CN205391616U - A pole -climbing mechanism that is used for bionical cat ladder machine people - Google Patents
A pole -climbing mechanism that is used for bionical cat ladder machine people Download PDFInfo
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- CN205391616U CN205391616U CN201620157591.8U CN201620157591U CN205391616U CN 205391616 U CN205391616 U CN 205391616U CN 201620157591 U CN201620157591 U CN 201620157591U CN 205391616 U CN205391616 U CN 205391616U
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Abstract
The utility model discloses a pole -climbing mechanism that is used for bionical cat ladder machine people, it includes the frame and sets up pole -climbing above that, the drive gear who sets up in the rectangular tooth of pole -climbing through its side setting and the frame meshes mutually, drive gear is connecting transmission and motor, the push rod that the pole -climbing front end was provided with the master jaw and was provided with the jack catch that can move about on it and drives the jack catch. The utility model provides a pole -climbing mechanism that is used for bionical cat ladder machine people, conveniently realizes cat ladder machine people along the manned robot of stair or the upper and lower operation of foot bar, will install, maintenance personal's safety, steady, quick, conveniently carry tower bobbin top or peak of the staff portion to carry out the installation and the maintenance of equipment, reduce install, maintenance personal's intensity of labour and the dangerous risk of working, improvement work efficiency.
Description
Technical field
The present invention relates to and a kind of along the upper and lower manned robot creeped of vertical stair cross bar or foot-operated cross bar, a kind of pole-climbing mechanism for bionical steps climbing robot can be specially.
Background technology
At present, the single-machine capacity of wind-driven generator constantly increases, and its tower vertical height improves constantly.And generally overwhelming majority wind-driven generator is only furnished with manpower cat ladder or installs simple and easy climbing assistant device on manpower cat ladder additional.When regular maintenance, attendant almost climbs by manpower up and down completely.For this, attendant often goes up next time very tired out.And the technical performance of its simple and easy climbing assistant device is still immature, its draw rate and dynamics are difficult to adjust and control, and need in use to join staff on duty, are responsible for monitoring and coordinate climbing personnel.In case of cooperation or adjustment control inappropriate, very easily cause human casualty accident.
In wind power tower drum, the atop a tower that equipment installation, maintenance personnel often to arrive up to more than more than 70 120 meters carries out the inspection of generating set, repair and maintenance and repair work；At present, equipment installation, maintenance personnel arrive the approach of atop a tower mainly three kinds of modes: 1, top climbed to by artificial vertical stair along tower；2, top is climbed to by climbing stairs machine along stair；3, Special elevator is installed in tower, utilizes elevator that installation, repair and maintenance personnel are transported to top；There is effort, phenomenon time-consuming, unsafe in the 1st kind of mode, and requires very high to the physical ability of installation, repair and maintenance personnel；2nd kind of mode is simply in the muscle power to a certain degree alleviating installation, repair and maintenance personnel, but still is muscular labor, and factor time-consuming, unsafe yet suffers from；Although the 3rd kind of mode overcomes the 1st, 2 kind of mode Problems existing, but due to the restriction in space in tower, the traffic coverage of elevator is restricted and upwards can not reach top, downwards can not on earth, can only at one section of middle area operation；And elevator install must design in tower, the fabrication stage consider offer special operation passage, otherwise then cannot install elevator additional, and elevator is immovable, can only tower one machine, equipment investment cost is bigger.
By patent retrieval, there is prior art known as follows:
Patent 1: patent application number: 201410558578.9, applying date 2014.10.18, publication date 2015.02.25, disclose a kind of wind power generation stepped from climbing arch maintenance robot, wind power generation stepped from climbing arch maintenance robot, including climbing device and hoisting mechanism, described hoisting mechanism is arranged on the top of climbing device, described climbing device includes, under the ring beam that be arranged in parallel, on described, under the ring beam that be arranged in parallel connected by the jacking cylinder being vertically arranged, each ring beam is equipped with ring-type operation platform, operation platform is provided with plugging pin oil cylinder, the end of plugging pin oil cylinder is connected to wedge type block.Wind power generation stepped from climbing arch maintenance robot, lightweight, to install and convenient transportation, automaticity is higher, up and down from creeping, can be substantially reduced maintenance cost, improve maintenance efficiency.
