CN203127007U - Robot system and crawling robot thereof - Google Patents
Robot system and crawling robot thereof Download PDFInfo
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- CN203127007U CN203127007U CN 201320042711 CN201320042711U CN203127007U CN 203127007 U CN203127007 U CN 203127007U CN 201320042711 CN201320042711 CN 201320042711 CN 201320042711 U CN201320042711 U CN 201320042711U CN 203127007 U CN203127007 U CN 203127007U
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Abstract
An embodiment of the utility model discloses a robot system and a crawling robot thereof. The crawling robot comprises a robot body and a control mechanism connected with the robot body. The robot body comprises a first clamping mechanism, a second clamping mechanism and a crawling driving mechanism, wherein the first clamping mechanism and the second clamping mechanism are installed in a spaced mode and clamp a climbing object respectively, and the crawling driving mechanism is in transmission connection with the first clamping mechanism and the second clamping mechanism and drives the first clamping mechanism and the second clamping mechanism to move in a reciprocating and alternating mode on the climbing object. The crawling robot is simple in structure, high in stability and strong in practicality.
Description
Technical field
The utility model relates to the Robotics field, relates in particular to a kind of robot system and climbing robot thereof.
Background technology
The project that current society relates to high-altitude or underground work gets more and more, and monitors maintenance, tunnel piercing etc. as cleaning, wall construction, the installation of building top product, the maintenance of cable-stayed bridge rope, the pipeline of glass curtain wall of high building.At present, this type of construction operation mainly still adopts traditional manual work mode, as delivering staff and apparatus for work to working position by the traction fulcrum is set in rope upper end, and by staff's operation task device and then finish relevant operation, not only task difficulty is big, the potential safety hazard height, and operating efficiency is low, the cost of labor height.
Progress along with science and technology, research and develop the alternative robot of manually finishing high-risk operations and become various equivalent modifications research and development emphasis, the robot of relevant high-altitude or underground work has appearred manually finishing as plurality of replaceable such as rope-climbed robot, climbing level robot, tube climber device people, climbing robots at present, but problems such as these robot device's ubiquity complex structures, poor stability have had a strong impact on popularizing of this robotlike.
The utility model content
The utility model embodiment technical matters to be solved is, a kind of climbing robot is provided, and is simple in structure, and stability is high.
The further technical matters to be solved of the utility model embodiment is that a kind of robot system is provided, and simple in structure, applicability is strong.
In order to solve the problems of the technologies described above, the utility model embodiment has proposed a kind of climbing robot, comprise robot body and the control mechanism that links to each other with robot body, described robot body comprises first clamping mechanism and second clamping mechanism that arranges and clamp respectively the climbing object at interval, and is in transmission connection to drive first clamping mechanism and second clamping mechanism reciprocal alternately driver train of creeping of displacement on the climbing object with described first clamping mechanism and second clamping mechanism.
Further, described first clamping mechanism and the second clamping mechanism correspondence are provided with first jaw and second jaw in order to clamping climbing object.
Further, described climbing robot also comprises being fixedly installed on the described robot body and is mated the detent mechanism that keeps climbing robot and the axial location of climbing object when being held on the climbing object with the arbitrary jaw in described first jaw or second jaw are only arranged.
Further, described detent mechanism be provided with described first jaw and second jaw axially corresponding and at interval preset distance in order to be sheathed with the positioning groove of climbing on the object.
Further, described first clamping mechanism comprises that also being in transmission connection to drive first jaw with described first jaw clamps or unclamp first of climbing object and clamp cylinder, and described control mechanism comprises with described first and clamps cylinder and link to each other to control first and clamp the first direction control cock that cylinder operates; Described second clamping mechanism comprises that also being in transmission connection to drive second jaw with described second jaw clamps or unclamp second of climbing object and clamp cylinder, and described control mechanism comprises with described second and clamps cylinder and link to each other to control second and clamp the second direction control cock that cylinder operates.
Further, described first direction control cock and second direction control cock are Pneumatic reversal valve.
Further, the described driver train of creeping is the telescopic cylinder with cylinder body and piston rod, and described first clamping mechanism is captiveed joint with the piston rod of telescopic cylinder, and described second clamping mechanism is captiveed joint with the cylinder body of telescopic cylinder; Described control mechanism comprises the third direction control cock that links to each other and stretch out or withdraw with the piston rod of controlling telescopic cylinder with described telescopic cylinder.
