CN207807742U - A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot - Google Patents
A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot Download PDFInfo
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- CN207807742U CN207807742U CN201720490782.0U CN201720490782U CN207807742U CN 207807742 U CN207807742 U CN 207807742U CN 201720490782 U CN201720490782 U CN 201720490782U CN 207807742 U CN207807742 U CN 207807742U
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Abstract
The utility model discloses a kind of control systems of Character of Cable Force of Cable stayed Bridge climbing robot, belong to robot field.The control system of the utility model, including instruction transmitting terminal and command reception control terminal.It includes host computer, core controller and wireless signal transmitting module to instruct transmitting terminal, and command reception control terminal includes reception of wireless signals module and action drives module.Host computer is connect with core controller, for the control signal of Manipulation of the machine people to be sent to core controller；Core controller will be sent to reception of wireless signals module by wireless signal transmitting module to the control signal of robot, and reception of wireless signals module gives control signal transmission to action drives module.Action drives module includes driving unit, brake unit and sensor unit.It is high to solve existing robot control system cost, the problem that circuit is unstable, operating load is small, and solve the problems, such as to be declined with stopping power long afterwards now with electromagnetic brake and even fail.
Description
Technical field
The utility model is related to robot control system field, specially a kind of control of Character of Cable Force of Cable stayed Bridge climbing robot
System.
Background technology
Cable is one of main bearing member of cable-stayed bridge, and the state of cable and the safety of bridge are closely related, therefore is needed
Periodically it is detected, the automated arm for bridge cable detection has been a concern.In order to find or eliminate in time
The security risk of cable-stayed bridge is influenced, needs periodically to be detected cable.It is cable that bridge cable routine, which detects most common project, at present
The fine status of rope sealer and the vibrations amplitude of oscillation of cable.
Some the Character of Cable Force of Cable stayed Bridge climbing robots that there is now there are quality weight, volume is big, creep when the circuit mistake that carries
Phenomena such as more, causes a series of problems, such as manufacturing cost is high, efficiency is low, circuit is unstable, operating load is small.Therefore, a kind of oblique
The control system for drawing bridge robot capable of crawling cable effectively carries to improve the operating efficiency on detection Character of Cable Force of Cable stayed Bridge surface, improve
Lotus etc. has great importance.
Utility model content
The goal of the invention of the utility model is, in view of the above-mentioned problems, providing a kind of control of Character of Cable Force of Cable stayed Bridge climbing robot
System processed solves existing robot control system cost height, the problem that circuit is unstable, operating load is small；It solves now organic
Device people's electromagnetic brake stopping power declines the problem of even failing.
In order to achieve the above objectives, technical solution used by the utility model is：Kind Character of Cable Force of Cable stayed Bridge climbing robot
Control system, including instruction transmitting terminal and command reception control terminal, transmitting terminal are installed in ground control box, command reception end peace
In robot；Described instruction transmitting terminal includes host computer, core controller and wireless signal transmitting module, and described instruction connects
It includes reception of wireless signals module and action drives module to receive control terminal；Wherein：
The host computer is connect with the core controller, for the control signal of Manipulation of the machine people to be sent to core control
Device processed；
The core controller will be sent to wireless signal by wireless signal transmitting module to the control signal of robot
Receiving module, the reception of wireless signals module give control signal transmission to action drives module；
The action drives module includes driving unit, brake unit and sensor unit；The driving unit and machine
People executes structure and is connected, and robot is driven to execute structure motion, and the brake unit executes knot for locking limitation robot
Structure moves, and sensor unit detection robot executes structure motion as a result, and motion result is fed back to the core control
Device processed.
Further, the driving unit includes walk motor, upper gripper motor and lower gripper motor, the brake unit
Including upper electromagnetic brake, lower electromagnetic brake, upper electromagnet and lower electromagnet, the sensor unit includes upper stroke switch
And lower stroke switch；
Walk motor both ends are separately connected the upper holder and lower fixed frame of robot；
The upper gripper motor, upper electromagnetic brake, upper electromagnet and upper stroke switch are installed in fixed frame
On；The upper gripper motor executes structure with robot and is connected, and robot is driven to execute structure motion, the upper electromagnetic braking
Device, upper electromagnet execute structure motion for locking limitation robot, and upper stroke switch detection robot executes structure fortune
It moves as a result, and motion result is fed back to the core controller；
The lower gripper motor, lower electromagnetic brake, lower electromagnet and lower stroke switch are installed in the lower fixed frame
On；The lower gripper motor executes structure with robot and is connected, and robot is driven to execute structure motion, the lower electromagnetic braking
Device, lower electromagnet execute structure motion for locking limitation robot, and lower stroke switch detection robot executes structure fortune
It moves as a result, and result is fed back to the core controller.