It is a kind of stationary structure, it is necessary to build while building blower fan tower, is not easy to the climbing maintenance of existing blower fan tower；And it is a machine one tower setting, multiple blower fans need repeatedly overlapping investment, and equipment investment is relatively costly.
Patent 2: Chinese Patent Application No.: 201310017407.0, applying date 2013.01.08, publication date 2014.07.09, disclose a kind of steps climbing robot being hung directly from manpower cat ladder.Variable-speed motor and worm reduction gear power shaft direct connection, a drive sprocket, through the interior leading plate of both sides, each is installed in the final drive shaft two ends that worm reduction gear outfan is installed, drive sprocket mounted below driven short tooth sprocket, and be linked by two driving chains.The vertical lower of two driven short tooth sprockets is respectively installed and is delivered sprocket wheel under one, and the top sprocket of two lower delivery sprocket wheels matches with driving-chain, and is linked by delivering chain and upper delivery sprocket wheel.Article two, delivery chain being respectively installed with ten mechanical hands, two leading bearings on every mechanical hand and two turn over hands bearing and operate each along the curve turn trough road in inside and outside leading plate.The metacarpus palm mat of mechanical hand is hung and is pressed on the crossbeam of manpower cat ladder, and is held by the finger hook that mechanical hand is anterior.It is placed in four leading wheels of two groups of leading plate combination upper and lower both sides of housing front along the column leading of manpower cat ladder both sides, makes steps climbing robot run up and down.
But it is corresponding with horizontal stroke ladder mainly by the many groups mechanical arm being arranged side by side, it is achieved climbing；The spacing of its horizontal ladder of existing tower ladder does not have complete standardization, and the span of various ladder differs, and the ladder of such different size is accomplished by the mechanical arm of different size and comes corresponding, so to the technical scheme of patent 2 herein to implement to bring bigger inconvenience；Meanwhile, multiple arms side by side are arranged, and its operation must completely unify coordination, and later maintenance mechanical arm is cumbersome, is unfavorable for accomplishing that each mechanical arm step is completely unified；3rd situation is, mechanical arm is in the process contacted with horizontal stroke ladder (in the process that stress supports), and not extra clamping measure ensures to clamp completely, and its security performance is still to be tested, there is bigger potential safety hazard.
Being found by above retrieval, above technical scheme can not affect the novelty of the present invention；And above patent document be mutually combined the creativeness that can not destroy the present invention.
Summary of the invention
It is an object of the invention to for problem above, provide a kind of pole-climbing mechanism for bionical steps climbing robot, conveniently realize the steps climbing robot manned robot along the upper and lower operation of stair or treadle, by installation, maintenance personal security, it is transported to tower top or masthead portion carries out the I&M of equipment steadily, quickly and easily, reduce labor intensity and the dangerous risk of work of installation, maintenance personnel, improve work efficiency
For realizing object above, the technical solution used in the present invention is: a kind of pole-climbing mechanism for bionical steps climbing robot, it includes frame (1) and the pole-climbing (4) being disposed thereon, and the long tooth bar (401) that described pole-climbing (4) is arranged by its side is meshed with the upper driving gear (7) arranged of frame (1)；Gear (7) is driven to be connected to actuating device (6) and motor (5)；Described pole-climbing (4) front end be provided with master jaw (402) and be provided with can be movable claw (2) and drive the push rod (3) of claw (2).
Further, it is provided with guide support (8) in the side that described frame (1) contacts with cat ladder, and guide support (8) is fixed in frame (1) by connector (801)；Spacing between guide support (8) and frame (1) constitutes the activity space of pole-climbing (4), and guide support (8) is plane contact with cat ladder.
Further, in described frame (1), it is correspondingly arranged on two groups with pole-climbing (4) and drives gear (7), actuating device (6), motor (5) cooperating therewith respectively.
Further, in described frame (1), it is correspondingly arranged on one group with pole-climbing (4) and drives gear (7), actuating device (6), motor (5) cooperating therewith；It is additionally provided with some groups of gears to be meshed with the long tooth bar (401) in pole-climbing (4).
Further, described guide support (8) including: the guiding crawler belt (803) of the closing contacted with horizontal stroke ladder and the Athey wheel (802) at guiding crawler belt (803) two ends；Athey wheel (802) is connected with connector (801) by connecting axle.
