CN206187151U - A biped robot for apparent crack detecting of concrete cable tower - Google Patents
A biped robot for apparent crack detecting of concrete cable tower Download PDFInfo
- Publication number
- CN206187151U CN206187151U CN201621221641.0U CN201621221641U CN206187151U CN 206187151 U CN206187151 U CN 206187151U CN 201621221641 U CN201621221641 U CN 201621221641U CN 206187151 U CN206187151 U CN 206187151U
- Authority
- CN
- China
- Prior art keywords
- big
- small
- foot support
- guide rail
- axis guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a biped robot for apparent crack detecting of concrete cable tower which improves and lies in: biped robot comprises big sufficient assembly, micropodia assembly, steering wheel, X axle guide rail module, Y axle guide rail module and negative pressure transmission control unit, the utility model discloses an useful technological effect is: the utility model provides a biped robot for apparent crack detecting of concrete cable tower can effectively improve the apparent disease detection's of cable tower security and efficiency to the robot does benefit to the all standing that realizes cable tower and detects, effectively improves the accuracy of postdetection aassessment.
Description
Technical field
The utility model is related to a kind of apparent Crack Detection technology of concrete pylon, more particularly to a kind of for concrete cable
The biped robot of the apparent Crack Detection of tower.
Background technology
Sarasota is the crucial supporting member of cable type bridge, deformation and internal force status important to bridge, because
This, the health status of Sarasota is closely related with the safety of whole bridge structure, and effective detection is carried out to service phase Sarasota disease, right
It is great in guarantee cable type bridge operation security implications.
Concrete pylon under arms during, because complicated humiture, design defect and external load effect etc. is multifactor
Coupling influence and there is the phenomenon generally existing that crack or protective layer such as peel off at the disease, prior art is detected to Sarasota disease
When, mainly carried out by way of manual observation（It is main by setting up the means such as support, telescope）, security is poor, high cost,
Detection cycle is long, also to suspend traffic sometimes, and because Sarasota height often surpasses hundred meters, causes some the important portions on Sarasota
Position is difficult to detection, Correct Analysis and evaluation of the influence to its health status；With the continuous breakthrough of span of bridge, Sarasota
Height will be higher, and the cycle of manual detection is stronger by longer, dangerous bigger, challenge, developing intellectual resource bridge cable tower safety
Detection means, wide market.
Utility model content
For the problem in background technology, the utility model proposes a kind of for the apparent Crack Detection of concrete pylon
Biped robot, its innovation is：The biped robot by big Football Association into, small Football Association into, steering wheel, X-axis guide rail module, Y-axis
Guide rail module and negative pressure transmission control unit are constituted；
The big Football Association Cheng You great foot supports and three big ambulacra compositions；The end face middle part of the big foot support is provided with
Through hole；The big ambulacra is arranged on the lower surface of big foot support, and three big ambulacras are on the lower surface of big foot support
Triangle-Profile, the triangle that three big ambulacras are formed is designated as the first triangle；
The small Football Association Cheng You little foot supports and three small ambulacra compositions；The small ambulacra is arranged on small foot support
On lower surface, three small ambulacra distributions triangular in shape on the lower surface of small foot support, three small ambulacras formed three
It is angular to be designated as the second triangle；Small foot support is located at big foot support downside, and small foot support upper surface is flat with big foot support upper surface
OK；
The X-axis guide rail module is arranged on the upper surface of big foot support, and the transmission direction of X-axis guide rail module is designated as X side
To X-direction is parallel with big foot support upper surface, and the sliding block of X-axis guide rail module is connected with the housing of Y-axis guide rail module, X-axis guide rail
Module can be driven Y-axis guide rail module and move in X direction；
The Y-axis guide rail module is located in the through hole on big foot support, and the transmission direction of Y-axis guide rail module is designated as Y-direction,
Y-direction is vertical with the end face of big foot support, and the sliding block of Y-axis guide rail module is connected by link with the housing of steering wheel, steering wheel
Power transmission shaft is connected with small foot support upper surface, and Y-axis guide rail module can be driven steering wheel and be moved along Y-direction, and steering wheel can be driven small foot branch
Frame is rotated on parallel to the plane of small foot support upper surface；When small foot support and big foot support are relatively rotated, big ambulacra and
Small ambulacra is non-interference；
The negative pressure transmission control unit is arranged on the upper surface of big foot support, is all set on big ambulacra and small ambulacra
Gas outlet is equipped with, three big ambulacras and three small ambulacras amount to six gas outlets, and six gas outlets are only by the six roots of sensation respectively
Vertical pipeline is connected with negative pressure transmission control unit, and negative pressure transmission control unit provides dress by external pipeline with the negative pressure of outside
Connection is put, the negative pressure that negative pressure offer device is exported can be selectively output to big ambulacra and small foot by negative pressure transmission control unit
On sucker.
