 drives the rotation balance nut 11 to realize compression balance compression bar 9 and stress balance rotation.
The balance pressure lever 9 rotates the compression spring 5 in a balance mode, and self-adaption of the wind power generation tower taper in the work process of the wind power generation tower climbing machine is achieved;
in the work, the upper and lower compression rods 4 transmit the support reaction force to the balance compression rod 9 through the upper and lower springs 5 respectively;
the balance compression bar 9 is stressed and is coordinated with the rotary balance nut 11 to automatically rotate and balance the pressing force of the upper side and the lower side.
Specifically, the method comprises the following steps:
the pressing motor 14 drives the pressing screw rod 12 to rotate through the second worm gear and worm group 10, the balance nut 11 is rotated to move back and forth on the pressing screw rod 12, so that the balance pressing rod 9 is driven to apply pressing force to the upper spring 5 and the lower spring 5, the upper pressing rod 4 and the lower pressing rod 4 have the same pressure, and the stress of the pressing rods 4 in the upper climbing mechanism and the lower climbing mechanism caused by the taper is balanced when the robot runs to the position with the taper.
And the positive pressure on the upper side and the lower side can be rotationally adjusted according to the stress condition of two groups of friction wheels 6 in the upper climbing mechanism and the lower climbing mechanism in the working process.
As shown in figure 1, when the vertical climbing robot for the wind power generation tower works, a pressing mechanism arranged on a frame 1 drives a second worm and gear group 10 through a pressing motor 14, a worm 10-1 is a driving part and a worm gear 10-2 is a driven part as shown in figure 3. The worm wheel 10-2 is connected with a compression screw rod 12, when the conicity is met, the compression screw rod 12 pulls to rotate a balance nut 11 to compress a balance pressure rod 9, the balance pressure rod 9 automatically balances the compression force on the upper side and the lower side, and the compression rod 4 is compressed through a spring 5. The upper side and the lower side are synchronously pressed.
The drive motor 8 is mounted on the compression bar 4 and drives the worm wheel 7-2 via the worm 7-1 as shown in fig. 3. The worm wheel 7-2 is connected with the shaft 3, and the shaft 3 rotates to drive the friction wheel 6 to move up and down along the wall of the wind power generation tower. And auxiliary tools such as a robot arm can be mounted on the rail 1.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (7)
1. A vertical climbing robot for a wind power generation tower is characterized by comprising a frame (1) surrounding the outer wall of the wind power generation tower;
a plurality of groups of climbing mechanisms at the upper part, pressing mechanisms and climbing mechanisms at the lower part are arranged on the framework (1);
when the vertical climbing robot for the wind power generation tower works, the pressing rods in the upper climbing mechanism can be synchronously pressed through mutual matching adjustment of the motor and the mechanism, and the pressing rods in the lower climbing mechanism can be synchronously pressed;
a friction wheel matched with a pressing rod in the upper climbing mechanism is used as an executing mechanism for up-and-down movement, and a friction wheel matched with a pressing rod in the lower climbing mechanism is used as an auxiliary pressing mechanism to ensure coaxiality;
the climbing mechanism drives the friction wheel (6) to rotate through the driving motor (8) to vertically move up and down on the tower wall, and the climbing mechanism is driven by a worm and gear structure to hover on the outer wall of the wind power generation tower;
the pressing mechanism pulls the balance pressure rod (9) through the pressing screw rod (12), utilizes the stress of the balance pressure rod (9) to rotate, provides two pressures with the same magnitude for springs in the upper climbing mechanism and the lower climbing mechanism respectively, and transmits the two pressures to the friction wheel (6) through the pressing rod (4) so as to adjust the positive pressure of the friction wheel (6) and prevent the outer wall of the wind power generation tower from being shrunken;
the stress self-adaptive balanced rotation of the balanced pressing rod (9) can adjust the coaxiality of the vertical climbing robot of the wind power generation tower and stably adapt to the taper of the outer wall of the wind power generation tower.
2. The vertical climbing robot for the wind power generation tower according to claim 1, characterized in that the frame (1) comprises two identical semicircular structures, primary and secondary hinges are arranged at the head and the tail of each semicircular structure, and the two identical semicircular structures are connected end to end.
3. The vertical climbing robot for wind power generation towers according to claim 1, characterized in that four groups of upper climbing mechanisms, pressing mechanisms and lower climbing mechanisms are symmetrically arranged on the frame (1).
4. The vertical climbing robot for the wind power generation tower according to claim 1, characterized in that rails (2) are arranged on the upper side and the lower side of the frame (1) to realize the function of expansion.
5. The vertical climbing robot for the wind power generation tower according to claim 1, characterized in that the climbing mechanism comprises two friction wheels (6), a pressing rod (4), a driving motor (8) and a first worm and gear set (7);
one end of the compression rod (4) is connected to the frame (1), and the other end of the compression rod is provided with a shaft (3);
the two friction wheels (6) are symmetrically arranged on the shaft (3) of the pressing rod (4);
the first worm wheel and worm group (7) is arranged in the middle of the shaft (3) and is used as a transmission mechanism for driving the friction wheel (6) to rotate and self-lock;
the driving motor (8) is installed on the pressing rod (4), a worm (7-1) in the worm gear and worm group (7) drives a worm gear (7-2) to control the rotating speed, the forward and reverse rotation and the self-locking of the friction wheel (6), so that the vertical climbing robot of the wind power generation tower can move up and down, and the self-locking can be guaranteed when no driving force exists.
