CN203579656U - Multi-platform crawl type wind turbine tower drum operation robot - Google Patents
Multi-platform crawl type wind turbine tower drum operation robot Download PDFInfo
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- CN203579656U CN203579656U CN201320756890.XU CN201320756890U CN203579656U CN 203579656 U CN203579656 U CN 203579656U CN 201320756890 U CN201320756890 U CN 201320756890U CN 203579656 U CN203579656 U CN 203579656U
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Abstract
The utility model discloses a multi-platform crawl type wind turbine tower drum operation robot which comprises a first-layer lifting platform, a second-layer lifting platform and a third-layer rotation platform. The third-layer rotation platform is laid on the top face of the second-layer lifting platform. The first-layer and second-layer lifting platforms perform worm-typed crawling movements and realize contracting and expanding motions by adopting a synchronous belt and a bilateral curved-plate chain in a cooperative manner; the third-layer rotation platform realizes contracting and expanding motions and rotational motion by adopting a steel belt and a circumferential motion car in a cooperative manner. The multi-platform craw type wind turbine tower drum operation robot is flexibly applicable to the contracting and expanding motions of different crawling sections, and the shortcomings of inconsistent motions of the Ring robot due to frequent changing of wheel directions and collision with a wind turbine due to large size of a contracting and expanding machine are overcome.
Description
Technical field
The utility model relates to robot field, and specifically a kind of multi-platform creeping-type wind turbine tower cylinder Work robot is mainly used in detection and the maintenance of wind power generation stepped tower body and wind turbine blade.
Background technology
At present, wind-power electricity generation market has been subject to the extensive attention of countries in the world.From on-the-spot feedback, still have part wind turbine to have the phenomenon that fault rate is high.In all wind turbine faults, the most dangerous with the fault of tower cylinder and blade.At present, the multiple countries including the U.S., Germany and Denmark all occurred that wind turbine catches fire and cave-in accident, and wherein most of accident is due to the removing surface and the inner flaw detection that lack tower cylinder and blade.Climbing tower robot can replace the maintenance of manually carrying out tower cylinder and blade, and application prospect is extensive.
At present, the company and the university that have in the world wind turbine creeping-type checking job robot system and a technology mainly contain Denmark Vestas company, Scotland ITI energy company, U.S. Helical Robotics company and Britain's South Bank University.
The SpiderCrane wind turbine tower cylinder Work robot of Denmark's Vestas (VESTAS) company research and development is similar to " derrick crane ", and it moves up and down and relies on respectively hawser traction and claw folding to realize with position is fixing.Its major defect is that location is longer switching time, and operating efficiency is low.
The orangutan Orangutan wind turbine lifting of red hair and the maintenance system of the research and development of Scotland ITI company are comprised of two friction clamps, by hydraulic structure, are connected, and can allow crane wriggle as caterpillar, along wind turbine high and low, just as star is climbed tree.On the model that ITI has been normal wind turbine 1/5 a size, tested this system.The aforesaid SpiderCrane system of contrast locating of this system is wanted flexibly, but volume is more huge, while implementing operation, requires wind turbine out of service, and installation and activity duration are very long.
The Helical Work robot of U.S. Helical Robotics company clamps tower cylinder by snakelike winding, by driving the universal tire of Mecanum to realize the motions such as upper and lower, the rotation of robot, snakelike advance and retreat.This system is formed by connecting by linkage by multiple same units, and each unit comprises 4 drivable Mecanum(Macallans) universal tire, by the bending of linkage, can apply different winding dynamics.The advantage of this robot is to adapt to the diameter of different wind turbine tower cylinders, but its complex structure drives control difficulty more than quantity.
The feature existing in conjunction with above three kinds of systems, the scholar of Britain's South Bank University has researched and developed Ring robot under the CRAFT of the European Union project support.This system adopts orthogonal wheel-drive mode, and each wheel is driven and realized direction variation and advance and retreat by two motors.On the other hand, Ring robot adopts scalable framework, regulates the diameter of framework by spring tension self adaptation.The main feature of Ring robot is that structure is compacter with respect to aforementioned system, particularly can adopt screw movement to realize safer decline.But still there are some deficiencies in it: often convert tire direction causative action discontinuous, there is to the wound of rubbing more greatly on tower body surface simultaneously; The volume of scaling device is large, while working on wind turbine, may interfere and collide.