Operation principle of the present utility model is：After Sarasota surface sets biped robot, when biped robot is parked
When, the negative pressure that negative pressure offer device is exported is transferred to three big ambulacras and three small ambulacras by negative pressure transmission control unit
On, now, big ambulacra and small ambulacra are just tightly adsorbed on Sarasota surface in the presence of negative pressure, so that biped machine
People is stably sought connections with Sarasota；
When biped robot needs to move, first to move big Football Association as example, negative pressure transmission control unit is first controlled to stop
Only negative pressure is provided to big ambulacra（After losing negative pressure, big ambulacra is easy for that Sarasota surface can be departed from）, only to small ambulacra
Negative pressure is provided, then drives the sliding block of Y-axis guide rail module to be moved near the direction on Sarasota surface, now, due to small Football Association into
It is pushed against on Sarasota surface, the sliding block of Y-axis guide rail module will not be subjected to displacement, then the rail sections of Y-axis guide rail module
Passively can only be moved to the direction away from Sarasota surface, so that big Football Association is into by jack-up, when big ambulacra and Sarasota surface
After being kept completely separate, control Y-axis guide rail module is parked, then controls the sliding block of X-axis guide rail module to march forward the opposite direction in direction again
Motion（Direction of advance is parallel with X-direction）, now, because big Football Association is into hanging, small Football Association into seeking connections with Sarasota surface, X-axis is led
The sliding block of rail module will not be subjected to displacement, then the rail sections of X-axis guide rail module can only passively march forward direction motion, from
And Shi great Football Associations after moving a certain distance, control X-axis guide rail module parked into also moving, Y-axis guide rail module is then controlled
Sliding block moved to the direction away from Sarasota surface so that the rail sections of Y-axis guide rail module near Sarasota surface side
To motion, big Football Association into also moving therewith, when big Football Association into move to big ambulacra and contacted with Sarasota surface after, control Y-axis is led
Rail module is parked, now, first exports negative pressure to big ambulacra, after big ambulacra seek connections with it is reliable after, then stop defeated to small ambulacra
Go out negative pressure, then drive the sliding block of Y-axis guide rail module to be moved to the direction away from Sarasota surface, now, because big Football Association is into being
It is pushed against on Sarasota surface, the rail sections of Y-axis guide rail module will not be subjected to displacement, small Football Association's achievement is under the drive of sliding block
It is pulled up, after small ambulacra and Sarasota surface are kept completely separate, control Y-axis guide rail module is parked, then controls X-axis guide rail
The sliding block of module marches forward direction motion, small Football Association into also moving therewith, when motion in place after, control X-axis guide rail module is parked,
Then drive the sliding block of Y-axis guide rail module to be moved to the direction near Sarasota surface again, small Football Association into also moving therewith, when small foot
After sucker is contacted with Sarasota surface, negative pressure is exported by small ambulacra, small ambulacra can just adsorbed in Sarasota table again
On face, so far, small Football Association into big Football Association Cheng Jun march forward direction moved one step journey, to make biped robot continue to
Preceding movement, repeats aforementioned operation；After it understanding of aforementioned operation process, it will be understood by those skilled in the art that biped machine
Device people move when, both can first move small Football Association into the big Football Association of rear movement into, also can first move big Football Association into the small Football Association of rear movement into,
And also biped robot can be controlled to advance in the X direction or retreat, its difference Jin Shi great Football Associations into small Football Association into control
System order and the direction of motion have differences, therefore will not be repeated here；
When biped robot need turn to when, with walking manner similarly, be also control respectively big Football Association into small Football Association
Into priority complete go to action, by big Football Association into first turn to as a example by, when big Football Association into separated with Sarasota surface after, big Football Association into