Further, described third direction control cock is Pneumatic reversal valve.
Further, described control mechanism comprises that also the piston rod that links to each other to control respectively telescopic cylinder with described telescopic cylinder stretches out and first one-way throttle valve and second one-way throttle valve of retraction speed.
Correspondingly, the utility model embodiment also provides a kind of robot system, comprises climbing robot and is fixedly installed on the described climbing robot to carry out the operation executive device of default work, and described climbing robot is aforesaid climbing robot.
The beneficial effect of the utility model embodiment is: by being driven by the driver train of creeping and driver train is in transmission connection and arrange at interval first clamping mechanism and the back and forth alternately displacement of second clamping mechanism of creeping, realize climbing robot creeping on the climbing object, simultaneously by detent mechanism is set, guarantee climbing robot and the axial location of climbing object, simple in structure, stability is high, and applicability is strong.
Description of drawings
Fig. 1 is the structural representation of the climbing robot of the utility model embodiment.
Fig. 2 is first view of creeping of the climbing robot of the utility model embodiment.
Fig. 3 is second view of creeping of the climbing robot of the utility model embodiment.
Fig. 4 is the 3rd view of creeping of the climbing robot of the utility model embodiment.
Fig. 5 is the 4th view of creeping of the climbing robot of the utility model embodiment.
Fig. 6 is the climbing robot control system figure of the utility model embodiment.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the application can mutually combine, and below in conjunction with the drawings and specific embodiments the utility model are described in further detail.
As Fig. 1 ~ shown in Figure 6, the utility model embodiment provides a kind of climbing robot, comprises robot body and control mechanism.Described robot body is finished the action of creeping of described climbing robot under the control of described control mechanism.
As shown in Figure 1, described robot body comprises first clamping mechanism 10, second clamping mechanism 20 and the driver train of creeping.
Described first clamping mechanism 10 and second clamping mechanism 20 arrange at interval, in order to clamp climbing object 40 respectively.Understandable, as Fig. 1 ~ shown in Figure 5, among the utility model embodiment, described climbing object 40 refers to that any one is the member of long column shape structure, as rope, bar, pipe etc.
Please continue 1 ~ Fig. 5 with reference to figure, among the utility model embodiment, described first clamping mechanism 10 is identical with the structure of second clamping mechanism 20, and joins with the described driver train of creeping respectively.Concrete, described first clamping mechanism 10 comprises first jaw 11 and links to each other to drive described first jaw 11 with described first jaw 11 and clamp or unclamp first of described climbing object 40 and clamp cylinder 12, and described second clamping mechanism 20 comprises second jaw 21 and links to each other to drive the second clamping cylinder 22 that described second jaw 21 clamped or unclamped described climbing object 40 with described second jaw 21.Certainly, as a kind of embodiment, described first clamping mechanism 10 and second clamping mechanism 20 also can be set to other can drive described first jaw 11 and second jaw 21 opens and the actuating unit that closes up, and cooperates the transmission device that constitutes etc. with guide rail as motor.
The described driver train of creeping is used for driving described first clamping mechanism 10 and the back and forth alternately displacement on described climbing object 40 of second clamping mechanism 20, and then realizes described climbing robot creeping on described climbing object 40.Among the utility model embodiment, the described driver train of creeping is the telescopic cylinder 30 with cylinder body 31 and piston rod 32, described first clamping mechanism 10 is fixedly installed on the piston rod 32 of described telescopic cylinder 30, and 20 of described second clamping mechanisms are fixedly installed on the cylinder body 31 of described telescopic cylinder 30.Stretching out and withdrawal of the piston rod 32 of described telescopic cylinder 30 cooperates described first clamping mechanism 10 and second clamping mechanism 20 respectively to the clamping action of described climbing object 40, realizes the shift reciprocately of described climbing robot on described climbing object 40.Equally, the described driver train of creeping also can be set to other can drive the actuating unit that described first clamping mechanism 10 and second clamping mechanism 20 are done straight reciprocating motion, cooperates the transmission device that constitutes etc. with guide rail as motor.