Further, in the side of guide support (8), connection axis in described Athey wheel (802) place, center being provided with fifth wheel (806), described fifth wheel (806) is supported in the middle of guiding crawler belt (803).
Further, being provided with regulating wheel (804) in the side of frame (1), the outer surface of regulating wheel (804) is tangent with the vertical smooth surface of pole-climbing (4), and tension band (805) coordinates with the belt wheel in frame (1)；Distance between regulating wheel (804) and driving gear (7) collectively forms the activity space of pole-climbing (4).
Further, the belt wheel in described frame (1) is arranged on the gear shaft of driving gear (7) place.
Further, coordinated by dovetail groove (403) between the master jaw (402) that described pole-climbing (4) top is arranged with movable claw (2), and push rod (3) is fixed on the side of master jaw (402).
Further, the front end of described claw (2) is downwardly projected formation locking hook (201).
Beneficial effects of the present invention: the invention provides a kind of pole-climbing mechanism for bionical steps climbing robot, conveniently realize the steps climbing robot manned robot along the upper and lower operation of stair or treadle, by installation, maintenance personal security, it is transported to tower top or masthead portion carries out the I&M of equipment steadily, quickly and easily, reduce labor intensity and the dangerous risk of work of installation, maintenance personnel, improve work efficiency.
1, the present invention adopts the form that simulation people scales a ladder, and carrys out bionical realization by mechanical arm and climbs, and its safety is high, machine driving, and efficiency is high.
2, the region limits of elevator can be not only restricted to, it is possible to the top and the bottom that freely reach tower carry out working drawing review.
3, the mechanical arm that technical solution of the present invention adopts is with the structure of mechanical interlocking crossbeam, does not have skidding or maloperation, and security performance is excellent.
4, technical solution of the present invention have employed distinctive lifting hoisting way, and security performance has been done further reinforcement.
Accompanying drawing explanation
Fig. 1 is a kind of view of existing artificial cat ladder.
Fig. 2 is a kind of view of existing employing climb-aiding device cat ladder.
Fig. 3 is schematic front view of the present invention.
Fig. 4 is A place close-up schematic view in Fig. 3.
Fig. 5 is schematic side view of the present invention.
Fig. 6 is B place close-up schematic view in Fig. 5.
Fig. 7 is the operating diagram that pole-climbing mechanism of the present invention is arranged on steps climbing robot.
Fig. 8 is C place close-up schematic view in Fig. 7.
Fig. 9 is the bionical steps climbing robot operation principle rough schematic view that have employed two groups of pole-climbing mechanisms of the present invention.
Described in figure, label character is expressed as: 1001, cat ladder；1002, cross bar；1003, operator；1004, lifting band；1005, lifting device；
1, frame；2, claw；201, locking hook；3, push rod；4, pole-climbing；401, long tooth bar；402, master jaw；403, dovetail groove；5, motor；6, actuating device；7, gear is driven；8, guide support；801, connector；802, Athey wheel；803, guiding crawler belt；804, regulating wheel；805, tension band；806, fifth wheel；9, manned platform；10, platform guardrail.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, describing the present invention below in conjunction with accompanying drawing, the description of this part is only exemplary and explanatory, and protection scope of the present invention should not have any restriction effect.
Fig. 1 is a kind of view of existing artificial cat ladder, and it is that top climbed to by artificial vertical stair along tower, and operator 1003, along cat ladder 1001, steps on cross bar 1002 step by step and ascends the stairs；There is effort, phenomenon time-consuming, unsafe in this kind of mode, and requires very high to the physical ability of installation, repair and maintenance personnel.
Fig. 2 is a kind of view of existing employing climb-aiding device cat ladder, and it is for climb to top by climbing stairs machine along stair；This kind of mode needs to install the lifting device for lifting at tower top in advance, drives the lifting device 1005 being strapped on operator 1003 to be moved upwardly or downwardly by lifting with 1004, thus driving operator 1003 upwardly or downwardly to move.This kind of mode is simply in the muscle power to a certain degree alleviating installation, repair and maintenance personnel, but still is muscular labor, and factor time-consuming, unsafe yet suffers from；Particularly in the process declined, under gravity, operator 1003 can develop into, by the decline lifted with 1004, the form freely declined, it is easy to collides with other objects；And height fall is big, rocking substantially, potential safety hazard is bigger.