Again sought connections with before Sarasota surface, first pass through steering wheel be driven big Football Association controlled again into turning an angle, then big Football Association into
Again seek connections with Sarasota surface, small Football Association is then driven again and is separated into Sarasota surface, in small Football Association into seeking connections with again in Sarasota
Before surface, the small Football Association of steering wheel transmission is first passed through identical into rotating（It is i.e. identical into the angle for rotating with big Football Association）Angle, so
Small Football Association is controlled again afterwards into seeking connections with again on Sarasota surface, this completes the steering of biped robot；By organization plan not
It is difficult to see, steering operation substantially only needs to adjust the direction of X-axis guide rail module（Namely the direction of adjustment X-direction）, namely
To say, in fact and without adjust small Football Association into direction, during steering operation above, why also to small Football Association into side
To being adjusted, mainly in view of the complexity of control：In order that step-length when biped robot unidirectionally moves is maximized,
Optimal scheme is the first triangle and the second triangle is equilateral triangle and while is made its of two equilateral triangles
In drift angle towards opposite（Position relationship i.e. as shown in Figure 4）, so could be mutual not in big ambulacra and small ambulacra
Realize that step-length is maximized in the case of interference, if not controlling small Football Association into steering in steering operation, then in subsequent motion mistake
Be accomplished by considering in journey small Football Association into big Football Association into relative position, to determine during subsequent motion in original step-length bar
Whether the two occurs interference under part, and then is likely to require step-length is adjusted, and this will cause that control model is further
Complicate, and it may also be desirable to shorten step-length, cause the mobile efficiency of robot to reduce, therefore, inventor's suggestion is in implementation
During the utility model, preferably to big Football Association into small Football Association into steering regulation will be carried out；Additionally, go to action both can be independent
Carry out, it is also possible to go to action is combined with foregoing linear motion, after apparent the utility model scheme, ability
Field technique personnel can according to actual needs, rationally design.
In the utility model, the adsorbent equipment spatial distribution in robot is more discrete, substantially increases robot pair
The span ability of crackle, groove, falls off when can be prevented effectively from crackle, groove of the robot on Sarasota is crossed over（Size foot
Sucker can be made using polyether material, and the deformation-compensated of polyether material forms confined air beneficial to sucker and Sarasota out-of-flatness surface
Between, so that effectively adaptability of the hoisting machine people for Sarasota out-of-flatness surface）；Additionally, sucker, rudder in the utility model
Machine, X-axis guide rail module, Y-axis guide rail module and negative pressure transmission control unit are common apparatus of the prior art or equipment, from
The purpose for improving effect is set out, and the preferable corresponding construction of technique effect in the prior art can be applied in the utility model, with
Further enhance the utility model robot seeks connections with ability, due to ins and outs and the technology of the present utility model of these devices
The relevance of innovative point less, therefore is repeated no more herein, and in the specific implementation, technical staff can preferentially adopt in the prior art
With；
Preferably, the circumferential profile of the big foot support and small foot support is triangle, three tops of the first triangle
Angle is corresponding with three corner positions of big foot support, three drift angles of the second triangle and three corner positions pair of small foot support
Should.
Preferably, first triangle and the second triangle are equilateral triangle.
Preferably, the X-direction is parallel with the wherein a line of the first triangle.X-direction is with the first triangle wherein
When a line is parallel, the complexity of control can be effectively reduced, and technical staff can be made to be visually observed that robot
Current direction of travel.
Preferably, it is provided with lightening hole on the end face of the big foot support and small foot support.Lightening hole can effectively drop
The deadweight of low robot, is conducive to robot ambulation；From the angle of security, can also be on extension tube attached line and vacuum lines
Insurance cable is hung by system, even if dropping situations occurs in robot, insurance cable can prevent robot from further falling, improve the safety of operation
Property.