Because creeping of described climbing robot needs the alternately clamping realization on described climbing object 40 by described first jaw 11 and second jaw 21, for avoiding described climbing robot in crawling process, cause follow-up normally clamping even landing because only there being a bite to make described climbing robot depart from described climbing object 40 under its deadweight effect, described climbing robot also is provided with detent mechanism 50.Described detent mechanism 50 is fixedly installed on the described robot body, is used for being mated when arbitrary jaw that described first jaw 11 or second jaw 21 are only arranged is held on the described climbing object 40 axial location that keeps between described climbing robot and the described climbing object 40.Concrete, as Fig. 2 ~ shown in Figure 5, among the utility model embodiment, described detent mechanism 50 be two be fixed between described first clamping mechanism 10 and second clamping mechanism 20 and and described first clamping mechanism 10 and second clamping mechanism 20 be separated with the locations 51 of preset distance between all, described locations 51 axially offers positioning groove 52 in order to cooperate sheathed described climbing object 40 relatively corresponding to ends of described first jaw 11 and second jaw 12.
As a kind of embodiment, described detent mechanism 50 also directly correspondence be arranged on described first clamping mechanism 10 and second clamping mechanism 20; And described detent mechanism 50 can be set to have the locations 51 of described positioning groove 52, also can be directly by can realizing that the sheathed bayonet unit of object constitutes, as be set to have internal diameter greater than as described in the snap ring etc. of bayonet socket of climbing object 40.
As shown in Figure 6, described control mechanism is used for the action of creeping of the described climbing robot of control, it comprises with described first and clamps cylinder 12 and link to each other to control the described first first direction control cock 101 that clamps cylinder 12 runnings, clamp cylinder 22 and link to each other to control the second direction control cock 102 that the described second clamping cylinder 22 operates with described second, and links to each other to control the third direction control cock 103 that the piston rod 32 of described telescopic cylinder 30 stretches out or withdraws with described telescopic cylinder 30.Among the utility model embodiment, for making every effort to the simple of structure, described first direction control cock 101, second direction control cock 102 and third direction control cock 103 all are set to Pneumatic reversal valve, more specifically, described first direction control cock 101, second direction control cock 102 and third direction control cock 103 preferably are set to the two-position five-way Pneumatic reversal valve.Certainly, as a kind of embodiment, described first direction control cock 101, second direction control cock 102 and the third direction control cock 103 of the utility model embodiment also can be set to other directional control valves, as solenoid directional control valve, mechanical commutation valve etc.
Simultaneously, be the progress of creeping of the described climbing robot of more accurate control, described control mechanism is provided with also that the piston rod 32 that links to each other to control respectively described telescopic cylinder 30 with described telescopic cylinder 30 stretches out and first one-way throttle valve 104 and second one-way throttle valve 105 of retraction speed.
Among the utility model embodiment, described control mechanism can be fixedly installed on the described robot body, also can be arranged on the terrestrial operation platform and links to each other with robot body by cable.When described control mechanism is fixedly installed on the described robot body, controlling operating-controlling mechanism that described climbing robot starts or stops can be set to wireless control apparatus such as remote controller and be connected with described control mechanism wireless telecommunications by wireless communication module, perhaps be set to computer and control software and link to each other with described control mechanism in wireless or wired mode, and then realize controlling that described control mechanism starts or stops.And when described control mechanism is fixedly installed on the terrestrial operation platform, controls operating-controlling mechanism that described climbing robot starts or stops and then can directly be set to as shown in Figure 6 people's force control valve 106.Concrete, described people's force control valve 106 can be set to manually actuated control valve or foot control valve.Among the utility model embodiment, described people's force control valve 106 preferably is set to manually actuated control valve.
When specifically arranging, described control mechanism also is provided with respectively and links to each other to control the pressurized air flow direction and then realize that described first jaw 11 unclamps or clamp the first stroke valve 107 and the second stroke valve 108 of described climbing object 40 with position about described first direction control cock 101, link to each other to control the pressurized air flow direction and then realize that described second jaw 21 unclamps or clamp third trip valve 109 and the fourth line journey valve 110 of described climbing object 40 with position about described second direction control cock 102 respectively, link to each other to control the pressurized air flow direction with position about described third direction control cock 103 respectively and then realize piston rod 32 withdrawals of described telescopic cylinder 30 or fifth line journey valve 111 and the 6th stroke valve 112 that stretches out, and the main control valve 113 that connects source of the gas.