Further, it is PLC controller that the host computer, which uses touch-screen display, the core controller,；It is described to touch
Panel type display is touched to be communicated with the PLC controller by RS-4854W.
Further, the action PLC controller includes relay KA1, KA2, KA3, KA4, KA5, KA6 and KA7；It is described
KA1 and the KA2 interlock and control the polarity of power access circuit, the KA3 control the upper electromagnetic brake and it is described on
The break-make of gripper motor, the KA4 control the break-make of the lower electromagnetic brake and the lower gripper motor, the KA5 controls
The break-make of the walk motor, the KA6 control the break-make of the upper electromagnet, the break-make of the KA7 controls lower electromagnet.
Further, it further includes electric pressure converter and 12V rechargeable lithium batteries, the voltage that described instruction, which receives control terminal,
Converter and 12V rechargeable lithium batteries are installed in robot.
Further, the wireless signal transmitting module is PT2264 chip wireless transmitter modules, and the wireless signal connects
The wireless receiving module that module is PT2272 chips is received, the PT2264 chips are identical as T2272 chip address position.
Further, the PLC controller is the FX1N-14MT-D controllers of Mitsubishi's series.
Due to the adoption of the above technical scheme, the utility model has the advantages that：
1. above system is based on, with host computer in the control signal of Manipulation of the machine people is sent to core controller, core
Controller will be sent to reception of wireless signals module, wireless signal by wireless signal transmitting module to the control signal of robot
Receiving module gives control signal transmission to action drives module, and driving unit executes structure with robot and is connected, and drives machine
People executes structure motion, and brake unit executes structure motion for locking limitation robot, and sensor unit detection robot is held
Row structure motion by result as a result, and feed back to driving unit.Using the communication mode of wireless transmission, robot is avoided in addition
Communication cable is carried, the quality of useful load can be carried by increasing robot.By the feedback effect of sensor unit, subtract significantly
The idle stroke of machine movement is lacked, has reduced energy consumption, improves operating efficiency.
2. the gripper motor of the utility model, electromagnetic brake, electromagnet and travel switch are solid mounted on the robot
It is multiple to solve robot by the effect of the double brake of electromagnetic brake and electromagnet for the movement for determining to control robot on frame
After operation, there is electromagnetic brake stopping power and decline the problem of even failing, by the adjusting to gripper motor, controls paw
The stroke of motor makes robot adapt to different-diameter cable, expands the use scope of robot.
3. the utility model host computer uses touch-screen display, core controller to use PLC controller；The touch screen
Display is communicated by RS-4854W with PLC controller.Reach man-machine friendly interaction purpose, behaviour by touch-screen display
Facilitate.PLC controller has the characteristics that its low cost, height networking, strong interference immunity, reliability is high, communication function is strong,
Robot more adapts to the operating environment in field by using PCL.
4. the command reception control terminal of the utility model is provided with rechargeable lithium battery and electric pressure converter, robot manipulating task
When range is smaller, high-capacity lithium battery is directly carried as power supply by robot, can effectively enhance the portability of whole system.Machine
When device people's job area is larger, is powered, powered by cable connection robot, by 220V using portable electric generator alternating current 220V
Power supply changeover device is converted into stable 12V DC electricity, it is ensured that working long hours for robot can.
5. control system only needs 4 output points, it is contemplated that it is more expensive and pre- to input the more PLC controllers of defeated number of ports
The factors such as 50% spare output interface, the utility model are stayed to use the FX1N-14MT-D controllers of Mitsubishi's series, PLC controls
Utensil has 8 input interfaces, 6 output interfaces to meet design requirement, and, fast response time low with price, the operation is stable,
Failure rate is low, the work power consumption advantages such as relatively.
Description of the drawings
Fig. 1 is the system block diagram of the present invention.
Fig. 2 is the action drives module frame chart of the present invention.
Fig. 3 is the FX1N-14MT-D controller controling circuit schematic diagrams of the present invention.
In attached drawing, 1- instructs transmitting terminal, 2- command reception control terminals.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.
A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot as shown in Figure 1, including instruction transmitting terminal and command reception
Control terminal, transmitting terminal are installed in ground control box, and command reception end is mounted in robot；It includes upper to instruct transmitting terminal
Machine, core controller and wireless signal transmitting module.
Command reception control terminal includes reception of wireless signals module and action drives module.Robot manipulating task range is smaller
When, high-capacity lithium battery is directly carried as power supply by robot, can effectively enhance the portability of whole system.Robot manipulating task
When range is larger, is powered using portable electric generator alternating current 220V, powered by cable connection robot, 220V power supplys are converted
Device is converted into stable 12V DC electricity, it is ensured that working long hours for robot can.