6. The vertical climbing robot for the wind power generation tower according to claim 5, characterized in that the middle of the pressing rod (4) is connected with one end of a spring (5) in the pressing mechanism, and the other end of the spring (5) is connected with a balance pressing rod (9) of the pressing mechanism.
7. The vertical climbing robot for the wind power generation tower according to claim 6, characterized in that the pressing mechanism comprises a pressing motor (14), a second worm gear set (10), a pressing screw rod (12), a rotating balance nut (11), a balance pressure rod (9) and a spring (5);
the balance pressing rod (9) is respectively connected with the pressing rod (4) in the upper and lower climbing mechanisms through an upper spring (5) and a lower spring (5);
the compaction motor (14) drives the second worm gear and worm group (10) to transmit torque to the compaction screw rod (12) through the second worm (10-1) and the second worm gear (10-2), so that the rotation speed, the steering direction and the self-locking of the compaction screw rod (12) are controlled.
The compaction screw rod (12) drives the rotating balance nut (11) to realize the compaction balance compression bar (9) and the stress balance rotation.
The balance pressure lever (9) rotates the compression spring (5) in a balance mode, and self-adaption of the wind power generation tower taper degree in the work process of the wind power generation tower climbing machine is achieved;
in the work, the upper and lower compression rods (4) transmit the support reaction force to the balance compression rod (9) through the upper and lower springs (5) respectively;
the balance pressure lever (9) is stressed and is coordinated with the rotary balance nut (11) to automatically rotate and balance the pressing force of the upper side and the lower side.
Specifically, the method comprises the following steps:
the pressing motor (14) drives the pressing screw rod (12) to rotate through the second worm gear and worm group (10), the balance nut (11) is rotated to move back and forth on the pressing screw rod (12), so that the balance pressing rod (9) is driven to apply pressing force to the upper spring (5) and the lower spring (5), the upper pressing rod (4) and the lower pressing rod (4) have the same pressure, and the stress of the pressing rods (4) in the upper climbing mechanism and the lower climbing mechanism caused by the taper is balanced when the robot runs to the position with the taper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507292.2A CN114802513B (en) | 2022-05-11 | 2022-05-11 | Vertical climbing robot for wind power generation tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507292.2A CN114802513B (en) | 2022-05-11 | 2022-05-11 | Vertical climbing robot for wind power generation tower |
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| Publication Number | Publication Date |
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| CN114802513A true CN114802513A (en) | 2022-07-29 |
| CN114802513B CN114802513B (en) | 2023-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210507292.2A Active CN114802513B (en) | 2022-05-11 | 2022-05-11 | Vertical climbing robot for wind power generation tower |
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| CN106556684A (en) * | 2016-12-01 | 2017-04-05 | 华南理工大学广州学院 | A kind of new electrically driven (operated) detector for cables and detection method |
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| CN110979502A (en) * | 2019-11-21 | 2020-04-10 | 上海锡华机械工程有限公司 | Tower column climbing robot |
| CN113715930A (en) * | 2021-09-22 | 2021-11-30 | 杭州电子科技大学 | Obstacle-crossing robot for climbing outer wall of rod body and climbing method thereof |
| CN215719246U (en) * | 2021-06-04 | 2022-02-01 | 广东海洋大学 | Device for remotely observing outer surface corrosion condition of offshore tower cylinder |
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2022
- 2022-05-11 CN CN202210507292.2A patent/CN114802513B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556684A (en) * | 2016-12-01 | 2017-04-05 | 华南理工大学广州学院 | A kind of new electrically driven (operated) detector for cables and detection method |
| US20190069483A1 (en) * | 2017-09-04 | 2019-03-07 | Amrita Vishwa Vidyapeetham | Method and Apparatus for Wireless Network-Based Control of a Robotic Machine |
| US20190134824A1 (en) * | 2017-09-21 | 2019-05-09 | Infrastructure Preservation Corporation | Robotic repair system for high mast light poles |
| CN108909867A (en) * | 2018-08-31 | 2018-11-30 | 西南交通大学 | A kind of climbing robot |
| CN110979502A (en) * | 2019-11-21 | 2020-04-10 | 上海锡华机械工程有限公司 | Tower column climbing robot |
| CN215719246U (en) * | 2021-06-04 | 2022-02-01 | 广东海洋大学 | Device for remotely observing outer surface corrosion condition of offshore tower cylinder |
| CN113715930A (en) * | 2021-09-22 | 2021-11-30 | 杭州电子科技大学 | Obstacle-crossing robot for climbing outer wall of rod body and climbing method thereof |
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| Publication number | Publication date |
|---|---|
| CN114802513B (en) | 2023-01-24 |
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