First of the utility model embodiment clamps cylinder 12, second source of the gas that clamps cylinder 22 and telescopic cylinder 30 can be provided by the relatively large air compressor that is fixedly arranged on ground, and links to each other with described air compressor by tracheae respectively; Perhaps, guaranteeing that described robot body has under the situation of enough load-carrying capacitys and source of the gas abundance, described first source of the gas that clamps cylinder 12, the second clamping cylinder 22 and telescopic cylinder 30 also can directly be provided by the small-sized gas cylinder that is fixedly installed on the described robot body.
Crawling process and principle of work below in conjunction with the climbing robot of the utility model embodiment of Fig. 2 ~ Fig. 6 are elaborated.
Figure 2 shows that the initial condition when described climbing robot is fixed on the described climbing object 40.Under the initial condition, described climbing object 40 is sheathed in the positioning groove 52 of described detent mechanism 50, and described first jaw 11 and second jaw, 21 correspondences are clamped in the corresponding site of described climbing object 40, and the piston rod 32 of described telescopic cylinder 30 is in retracted mode.Concrete algorithm is as follows:
1, starts described climbing robot, described first jaw 11 unclamps the clamping to described climbing object 40: the manual control button of pressing described people's force control valve 106, make its commutation, pressurized air is through the position, a left side of described people's force control valve 106, again through position, described fourth line journey valve 110 left side, make described first direction control cock 101 commutations place right position, thereby described first jaw 11 is opened under the driving of the described first clamping cylinder 12, and then unclamp the clamping to described climbing object 40;
2, as shown in Figure 3, the piston rod 32 of described telescopic cylinder 30 stretches out and drives described first clamping mechanism 10 and rises: after described first jaw 11 unclamps clamping to described climbing object 40,107 commutations of the described first stroke valve place position, a left side, pressurized air makes described third direction control cock 103 commutations place right position through the described first stroke valve 107, pressurized air is behind described first one-way throttle valve 104, the piston rod 32 of described telescopic cylinder 30 is stretched out by pre-set velocity, and described first clamping mechanism 10 rises under the drive of the piston rod 32 of described telescopic cylinder 30;
3, as shown in Figure 4, described first jaw 11 clamps described climbing object 40: after the piston rod 32 of described telescopic cylinder 30 stretches out and drives described first clamping mechanism 10 and rise to the appropriate location, 112 commutations of described the 6th stroke valve place position, a left side, make described main control valve 113 commutations place position, a left side, pressurized air is through described main control valve 113, make described first direction control cock 101 commutations place position, a left side, clamp described climbing object 40 thereby make the described first clamping cylinder 12 drive described first jaw 11;
4, described second jaw 21 unclamps the clamping to described climbing object 40: after described first jaw 11 clamps described climbing object 40,108 commutations of the described second stroke valve place position, a left side, make 102 commutations of described second direction control cock place right position, thereby make described second to clamp cylinder 22 and drive described second jaw 21 and unclamp clamping to described climbing object 40;
5, as shown in Figure 5, piston rod 32 withdrawal of described telescopic cylinder 30: after described second jaw 21 unclamps clamping to described climbing object 40, described third trip valve 109 commutations place position, a left side, pressurized air is behind described third trip valve 109, make described third direction control cock 103 commutations place position, a left side, pressurized air makes the piston rod 32 of described telescopic cylinder 30 withdraw by pre-set velocity behind described second one-way throttle valve 105; Because the piston rod 32 of described telescopic cylinder 30 is in the effect upper/lower positions relative fixed of the Clamping force of 11 pairs of described climbing objects 40 of described first jaw, the cylinder body 31 that the withdrawal of the piston rod 32 of described telescopic cylinder 30 then drives described telescopic cylinder 30 rises, and then drives 20 risings of described second clamping mechanism;
6, described second jaw 21 clamps described climbing object 40: after piston rod 32 withdrawals of described telescopic cylinder 30 put in place, described fifth line journey valve 111 commutations place position, a left side, make described main control valve 113 commutations place right position, pressurized air is through described main control valve 113, make described second direction control cock 102 commutations place position, a left side, thereby make described second jaw 21 clamp described climbing object 40.