Summary of the invention
The utility model provides a kind of multi-platform creeping-type wind turbine tower cylinder Work robot for solving the technical problem existing in known technology, this robot can complete coherent crawling exercises, and can avoid interfering and colliding with blade while working on wind turbine.
The technical scheme that the utility model is taked for the technical problem existing in solution known technology is: a kind of multi-platform creeping-type wind turbine tower cylinder Work robot, comprise the first and second two-layer lift platforms and the 3rd layer of rotation platform, described the 3rd layer of rotation platform is seated on the end face of second layer hoistable platform, ground floor hoistable platform comprises that at least three are distributed on tower cylinder lifting monomer around, each described lifting monomer comprises exclusive packing case, encircles Timing Belt and bilateral bent plate chain and the Timing Belt convergent-divergent drive unit of tower cylinder, and described Timing Belt convergent-divergent drive unit is arranged in described exclusive packing case, inwardly and be horizontally disposed with and pass through described exclusive packing case, the stiff end of described Timing Belt is connected on the packing case of the described lifting monomer being adjacent the profile of tooth of described Timing Belt, and the free end of described Timing Belt passes described exclusive packing case, described bilateral bent plate chain is fixed in the inner side of described Timing Belt, described Timing Belt convergent-divergent drive unit comprises Timing Belt drive motors, and described Timing Belt drive motors drives the worm-wheel shaft vertically arranging by worm-and-wheel gear, on described worm-wheel shaft, be connected with sprocket wheel, and described sprocket wheel engages with described bilateral bent plate chain, in the both sides of described worm-wheel shaft, be respectively equipped with guide roller in parallel, described guide roller is positioned at the outside of described Timing Belt, described Timing Belt and described guide roller frictional connection, and described guide roller is arranged in described exclusive packing case, the structure of described second layer hoistable platform is identical with the structure of described the first hoistable platform, the lifting monomer of described second layer hoistable platform is relative up and down with the lifting monomer of described ground floor hoistable platform, and by cylinder, connects between two relative described lifting monomers, described the 3rd layer of rotation platform comprises the circumferential movement dolly of encircling the steel band of tower cylinder and at least three and be packed in described steel band inner side, wherein any described circumferential movement dolly is provided with compartment, in described compartment, be provided with steel band convergent-divergent drive unit, described steel band convergent-divergent drive unit comprises steel band drive motors, described steel band drive motors drives capsizing moment spindle by gear drive, on described capsizing moment spindle, be wound with steel wire rope, the left side that described steel wire rope passes described compartment is connected with described steel band, the stiff end of described steel band and the right side in described compartment are affixed, on described steel band, be fixed with clip, described clip is arranged on the right side in described compartment, the free end of described steel band passes the left side in described compartment successively, friction pair roller, the right side in described compartment and described clip, described friction pair roller is arranged in described compartment, and vertically arrange.
Described steel wire rope is connected with described steel band by steel belt lacing, and described steel belt lacing is fixed on the outside of described steel band, and described steel wire rope is connected with described steel belt lacing.
Described steel band is spring steel band.
Advantage and the good effect that the utlity model has are:
1) within including the tapering of wind turbine tower body in limit of consideration, by adopt pantograph structure on hoistable platform and rotation platform, can adapt to flexibly the different cross sections of creeping, thereby avoid robot when tower body top and the problem of blade collision
2) adopt motion and the form that designs of the sub-module that rotatablely moves of climbing, make overall structure level simpler, do not lose again that it is functional, while breaking down, more easily detect problem place.And this has solved to a certain extent in Britain South Bank University Ring robot and has climbed and move and the incoherent problem of action that rotatablely moves.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of two-layer lift platform of the present utility model;
Fig. 3 is lifting monomer structure schematic diagram of the present utility model;
Fig. 4 is the partial structurtes schematic diagram that bilateral bent plate chain of the present utility model is connected with Timing Belt;
Fig. 5 is the 3rd layer of rotating platform structure schematic diagram of the present utility model;
Fig. 6 is the partial structurtes schematic diagram of steel band of the present utility model at clip place;
Fig. 7 is the structural representation in circumferential movement dolly of the present utility model compartment.