Both the above mode, constrains the maintenance work of blower fan tower, and operator works hard and security risk is big.
As shown in Fig. 2-Fig. 8, the concrete structure of the present invention is: a kind of pole-climbing mechanism for bionical steps climbing robot, it includes frame 1 and the pole-climbing 4 being disposed thereon, and the long tooth bar 401 that described pole-climbing 4 is arranged by its side is meshed with the driving gear 7 arranged in frame 1；Gear 7 is driven to be connected to actuating device 6 and motor 5；Described pole-climbing 4 front end be provided with master jaw 402 and be provided with can be movable claw 2 and drive the push rod 3 of claw 2.
During this place technology describes, power supply and control device for motor 5 have done omission, and power supply can adopt rechargeable or external power supply formula various structures, but it is the existing technology that can realize, in order to this place of simplicity described has done omission.
Preferably, it is provided with guide support 8 in the side that described frame 1 contacts with cat ladder, and guide support 8 is fixed in frame 1 by connector 801；Spacing between guide support 8 and frame 1 constitutes the activity space of pole-climbing 4, and guide support 8 is plane contact with cat ladder.Guide support 8 ensures the direction of motion of left pole-climbing 4 and right pole-climbing 11 and drives the back lash between gear 7.
Preferably, in described frame 1, it is correspondingly arranged on two groups with pole-climbing 4 and drives gear 7, actuating device 6, motor 5 cooperating therewith respectively.
Preferably, in described frame 1, it is correspondingly arranged on one group with pole-climbing 4 and drives gear 7, actuating device 6, motor 5 cooperating therewith；It is additionally provided with some groups of gears to be meshed with the long tooth bar 401 in pole-climbing 4.
Preferably, described guide support 8 includes: the guiding crawler belt 803 of the closing contacted with horizontal stroke ladder and the Athey wheel 802 at guiding crawler belt 803 two ends；Athey wheel 802 is connected with connector 801 by connecting axle.Frame 1 is separated by the guiding crawler belt 803 in frame 1 with the cross bar 1002 on cat ladder 1001, and the Athey wheel 802 that wherein guiding crawler belt 803 can be arranged around its two ends operates.
Preferably, in the side of guide support 8, connection axis in place, described Athey wheel 802 center being provided with fifth wheel 806, described fifth wheel 806 is supported in the middle of guiding crawler belt 803.
Preferably, being provided with regulating wheel 804 in the side of frame 1, the outer surface of regulating wheel 804 is tangent with the vertical smooth surface of pole-climbing 4, and tension band 805 coordinates with the belt wheel in frame 1；Distance between regulating wheel 804 and driving gear 7 collectively forms the activity space of pole-climbing 4.
Preferably, the belt wheel in described frame 1 is arranged on the gear shaft of driving gear 7 place.
As shown in Figure 4, it is preferred that coordinated by dovetail groove 403 between master jaw 402 and the claw 2 of activity that described pole-climbing 4 top is arranged, and push rod 3 is fixed on the side of master jaw 402.
As shown in Figure 6, it is preferred that the front end of described claw 2 is downwardly projected formation locking hook 201.Such structure can ensure that the firm locking of claw 2 and cross bar 1002.
Adopting the bionical steps climbing robot of pole-climbing mechanism of the present invention, side-looking structure is as shown in Figure 7, Figure 8.Being arranged below for manned manned platform 9 in frame 1.Manned platform 9 is used to carrying passenger, and the passenger on 10 protection manned platforms 9 of platform guardrail does not contact with periphery object.
Adopt the bionical steps climbing robot of pole-climbing mechanism of the present invention, it is possible to Duo Zu pole-climbing mechanism is set, generally general at least provided with two groups；This bionical steps climbing robot adopts the form that in simulation drawing 1, people scales a ladder, and carrys out bionical realization by mechanical arm and climbs, and its safety is high, machine driving, and efficiency is high.