Preferably, Extension support is provided with the upper surface of the big foot support, the outer end of Extension support extends to big foot support
Outer circumferential, the outer end of Extension support is provided with video acquisition device.Video acquisition device can be carried out to Sarasota surface image
Real-time Collection is simultaneously transferred to rear technical staff, and rear technical staff just can carry out correlation analysis simultaneously according to image to Sarasota disease
Formulate Disposal Measures.
Based on prior art, robot of the present utility model can also be carried out using long-range wireless remote control using line traffic control mode
Control.
Advantageous Effects of the present utility model are：There is provided a kind of biped for the apparent Crack Detection of concrete pylon
Robot, can effectively improve the security and efficiency of the apparent Defect inspection of Sarasota, and robot is beneficial to realize that the complete of Sarasota covers
Lid detection, effectively improves the accuracy assessed after detection.
Brief description of the drawings
Fig. 1, structural representation of the present utility model；
Fig. 2, structural representation of the present utility model two；
Fig. 3, big Football Association are into top-level view；
Fig. 4, robot bottom view；
Fig. 5, small Football Association are into structural representation；
The corresponding title of each mark is respectively in figure：Steering wheel 1, X-axis guide rail module 2, Y-axis guide rail module 3, big foot branch
Frame 4, big ambulacra 5, small foot support 6, small ambulacra 7, negative pressure transmission control unit 8, the external pipeline 9 for transmitting negative pressure,
Pipeline 10, video acquisition device 11 for negative pressure output to be arrived each sucker.
Specific embodiment
A kind of biped robot for the apparent Crack Detection of concrete pylon, its innovation is：The biped robot
By big Football Association into, small Football Association into, steering wheel 1, X-axis guide rail module 2, Y-axis guide rail module 3 and negative pressure transmission control unit constitute；
The big Football Association Cheng You great foot supports 4 and three big ambulacras 5 are constituted；The end face middle part of the big foot support 4 sets
It is equipped with through hole；The big ambulacra 5 is arranged on the lower surface of big foot support 4, and three big ambulacras 5 are under big foot support 4
Distribution triangular in shape on end face, the triangle that three big ambulacras 5 are formed is designated as the first triangle；
The small Football Association Cheng You little foot supports 6 and three small ambulacras 7 are constituted；The small ambulacra 7 is arranged on small foot branch
On the lower surface of frame 6, three distributions triangular in shape on the lower surface of small foot support 6 of small ambulacra 7, three institutes of small ambulacra 7
The triangle of formation is designated as the second triangle；Small foot support 6 is located at the downside of big foot support 4, the upper surface of small foot support 6 and big foot branch
The upper surface of frame 4 is parallel；
The X-axis guide rail module 2 is arranged on the upper surface of big foot support 4, and the transmission direction of X-axis guide rail module 2 is designated as X
Direction, X-direction is parallel with the upper surface of big foot support 4, and the sliding block of X-axis guide rail module 2 is connected with the housing of Y-axis guide rail module 3, X
Axis rail module 2 can be driven Y-axis guide rail module 3 and move in X direction；
The Y-axis guide rail module 3 is located in the through hole on big foot support 4, and the transmission direction of Y-axis guide rail module 3 is designated as Y side
To, Y-direction is vertical with the end face of big foot support 4, and the sliding block of Y-axis guide rail module 3 is connected by link with the housing of steering wheel 1,
The power transmission shaft of steering wheel 1 is connected with the upper surface of small foot support 6, and Y-axis guide rail module 3 can be driven steering wheel 1 and be moved along Y-direction, the energy of steering wheel 1
Small foot support 6 is driven to be rotated on parallel to the plane of the upper surface of small foot support 6；Small foot support 6 and big foot support 4 are relatively rotated
When, big ambulacra 5 and small ambulacra 7 are non-interference；
The negative pressure transmission control unit is arranged on the upper surface of big foot support 4, on big ambulacra 5 and small ambulacra 7
Gas outlet is both provided with, three big ambulacras 5 and three small ambulacras 7 amount to six gas outlets, and six gas outlets pass through respectively
The pipeline of six roots of sensation independence is connected with negative pressure transmission control unit, and negative pressure transmission control unit is by external pipeline and outside negative pressure
Offer device is connected, and the negative pressure that negative pressure offer device is exported can be selectively output to big ambulacra by negative pressure transmission control unit
5 and small ambulacra 7 on.