In figure: 1, second layer hoistable platform; 2, ground floor hoistable platform; 3, cylinder; 4, lifting monomer; 4-1, Timing Belt; 4-1-1, the stiff end of Timing Belt; 4-1-2, the free end of Timing Belt; 4-2, bilateral bent plate chain; 4-2-1, otic placode; 4-3, rivet; 4-4,4-5 guide roller; 4-6, worm shaft; 4-7, worm gear; 4-8, worm-wheel shaft; 4-9, sprocket wheel; 5, steel band; 5-1, the free end of steel band; 5-2, the stiff end of steel band; 6,7,8, circumferential movement dolly; 9, nut; 10, bolt; 11, compartment; 11-1, power input shaft; 11-2, driving gear; 11-3, driven gear, 11-4, capsizing moment spindle; 11-5, compartment right baffle-plate; 11-5-1, steel band passage; 11-5-2, steel-cable channel; 11-6, the right baffle plate in compartment; 11-6-1, steel band stiff end; 11-6-2, steel band passage; 11-7,11-8, friction pair roller; 12, clip; 13, steel wire rope; 14, steel belt lacing; 15, bolt; 16, the three layers of rotation platform.
The specific embodiment
For further understanding summary of the invention of the present utility model, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1～Fig. 7, a kind of multi-platform creeping-type wind turbine tower cylinder Work robot, comprises the first and second two-layer lift platforms and the 3rd layer of rotation platform 16, and described the 3rd layer of rotation platform 16 is seated on the end face of second layer hoistable platform 1.
Ground floor hoistable platform 2 comprises that at least three are distributed on tower cylinder lifting monomer 4 around, each described lifting monomer 4 comprises exclusive packing case, encircles Timing Belt 4-1 and bilateral bent plate chain 4-2 and the Timing Belt convergent-divergent drive unit of tower cylinder, and described Timing Belt convergent-divergent drive unit is arranged in described exclusive packing case; Inwardly and be horizontally disposed with and pass through described exclusive packing case, the stiff end 4-1-1 of described Timing Belt is connected on the packing case of the described lifting monomer being adjacent the profile of tooth of described Timing Belt 4-1, and the free end 4-1-2 of described Timing Belt passes described exclusive packing case; Described bilateral bent plate chain 4-2 is fixed in the inner side of described Timing Belt 4-1; Described Timing Belt convergent-divergent drive unit comprises Timing Belt drive motors, described Timing Belt drive motors drives the worm-wheel shaft 4-8 vertically arranging by worm-and-wheel gear, on described worm-wheel shaft 4-8, be connected with sprocket wheel 4-9, described sprocket wheel 4-1 engages with described bilateral bent plate chain 4-2; In the both sides of described worm-wheel shaft 4-8, be respectively equipped with guide roller 4-4,4-5 in parallel, described guide roller 4-4,4-5 are positioned at the outside of described Timing Belt 4-1, described Timing Belt 4-1 and described guide roller 4-4,4-5 frictional connection, described guide roller 4-4,4-5 are arranged in described exclusive packing case.
The structure of described second layer hoistable platform 1 is identical with the structure of described the first hoistable platform 1; The lifting monomer of described second layer hoistable platform 1 is relative up and down with the lifting monomer of described ground floor hoistable platform 2, and by cylinder 3, connects between two relative described lifting monomers 4.
Described the 3rd layer of rotation platform 16 comprises the circumferential movement dolly 6 of encircling the steel band 5 of tower cylinder and at least three and be packed in described steel band 5 inner sides, 7, 8, wherein any described circumferential movement dolly 8 is provided with compartment 11, in described compartment 11, be provided with steel band convergent-divergent drive unit, described steel band convergent-divergent drive unit comprises steel band drive motors, described steel band drive motors drives capsizing moment spindle 11-4 by gear drive, on described capsizing moment spindle 11-4, be wound with steel wire rope 13, the left side that described steel wire rope 13 passes described compartment 11 is connected with described steel band 5, the stiff end 5-2 of described steel band and the right side in described compartment 11 are affixed, on described steel band 5, be fixed with clip 12, described clip 12 is arranged on the right side in described compartment 11, the free end 5-1 of described steel band passes the left side in described compartment 11 successively, friction pair roller 11-7, 11-8, the right side in described compartment 11 and described clip 12, described friction pair roller 11-7, 11-8 is arranged in described compartment 11, and vertically arrange.