Through above-mentioned steps, the rising that described climbing robot has namely been finished the circulation action of creeping, because described people's force control valve 106 continues the commutation ventilation, and then described climbing robot is risen along described climbing object 40 circulations, realize described climbing robot creeping continuously along described climbing object 40.
After described climbing robot arrives the predetermined work position and finishes default work, in the time of need returning, change the sense of motion of described climbing robot, can realize the descending action of described climbing robot.
Based on this, the utility model embodiment also provides a kind of robot system simultaneously, comprises described climbing robot and is fixedly installed on the described climbing robot to carry out the operation executive device of default work.Described operation executive device can arrange according to the operation that reality need be finished, as be set to clean-up device with by as described in climbing robot finish the cleaning of glass curtain wall of high building, perhaps be set to detecting device to finish pipe detection operation etc. by described climbing robot.
Although illustrated and described embodiment of the present utility model, for the ordinary skill in the art, be appreciated that under the situation that does not break away from principle of the present utility model and spirit and can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present utility model is limited by claims and equivalency range thereof.
Claims (10)
1. climbing robot, it is characterized in that, comprise robot body and the control mechanism that links to each other with robot body, described robot body comprises first clamping mechanism and second clamping mechanism that arranges and clamp respectively the climbing object at interval, and is in transmission connection to drive first clamping mechanism and second clamping mechanism reciprocal alternately driver train of creeping of displacement on the climbing object with described first clamping mechanism and second clamping mechanism.
2. climbing robot as claimed in claim 1 is characterized in that, described first clamping mechanism and the second clamping mechanism correspondence are provided with first jaw and second jaw in order to clamping climbing object.
3. climbing robot as claimed in claim 2, it is characterized in that described climbing robot also comprises being fixedly installed on the described robot body and is mated the detent mechanism that keeps climbing robot and the axial location of climbing object when being held on the climbing object with the arbitrary jaw in described first jaw or second jaw are only arranged.
4. climbing robot as claimed in claim 3 is characterized in that, described detent mechanism be provided with described first jaw and second jaw axially corresponding and at interval preset distance in order to be sheathed with the positioning groove of climbing on the object.
5. climbing robot as claimed in claim 2, it is characterized in that, described first clamping mechanism comprises that also being in transmission connection to drive first jaw with described first jaw clamps or unclamp first of climbing object and clamp cylinder, and described control mechanism comprises with described first and clamps cylinder and link to each other to control first and clamp the first direction control cock that cylinder operates; Described second clamping mechanism comprises that also being in transmission connection to drive second jaw with described second jaw clamps or unclamp second of climbing object and clamp cylinder, and described control mechanism comprises with described second and clamps cylinder and link to each other to control second and clamp the second direction control cock that cylinder operates.
6. climbing robot as claimed in claim 5 is characterized in that, described first direction control cock and second direction control cock are Pneumatic reversal valve.
7. climbing robot as claimed in claim 1, it is characterized in that, the described driver train of creeping is the telescopic cylinder with cylinder body and piston rod, and described first clamping mechanism is captiveed joint with the piston rod of telescopic cylinder, and described second clamping mechanism is captiveed joint with the cylinder body of telescopic cylinder; Described control mechanism comprises the third direction control cock that links to each other and stretch out or withdraw with the piston rod of controlling telescopic cylinder with described telescopic cylinder.
8. climbing robot as claimed in claim 7 is characterized in that, described third direction control cock is Pneumatic reversal valve.
9. climbing robot as claimed in claim 7 is characterized in that, described control mechanism comprises that also the piston rod that links to each other to control respectively telescopic cylinder with described telescopic cylinder stretches out and first one-way throttle valve and second one-way throttle valve of retraction speed.