Time specifically used, illustrate for the bionical steps climbing robot that have employed two groups of pole-climbing mechanisms of the present invention, be the bionical steps climbing robot operation principle rough schematic view that have employed two groups of pole-climbing mechanisms of the present invention with reference to Fig. 9:
By steps climbing robot of the present invention by the left and right pole-climbing of pole-climbing 4() it is hung on cat ladder, operator station is operation-control switch on manned platform 9, motor 5 is made to work, the motion of motor 5 and power are delivered in left and right pole-climbing through actuating device 6, driving gear 7 respectively, left and right pole-climbing is made to move downward in the same direction, the schematic diagram that sequence number in Fig. 9 is 1. representative, in figure, left pole-climbing is in lower position relative to right pole-climbing.
Owing to the upper end claw 2 of left and right pole-climbing hangs on the cross bar 1002 of cat ladder 1001, maintain static, so that frame 1 produces motion upwards；When left and right pole-climbing has the limiting altitude that runs to frame 1 top of disembarking, this pole-climbing stops running downwards, and the schematic diagram that the sequence number in Fig. 9 is 2. representative, in figure, left pole-climbing reaches the limit on the left of frame 1, stops moving downward.
Left pole-climbing changes into and quickly moving up back up after reaching the limit on the left of frame 1, and another pole-climbing continues to run downwards, continues to drive frame 1 to rise；When left pole-climbing is quickly moved out cat ladder cross bar back up, this pole-climbing does not stress, claw 2 shrinks rapidly under the effect of push rod 3, depart from the position of cat ladder cross bar, the pole-climbing quickly moved up is made not collide with cat ladder cross bar in the process of moving up, the schematic diagram that the sequence number in Fig. 9 is 3. representative.
When the pole-climbing of upwards quickly movement arrives setting height, stopping moving up, run so that the changed course of normal operation speed is lower, claw 2 is shot out under the effect of push rod 3 simultaneously, catches cat ladder cross bar ready for this pole-climbing in the process run downwards.The schematic diagram that sequence number in Fig. 9 is 4. representative, when in figure, left pole-climbing reaches setting height, stops moving up, and runs so that the changed course of normal operation speed is lower, and claw 2 shoots out push rod under the effect of push rod 3 simultaneously.
When another pole-climbing (the right pole-climbing that 4. sequence number in Fig. 9 shows) runs down to and disembarks frame 1 top right limiting altitude, also stop running downwards, changed course is upwards quickly moved, and left pole-climbing simultaneously contacts downwards realization and falls fixing with cross bar 1002, the schematic diagram that 5. sequence number in Fig. 9 represents.
Left pole-climbing continues to move downward so that frame 1 moves upward, and left pole-climbing reaches the limit on the left position of frame 1；And the pole-climbing that right pole-climbing is upwards quickly moved is when arriving setting height, stopping moving up, run so that the changed course of normal operation speed is lower, claw 2 is shot out under the effect of push rod 3 simultaneously, catches cat ladder cross bar ready for this pole-climbing in the process run downwards.The schematic diagram that 6. sequence number in Fig. 9 represents.
Complete above 2.-6. block diagram, frame 1 rises H height with manned platform 9.
Repeat above-mentioned job step, the alternately and repeatedly operation of so left and right pole-climbing, just drive frame 1 and manned platform 9 ceaselessly up to climb continuously, thus realizing purpose passenger being transported up.
The operation principle that steps climbing robot runs downwards and course of action with to run up principle the same, when simply motor 5 works direction of rotation with run up contrary.
It should be noted that, in this article, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or equipment not only include those key elements, but also include other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.
Principles of the invention and embodiment are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention.The above is only the preferred embodiment of the present invention, should be understood that, finiteness due to literal expression, and objectively there is unlimited concrete structure, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvement, retouching or change, it is also possible to above-mentioned technical characteristic is combined by rights；These improve retouching, change or combination, or the not improved design by invention and technical scheme directly apply to other occasion, are regarded as protection scope of the present invention.
Claims (10)
1. the pole-climbing mechanism for bionical steps climbing robot, it is characterized in that, it includes frame (1) and the pole-climbing (4) being disposed thereon, and the long tooth bar (401) that described pole-climbing (4) is arranged by its side is meshed with the upper driving gear (7) arranged of frame (1)；Gear (7) is driven to be connected to actuating device (6) and motor (5)；Described pole-climbing (4) front end be provided with master jaw (402) and be provided with can be movable claw (2) and drive the push rod (3) of claw (2).
2. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 1, it is characterized in that, it is provided with guide support (8) in the side that described frame (1) contacts with cat ladder, and guide support (8) is fixed in frame (1) by connector (801)；Spacing between guide support (8) and frame (1) constitutes the activity space of pole-climbing (4), and guide support (8) is plane contact with cat ladder.
3. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 2, it is characterized in that, in described frame (1), it is correspondingly arranged on two groups with pole-climbing (4) and drives gear (7), actuating device (6), motor (5) cooperating therewith respectively.
4. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 2, it is characterised in that in described frame (1), is correspondingly arranged on one group with pole-climbing (4) and drives gear (7), actuating device (6), motor (5) cooperating therewith；It is additionally provided with some groups of gears to be meshed with the long tooth bar (401) in pole-climbing (4).
5. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 2, it is characterised in that described guide support (8) including: the guiding crawler belt (803) of the closing contacted with horizontal stroke ladder and the Athey wheel (802) at guiding crawler belt (803) two ends；Athey wheel (802) is connected with connector (801) by connecting axle.
6. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 5, it is characterized in that, side in guide support (8), being provided with fifth wheel (806) on described Athey wheel (802) place, center connection axis, described fifth wheel (806) is supported in the middle of guiding crawler belt (803).
7. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 5, it is characterized in that, the side of frame (1) is provided with regulating wheel (804), the outer surface of regulating wheel (804) is tangent with the vertical smooth surface of pole-climbing (4), and tension band (805) coordinates with the belt wheel in frame (1)；Distance between regulating wheel (804) and driving gear (7) collectively forms the activity space of pole-climbing (4).
8. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 7, it is characterised in that the belt wheel in described frame (1) is arranged on the gear shaft of driving gear (7) place.
9. a kind of pole-climbing mechanism for bionical steps climbing robot according to any one of claim 1-8, it is characterized in that, coordinated by dovetail groove (403) between the master jaw (402) that described pole-climbing (4) top is arranged with movable claw (2), and push rod (3) is fixed on the side of master jaw (402).
10. a kind of pole-climbing mechanism for bionical steps climbing robot according to claim 9, it is characterised in that the front end of described claw (2) is downwardly projected formation locking hook (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620157591.8U CN205391616U (en) | 2016-03-02 | 2016-03-02 | A pole -climbing mechanism that is used for bionical cat ladder machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620157591.8U CN205391616U (en) | 2016-03-02 | 2016-03-02 | A pole -climbing mechanism that is used for bionical cat ladder machine people |
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| CN205391616U true CN205391616U (en) | 2016-07-27 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105641880A (en) * | 2016-03-02 | 2016-06-08 | 湖南泰吉风能机器人有限公司 | Climbing rod mechanism for biomimetic ladder climbing robot |
| CN111891241A (en) * | 2020-07-29 | 2020-11-06 | 广东电网有限责任公司 | Step-by-step auxiliary robot for power transmission iron tower |
| CN112678085A (en) * | 2020-12-31 | 2021-04-20 | 上海建桥学院 | Direct-acting type four-foot guide rail stair-climbing robot device |
| CN113247137A (en) * | 2021-06-16 | 2021-08-13 | 无锡锡东电力电气安装工程有限公司 | Pole cat ladder robot of crawling |
-
2016
- 2016-03-02 CN CN201620157591.8U patent/CN205391616U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105641880A (en) * | 2016-03-02 | 2016-06-08 | 湖南泰吉风能机器人有限公司 | Climbing rod mechanism for biomimetic ladder climbing robot |
| CN111891241A (en) * | 2020-07-29 | 2020-11-06 | 广东电网有限责任公司 | Step-by-step auxiliary robot for power transmission iron tower |
| CN111891241B (en) * | 2020-07-29 | 2021-08-27 | 广东电网有限责任公司 | Step-by-step auxiliary robot for power transmission iron tower |
| CN112678085A (en) * | 2020-12-31 | 2021-04-20 | 上海建桥学院 | Direct-acting type four-foot guide rail stair-climbing robot device |
| CN113247137A (en) * | 2021-06-16 | 2021-08-13 | 无锡锡东电力电气安装工程有限公司 | Pole cat ladder robot of crawling |
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