In the present embodiment, the material of steel band 5 is spring steel, and steel band 5 is spring steel steel band.
Operation principle of the present utility model:
Initial time, the state of the Timing Belt 4-1 that makes second layer hoistable platform 1 in " putting ", departs from tower cylinder; The state of the Timing Belt 4-1 that makes ground floor hoistable platform 2 in " contracting ", holds tower cylinder tightly.Described cylinder 3 stretches out, and drives described second layer hoistable platform 1 to complete according to predetermined step-length the motion of climbing.After this, the state of the Timing Belt 4-1 that makes second layer hoistable platform 1 in " contracting ", holds tower cylinder tightly; The state of the Timing Belt 4-1 that makes described ground floor hoistable platform 2 in " putting ", departs from tower cylinder.Described cylinder 3 shrinks, and drives described ground floor hoistable platform 2 to complete according to predetermined step-length the motion of climbing.Above four steps have formed the climb one-period of motion process of worm type, and robot carried out down according to this cycle, until robot rises to the 3rd layer of rotation platform 16, arrive the position that tower cylinder need to detect and stop.
The convergent-divergent motion of above-mentioned Timing Belt has been worked in coordination with by described Timing Belt 4-1 and bilateral bent plate chain 4-2.Utilize the higher tensile strength of described bilateral bent plate chain 4-2 to make up the lower tensile strength of described Timing Belt 4-1.The otic placode 4-2-1 of described bilateral bent plate chain 4-2 is connected with described Timing Belt 4-1 by rivet 4-3.In order to make free end 4-1-2 tensioning in advance before being tightened up of described Timing Belt, in the process being pulled, along desired trajectory, move, the utility model has adopted guide roller 4-4,4-5.Concrete convergent-divergent motion process is as follows: the output shaft of Timing Belt drive motors is connected with worm shaft 4-6 by shaft coupling, and described worm shaft 4-6 passes to worm-wheel shaft 4-8 by worm gear 4-7 by moment of torsion; Sprocket wheel 4-9 on described worm-wheel shaft 4-8 pulls bilateral bent plate chain 4-2 to move together with Timing Belt 4-1, realizes the motion of holding tower cylinder tightly or departing from tower cylinder.The function of holding tower cylinder tightly is to rely on friction factor larger between the material of described Timing Belt 4-1 and the material of tower cylinder.
The 3rd layer of rotation platform 16 arrives behind the position that tower cylinder need to detect, and adopts the mode of steel band 5 and 6,7,8 combinations of circumferential movement dolly realize convergent-divergent motion and rotatablely move.The chassis of described circumferential movement dolly 6,7,8 is connected with nut 9 by many groups bolt 10, and wherein circumferential movement dolly 8 arranges compartment 11.The stiff end 5-2 of steel band is fixed on the steel band stiff end 11-6-1 on the right baffle plate 11-6 in compartment, the free end 5-1 of steel band is steel band passage 11-6-2 and the clip 12 on the right baffle plate 11-6 in passage, compartment the steel band passage 11-5-1 on compartment right baffle-plate 11-5, friction pair of rollers 11-7,11-8 successively, and steel band 5 can be moved along desired trajectory.Described friction pair of rollers 11-7,11-8 just can contact completely with described steel band, in actual application, can, by combining the distance that regulates between described friction pair roller 11-7,11-8 and the rotating speed of circumferential movement dolly 6,7,8, the free end 5-1 of described steel band can be moved under a best driving situation.The regulating action of described friction pair of rollers 11-7,11-8 is the frictional force relying between itself and steel band.Clip 12 is welded on the stiff end 5-2 of described steel band.