10. robot system comprises climbing robot and is fixedly installed on the described climbing robot to carry out the operation executive device of default work, it is characterized in that described climbing robot is as each described climbing robot in the claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320042711 CN203127007U (en) | 2013-01-25 | 2013-01-25 | Robot system and crawling robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320042711 CN203127007U (en) | 2013-01-25 | 2013-01-25 | Robot system and crawling robot thereof |
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| CN203127007U true CN203127007U (en) | 2013-08-14 |
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| CN 201320042711 Expired - Fee Related CN203127007U (en) | 2013-01-25 | 2013-01-25 | Robot system and crawling robot thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129447A (en) * | 2014-07-08 | 2014-11-05 | 南京工程学院 | Power transmission tower climbing robot and power transmission tower routing inspection mode thereof |
| CN104525419A (en) * | 2014-12-25 | 2015-04-22 | 青岛意诺固特自动化机械有限公司 | Climbing pole spraying cleaning machine for bridge rope pole |
| CN108252211A (en) * | 2017-12-23 | 2018-07-06 | 香港中文大学（深圳） | Climb type detects robot |
| CN109131625A (en) * | 2018-10-20 | 2019-01-04 | 西南石油大学 | A kind of headframe climbing device |
| CN109350931A (en) * | 2018-11-21 | 2019-02-19 | 广州供电局有限公司 | Electric power tower climbing device |
| CN111661189A (en) * | 2020-06-10 | 2020-09-15 | 邯郸职业技术学院 | Pipeline crawling robot |
| CN112045659A (en) * | 2020-08-20 | 2020-12-08 | 中国科学院沈阳自动化研究所 | Pole-climbing robot |
| BE1027345B1 (en) * | 2019-06-27 | 2021-06-01 | Univ Anhui Sci & Technology | Bionic robot for climbing poles |
| CN113070295A (en) * | 2021-04-23 | 2021-07-06 | 天津海外海科技有限公司 | Intelligent deep sea pipeline emergency repair robot and use method thereof |
| CN113524228A (en) * | 2021-08-19 | 2021-10-22 | 中国建筑第八工程局有限公司 | Self-climbing type automatic detection robot for concrete engineering and detection method thereof |
| CN114184408A (en) * | 2021-12-14 | 2022-03-15 | 青岛英派斯健康科技股份有限公司 | Rope climbing machine testing method and device |
| CN114248252A (en) * | 2021-12-08 | 2022-03-29 | 清华大学 | Crawling robot |
-
2013
- 2013-01-25 CN CN 201320042711 patent/CN203127007U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129447A (en) * | 2014-07-08 | 2014-11-05 | 南京工程学院 | Power transmission tower climbing robot and power transmission tower routing inspection mode thereof |
| CN104525419A (en) * | 2014-12-25 | 2015-04-22 | 青岛意诺固特自动化机械有限公司 | Climbing pole spraying cleaning machine for bridge rope pole |
| CN108252211A (en) * | 2017-12-23 | 2018-07-06 | 香港中文大学（深圳） | Climb type detects robot |
| CN108252211B (en) * | 2017-12-23 | 2024-03-26 | 香港中文大学（深圳） | Climbing type detection robot |
| CN109131625A (en) * | 2018-10-20 | 2019-01-04 | 西南石油大学 | A kind of headframe climbing device |
| CN109350931B (en) * | 2018-11-21 | 2024-02-27 | 广东电网有限责任公司广州供电局 | Electric power iron tower climbing device |
| CN109350931A (en) * | 2018-11-21 | 2019-02-19 | 广州供电局有限公司 | Electric power tower climbing device |
| BE1027345B1 (en) * | 2019-06-27 | 2021-06-01 | Univ Anhui Sci & Technology | Bionic robot for climbing poles |
| CN111661189A (en) * | 2020-06-10 | 2020-09-15 | 邯郸职业技术学院 | Pipeline crawling robot |
| CN112045659A (en) * | 2020-08-20 | 2020-12-08 | 中国科学院沈阳自动化研究所 | Pole-climbing robot |
| CN113070295A (en) * | 2021-04-23 | 2021-07-06 | 天津海外海科技有限公司 | Intelligent deep sea pipeline emergency repair robot and use method thereof |
| CN113524228A (en) * | 2021-08-19 | 2021-10-22 | 中国建筑第八工程局有限公司 | Self-climbing type automatic detection robot for concrete engineering and detection method thereof |
| CN114248252A (en) * | 2021-12-08 | 2022-03-29 | 清华大学 | Crawling robot |
| CN114248252B (en) * | 2021-12-08 | 2024-06-14 | 清华大学 | Crawling robot |
| CN114184408A (en) * | 2021-12-14 | 2022-03-15 | 青岛英派斯健康科技股份有限公司 | Rope climbing machine testing method and device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130814 Termination date: 20140125 |