Further, the circumferential profile of the big foot support 4 and small foot support 6 is triangle, the three of the first triangle
Individual drift angle is corresponding with three corner positions of big foot support 4, three drift angles of the second triangle and three drift angles of small foot support 6
Position correspondence.
Further, first triangle and the second triangle are equilateral triangle.
Further, the X-direction is parallel with the wherein a line of the first triangle.
Further, it is provided with lightening hole on the end face of the big foot support 4 and small foot support 6.
Further, Extension support is provided with the upper surface of the big foot support 4, the outer end of Extension support extends to big foot branch
The outer circumferential of frame 4, the outer end of Extension support is provided with video acquisition device.
Claims (6)
1. a kind of biped robot for the apparent Crack Detection of concrete pylon, it is characterised in that：The biped robot by
Big Football Association is into, small Football Association into, steering wheel（1）, X-axis guide rail module（2）, Y-axis guide rail module（3）With negative pressure transmission control unit group
Into；
The big Football Association Cheng You great foot supports（4）With three big ambulacras（5）Composition；The big foot support（4）End face middle part
It is provided with through hole；The big ambulacra（5）It is arranged on big foot support（4）Lower surface on, three big ambulacras（5）In big foot branch
Frame（4）Lower surface on distribution triangular in shape, three big ambulacras（5）The triangle for being formed is designated as the first triangle；
The small Football Association Cheng You little foot supports（6）With three small ambulacras（7）Composition；The small ambulacra（7）It is arranged on small foot
Support（6）Lower surface on, three small ambulacras（7）In small foot support（6）Lower surface on distribution triangular in shape, three small foots
Sucker（7）The triangle for being formed is designated as the second triangle；Small foot support（6）Positioned at big foot support（4）Downside, small foot support
（6）Upper surface and big foot support（4）Upper surface is parallel；
The X-axis guide rail module（2）It is arranged on big foot support（4）Upper surface on, X-axis guide rail module（2）Transmission direction note
It is X-direction, X-direction and big foot support（4）Upper surface is parallel, X-axis guide rail module（2）Sliding block and Y-axis guide rail module（3）Shell
Body is connected, X-axis guide rail module（2）Y-axis guide rail module can be driven（3）Move in X direction；
The Y-axis guide rail module（3）Positioned at big foot support（4）On through hole in, Y-axis guide rail module（3）Transmission direction be designated as Y
Direction, Y-direction and big foot support（4）End face it is vertical, Y-axis guide rail module（3）Sliding block pass through link and steering wheel（1）Shell
Body is connected, steering wheel（1）Power transmission shaft and small foot support（6）Upper surface connects, Y-axis guide rail module（3）Steering wheel can be driven（1）Along Y
Direction is moved, steering wheel（1）Can the small foot support of transmission（6）Parallel to small foot support（6）Rotated in the plane of upper surface；Small foot branch
Frame（6）With big foot support（4）During relative rotation, big ambulacra（5）With small ambulacra（7）It is non-interference；
The negative pressure transmission control unit is arranged on big foot support（4）Upper surface on, big ambulacra（5）With small ambulacra（7）
On be both provided with gas outlet, three big ambulacras（5）With three small ambulacras（7）Six gas outlets altogether, six gas outlets point
Be not connected with negative pressure transmission control unit by the pipeline of six roots of sensation independence, negative pressure transmission control unit by external pipeline with it is outside
Negative pressure offer device connection, negative pressure transmission control unit can by negative pressure offer device export negative pressure be selectively output to greatly
Ambulacra（5）With small ambulacra（7）On.
2. the biped robot for the apparent Crack Detection of concrete pylon according to claim 1, it is characterised in that：Institute
State big foot support（4）With small foot support（6）Circumferential profile be triangle, three drift angles and the big foot support of the first triangle
（4）Three corner positions correspondence, three drift angles and the small foot support of the second triangle（6）Three corner positions correspondence.