The convergent-divergent motion of above-mentioned the 3rd layer of rotation platform is as follows with the implementation procedure rotatablely moving: the output shaft of steel band drive motors is connected with power input shaft 11-1 by shaft coupling; Described power input shaft 11-1 passes to capsizing moment spindle 11-4 by driving gear 11-2 and driven gear 11-3 by moment of torsion.Capsizing moment spindle 11-4 drives steel wire rope 13, and steel wire rope 13 drives steel band 5 shrink or loosen by steel belt lacing 14.Steel belt lacing 14 is connected with steel band 5 with nut (this figure does not draw) by many group bolts 15.At described steel wire rope 13, drive in the process of described steel band 5 " contracting " and " putting ", described steel band 5 bears figure in the junction of itself and described steel wire rope 13 and is approximately the symmetrical loading of SIN function, when run duration exceedes the fatigue life of described steel band 5, described steel band 5 can cause scrapping because fatigue is impaired, need to change.Consider the consumption of described steel band 5, replacing can cause waste frequently.Since the tired impaired junction that mainly occurs in described steel wire rope 13 and described steel band 5, therefore added herein the little steel belt lacing 14 of consumption, makes it be connected with described steel wire rope 13.Like this, the tired impaired steel belt lacing that will cause needs to change, and can avoid steel band waste.
When described steel wire rope 13 drives described steel belt lacing 14 to complete contractile motion, the rubber tyre of circumferential movement dolly 6,7,8 relies on the frictional force between itself and tower cylinder to hold tower cylinder tightly and unlikely skidding.Next, be mutually the circumferential movement dolly 6,7,8 of 120 ° simultaneously along tower cylinder circumferential movement, with motion detection device, carry out the rotation detection motion that is greater than 360 °.
In the utility model, between two-layer lift platform and the 3rd layer of rotation platform, nothing is connected.Climbing in motion process, described the 3rd layer of rotation platform relies on three circumferential dollies on it to be attached on the packing case of second layer hoistable platform, with two-layer lift platform synchronous lifting; In the rotary movement of the 3rd layer of rotation platform, the 3rd layer of rotation platform no longer needs to depend on second layer hoistable platform, when self holding tower cylinder tightly, just can complete around the circular motion of tower cylinder.
Although by reference to the accompanying drawings preferred embodiment of the present utility model is described above; but the utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; not departing from the scope situation that the utility model aim and claim protect, can also make a lot of forms, within these all belong to protection domain of the present utility model.
Claims (3)
1. a multi-platform creeping-type wind turbine tower cylinder Work robot, is characterized in that, comprises the first and second two-layer lift platforms and the 3rd layer of rotation platform, and described the 3rd layer of rotation platform is seated on the end face of second layer hoistable platform;
Ground floor hoistable platform comprises that at least three are distributed on tower cylinder lifting monomer around, each described lifting monomer comprises exclusive packing case, encircles Timing Belt and bilateral bent plate chain and the Timing Belt convergent-divergent drive unit of tower cylinder, and described Timing Belt convergent-divergent drive unit is arranged in described exclusive packing case; Inwardly and be horizontally disposed with and pass through described exclusive packing case, the stiff end of described Timing Belt is connected on the packing case of the described lifting monomer being adjacent the profile of tooth of described Timing Belt, and the free end of described Timing Belt passes described exclusive packing case; Described bilateral bent plate chain is fixed in the inner side of described Timing Belt; Described Timing Belt convergent-divergent drive unit comprises Timing Belt drive motors, and described Timing Belt drive motors drives the worm-wheel shaft vertically arranging by worm-and-wheel gear, on described worm-wheel shaft, be connected with sprocket wheel, and described sprocket wheel engages with described bilateral bent plate chain; In the both sides of described worm-wheel shaft, be respectively equipped with guide roller in parallel, described guide roller is positioned at the outside of described Timing Belt, described Timing Belt and described guide roller frictional connection, and described guide roller is arranged in described exclusive packing case;
The structure of described second layer hoistable platform is identical with the structure of described ground floor hoistable platform;
The lifting monomer of described second layer hoistable platform is relative up and down with the lifting monomer of described ground floor hoistable platform, and by cylinder, connects between two relative described lifting monomers;
Described the 3rd layer of rotation platform comprises the circumferential movement dolly of encircling the steel band of tower cylinder and at least three and be packed in described steel band inner side, wherein any described circumferential movement dolly is provided with compartment, in described compartment, be provided with steel band convergent-divergent drive unit, described steel band convergent-divergent drive unit comprises steel band drive motors, described steel band drive motors drives capsizing moment spindle by gear drive, on described capsizing moment spindle, be wound with steel wire rope, the left side that described steel wire rope passes described compartment is connected with described steel band, the stiff end of described steel band and the right side in described compartment are affixed, on described steel band, be fixed with clip, described clip is arranged on the right side in described compartment, the free end of described steel band passes the left side in described compartment successively, friction pair roller, the right side in described compartment and described clip, described friction pair roller is arranged in described compartment, and vertically arrange.