In the present embodiment, host computer is touch-screen display, and core controller is that the FX1N-14MT-D of Mitsubishi's series is controlled
Device, wireless signal transmitting module are PT2264 chip wireless transmitter modules, and reception of wireless signals module is the nothing of PT2272 chips
Line receiving module.Touch-screen display is connect with FX1N-14MT-D controllers, for sending the control signal of Manipulation of the machine people
Give FX1N-14MT-D controllers.
FX1N-14MT-D controllers, FX1N-14MT-D controllers will be to machines by PT2264 chips wireless transmitter module
The control signal of people is sent to the wireless receiving module of PT2272 chips, and the wireless receiving module of PT2272 chips will control signal
It is transferred to action drives module；Action drives module includes driving unit, brake unit and sensor unit；Driving unit and machine
Device people executes structure and is connected, and robot is driven to execute structure motion, and brake unit executes structure for locking limitation robot
Movement, sensor unit detect robot and execute structure motion as a result, and result is fed back to FX1N-14MT-D controllers.
Touch-screen display is communicated with FX1N-14MT-D controllers by RS-485 4W, and touch-screen display will carry
For common operating personnel and two kinds of operation entries of technician, provides different operations according to two kinds of entrances of difference of permission and refer to
It enables.Touch-screen display send operational order to FX1N-14MT-D controllers, FX1N-14MT-D controllers by serial transmission
It can be by the feedback of status of internal soft element to touch-screen display, by reading the state of these soft elements, touch-screen display
The state real-time display of robot can be supplied to robot controllers, form friendly human-computer interaction.
For this control system using PT2264 wireless transmitter modules, PT2264 possesses 4 (D0-D3) data terminal pins,
It when the data terminal pin arbitrarily combined is connected, is sent out from Dout output ends after wireless signal is encoded, if data terminal pin continues
It connects, then coding chip can also continue transmitting signal, and encoded signal has：Address code, numeric data code, synchronous code form complete code
Word.The tranmitting frequency that resistance determines wireless signal can be accessed at OSC1, OSC2, resistance is generally in 430K Ω -470K
It is selected between Ω.The working range of PT2264 chips is 2.6V-15V, and transmission power increases with increasing for operating voltage, is sent out
Penetrate distance it is also remoter, no veil opening maximum transmission distance up to 2 kilometers.Through overtesting, work as operating voltage
When reaching 12V, opening transmission range at least up to 400m, meets design needs, when operating voltage continues growing, transmission
Distance, which has no, to be obviously increased, so the operating voltage selected is 12V.Since the wireless signal transmission time is short, and emit frequent, choosing
Select the PLC controller that output type is transistor output.PLC controller can be divided into ac-input type according to the difference of working power
With direct-current input-type, wherein ac-input type operating voltage is 100~220V of AC, and direct-current input-type is 12~24V of DC, is considered
To robot be mostly field work, PLC controller work power consumption it is relatively low situations such as, PLC controller select storage battery power supply
It is more convenient, so this control method is using direct-current input-type.This control method only needs 4 output points, it is contemplated that input is defeated
The more PLC controllers of number of ports are more expensive and the factors such as reserved 50% spare output interface, and what is finally selected is Mitsubishi's series
FX1N-14MT-D controllers, which there are 8 input interfaces, 6 output interfaces to meet design requirement, and have
Have that price is low, fast response time, the advantages such as the operation is stable, failure rate be low.
As shown in Fig. 2, it includes upper that driving unit, which includes walk motor, upper gripper motor and lower gripper motor, brake unit,
Electromagnetic brake, lower electromagnetic brake, upper electromagnet and lower electromagnet, sensor unit include that upper stroke switch and down stroke are opened
It closes；
Walk motor both ends are separately connected the upper holder and lower fixed frame of robot；Upper gripper motor, upper electromagnetic braking
Device, upper electromagnet and upper stroke switch are installed on upper holder；Upper gripper motor executes structure with robot and is connected, and drives
Mobile robot executes structure motion, and upper electromagnetic brake, upper electromagnet execute structure motion, uplink for locking limitation robot
Cheng Kaiguan detects robot and executes structure motion as a result, and result is fed back to FX1N-14MT-D controllers；Lower gripper motor,
Lower electromagnetic brake, lower electromagnet and lower stroke switch are installed on lower fixed frame；Lower gripper motor executes knot with robot
Structure is connected, and robot is driven to execute structure motion, and lower electromagnetic brake, lower electromagnet execute knot for locking limitation robot
Structure moves, and lower stroke switch detects robot and executes structure motion as a result, and result is fed back to FX1N-14MT-D controllers.