3. the biped robot for the apparent Crack Detection of concrete pylon according to claim 2, it is characterised in that：Institute
State the first triangle and the second triangle is equilateral triangle.
4. the biped robot for the apparent Crack Detection of concrete pylon according to claim 1,2 or 3, its feature exists
In：The X-direction is parallel with the wherein a line of the first triangle.
5. the biped robot for the apparent Crack Detection of concrete pylon according to claim 1, it is characterised in that：Institute
State big foot support（4）With small foot support（6）End face on be provided with lightening hole.
6. the biped robot for the apparent Crack Detection of concrete pylon according to claim 1, it is characterised in that：Institute
State big foot support（4）Upper surface on be provided with Extension support, the outer end of Extension support extends to big foot support（4）Outer circumferential,
The outer end of Extension support is provided with video acquisition device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621221641.0U CN206187151U (en) | 2016-11-14 | 2016-11-14 | A biped robot for apparent crack detecting of concrete cable tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621221641.0U CN206187151U (en) | 2016-11-14 | 2016-11-14 | A biped robot for apparent crack detecting of concrete cable tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206187151U true CN206187151U (en) | 2017-05-24 |
Family
ID=58735567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621221641.0U Withdrawn - After Issue CN206187151U (en) | 2016-11-14 | 2016-11-14 | A biped robot for apparent crack detecting of concrete cable tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206187151U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394718A (en) * | 2016-11-14 | 2017-02-15 | 重庆交通大学 | Biped robot used for concrete cable bent tower apparent crack detection |
-
2016
- 2016-11-14 CN CN201621221641.0U patent/CN206187151U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394718A (en) * | 2016-11-14 | 2017-02-15 | 重庆交通大学 | Biped robot used for concrete cable bent tower apparent crack detection |
| CN106394718B (en) * | 2016-11-14 | 2018-06-15 | 重庆交通大学 | For the biped robot of the apparent Crack Detection of concrete pylon |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100502181C (en) | Robot of autonomous moving along 110KV transmission line and its working method | |
| CN105113403B (en) | Bridge floor detection method based on intelligent detection equipment | |
| CN106761487B (en) | The method that marine drilling platform has processing system with pipe and connects movement thribble | |
| CN104308861B (en) | A kind of rail mounted robot ambulation route changing apparatus and its implementation | |
| CN206085049U (en) | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space | |
| CN108453697A (en) | A kind of glass multidimensional mounting robot | |
| CN102390453A (en) | Reconfigurable wall climbing robot and collaborative obstacle-detouring method thereof | |
| CN104777840A (en) | Small-size wall-climbing robot applied to monitoring internal environment of nuclear power station containment | |
| CN202805182U (en) | Heavy-duty tire mechanical hand | |
| CN108547461A (en) | A kind of prefabricated panel installation manipulator | |
| CN111071362B (en) | Climbing robot and system for overhead line pole tower | |
| CN104674654B (en) | A kind of robot capable of crawling cable | |
| CN104875178A (en) | Mechanical arm for carrying dangerous goods | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN103448052A (en) | Novel vacuum handling manipulator | |
| CN101982398A (en) | Movable multiple-degree-of-freedom hoisting and positioning equipment | |
| CN106006049A (en) | Automatic steel pipe stacking device based on magnetic attraction | |
| CN107200077A (en) | A kind of three-body type climbing robot and its obstacle-detouring method | |
| CN204576263U (en) | For the small-sized wall-climbing robot of nuclear power plant containment shell environment monitoring | |
| WO2019154002A1 (en) | Railway intelligent multifunctional travel platform | |
| CN114905482B (en) | Photovoltaic intelligent installation robot | |
| CN108216519A (en) | One kind is towards offshore oilfield wellhead platform jacket wheeled locomotion mechanism | |
| CN206187151U (en) | A biped robot for apparent crack detecting of concrete cable tower | |
| CN206600151U (en) | Workover rig with pressure intelligently removes guard system | |
| CN204960871U (en) | Ground installation device of preventer group |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170524 Effective date of abandoning: 20180615 |
|
| AV01 | Patent right actively abandoned |