2. multi-platform creeping-type wind turbine tower cylinder Work robot according to claim 1, it is characterized in that, described steel wire rope is connected with described steel band by steel belt lacing, and described steel belt lacing is fixed on the outside of described steel band, and described steel wire rope is connected with described steel belt lacing.
3. multi-platform creeping-type wind turbine tower cylinder Work robot according to claim 1, is characterized in that, described steel band is spring steel band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320756890.XU CN203579656U (en) | 2013-11-25 | 2013-11-25 | Multi-platform crawl type wind turbine tower drum operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320756890.XU CN203579656U (en) | 2013-11-25 | 2013-11-25 | Multi-platform crawl type wind turbine tower drum operation robot |
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| CN203579656U true CN203579656U (en) | 2014-05-07 |
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| CN201320756890.XU Expired - Fee Related CN203579656U (en) | 2013-11-25 | 2013-11-25 | Multi-platform crawl type wind turbine tower drum operation robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640010A (en) * | 2013-11-25 | 2014-03-19 | 天津大学 | Multi-platform crawling type wind turbine tower drum operation robot |
| CN108252211A (en) * | 2017-12-23 | 2018-07-06 | 香港中文大学（深圳） | Climb type detects robot |
| CN108873873A (en) * | 2017-05-10 | 2018-11-23 | 深圳市朗驰欣创科技股份有限公司 | GIS device live detection robot of substation |
| CN110249128A (en) * | 2017-02-09 | 2019-09-17 | 西门子歌美飒可再生能源公司 | Method and apparatus for raising or lowering loads parallel to a wind turbine tower |
| CN111232080A (en) * | 2020-03-12 | 2020-06-05 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
| CN112524401A (en) * | 2019-08-29 | 2021-03-19 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
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2013
- 2013-11-25 CN CN201320756890.XU patent/CN203579656U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640010A (en) * | 2013-11-25 | 2014-03-19 | 天津大学 | Multi-platform crawling type wind turbine tower drum operation robot |
| CN103640010B (en) * | 2013-11-25 | 2015-09-30 | 天津大学 | Multi-platform creeping-type wind turbine tower cylinder Work robot |
| CN110249128A (en) * | 2017-02-09 | 2019-09-17 | 西门子歌美飒可再生能源公司 | Method and apparatus for raising or lowering loads parallel to a wind turbine tower |
| US11192759B2 (en) | 2017-02-09 | 2021-12-07 | Siemens Gamesa Renewable Energy A/S | Method and apparatus for raising or lowering a load parallel to a wind turbine tower |
| CN108873873A (en) * | 2017-05-10 | 2018-11-23 | 深圳市朗驰欣创科技股份有限公司 | GIS device live detection robot of substation |
| CN108873873B (en) * | 2017-05-10 | 2023-12-26 | 深圳市朗驰欣创科技股份有限公司 | Live detection robot for GIS equipment of transformer substation |
| 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 |
| CN112524401A (en) * | 2019-08-29 | 2021-03-19 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
| CN112524401B (en) * | 2019-08-29 | 2024-04-30 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
| CN111232080A (en) * | 2020-03-12 | 2020-06-05 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
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Granted publication date: 20140507 Termination date: 20141125 |
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