It is low level, the output of PLC controller under the data terminal pin D0-D3 ideal cases of PT2264 wireless transmitter modules
Its arbitrary combination is pulled to the transmission that wireless signal can be realized in high level by end.Transistor output PLC controller is divided into source type
Input is inputted with leakage type, and so-called source type is for the common end (ends COM) of PLC controller with leakage type, and electric current is controlled from PLC
Device common end outflow processed is source type, and it is then leakage type that electric current, which flows into,.Selected FX1N-14MT-D controllers are leakage type PLC controller, institute
PNP type triode, selected model S9015 need to be increased in defeated port Y.The wireless receiving module of PT2272 chips using
The PT2272 receiving circuit mating with PT2264 radiating circuits.PT2272 can be divided into latch-type and keep according to the difference of function
Type：Latch-type refers to that upon receiving radio signals the data out pin of PT2272 chips exports high level, and signal disappears
Continue to keep high level state after mistake, until when receiving identical signal again, data out pin becomes low level；It is temporary
Type refers to that upon receiving radio signals the data out pin of PT2272 chips exports high level, becomes after blackout
Low level.In view of robot executes the consumption etc. that corresponding actions need the regular hour and field work need to reduce to the greatest extent electric energy
Actual conditions, the design is using latch-type.In general, PT2264 transmitting chips receive chip and need to match and make with PT2272
With, that is to say, that their address bit needs identical.Such as by the pin 1 of PT2262 transmitting chips connect power supply just, pin 6 connects
Power supply is negative, and remaining address pin is hanging, then PT2272 receive chip also need by pin 3 connect power supply just, pin 6 connect power supply and bear,
Remaining address pin is hanging.Wireless signal can just be received by receiving chip in this way, otherwise received chip and do not had any reaction.When
When the two address code is identical, the signal of chip output is received by the break-make and then reality of the i.e. controllable relay of level-one amplifying circuit
Now to the control of load.
As shown in figure 3, FX1N-14MT-D controller controling circuit schematic diagrams, including relay KA1, KA2, KA3, KA4,
KA5, KA6 and KA7；KA1 and KA2 is interlocked, the positive and negative anodes of control access power supply, electromagnetic brake and upper paw electricity in KA3 controls
The break-make of machine, the break-make of KA4 controls lower electromagnetic brake and lower gripper motor, KA5 control the break-make of walk motor, KA6 controls
The break-make of upper electromagnet, KA7 control the break-make of lower electromagnet.
The action cycle risen below by robot illustrates system control principle：
Robot initial state is that upper holder and lower fixed frame are in clamped condition, walk motor M7, walk motor
M8 and walk motor M9 are in tightening state.
Upper holder unclamps, and KA6 is disconnected, and upper electromagnet YA1, upper electromagnet YA2 and upper electromagnet YA3 power-off, KA2 are connected
Reversal of power is powered, and KA3 is connected, and upper electromagnetic brake YB1, upper electromagnetic brake YB2 and upper electromagnetic brake YB3 are powered and release
Locking, upper clamping motor M1, upper clamping motor M2 and upper clamping motor M3 connect reversion and clamp arm are driven to laterally rotate release
Cable, upper clamping motor M1, upper clamping motor M2 and upper clamping motor M3 trigger upper stroke switch, and KA2 and KA3 are disconnected.
Upper holder moves up, and KA1 powers on positive power supply, and KA5 is connected, walk motor M7, walk motor M8 and walk
Motor M9, which is powered, to be rotated forward, and upper holder is driven to move up.
Upper holder clamps, and KA6 is disconnected, and upper electromagnet YA1, upper electromagnet YA2 and upper electromagnet YA3 power-off, KA1 are connected
Forward direction power supply, KA3 are connected, and upper electromagnetic brake YB1, upper electromagnetic brake YB2 and upper electromagnetic brake YB3 are powered and release lock
Fixed, upper clamping motor M1, upper clamping motor M2 and upper clamping motor M3 connect rotating forward and clamp arm are driven to turn to the inside clamping cable
Rope, KA6 is closed after clamping in place, and upper electromagnet YA1, upper electromagnet Y2A and upper electromagnet YA3 are powered and are attracted, and subsequent KA3 is disconnected
It opens, upper electromagnetic brake YB1, upper electromagnetic brake YB2 and upper electromagnetic brake YB3, upper clamping motor M1, upper clamping motor M2
It is powered off with upper clamping motor M3.
Lower fixed frame unclamps, and KA7 is disconnected, and lower electromagnet YA4, lower electromagnet YA5 and lower electromagnet YA6 power-off, KA2 are connected
Reverse electrical source is powered, and KA4 is connected, and lower electromagnetic brake YB4, lower electromagnetic brake YB5 and lower electromagnetic brake YB6 are powered and release
Locking, lower clamping motor M4, lower clamping motor M5 connect reversion with lower clamping motor M6 and clamp arm are driven to laterally rotate release
Cable, lower clamping motor M4, lower clamping motor M5 and lower clamping motor M6 trigger lower stroke switch, and KA2 and KA3 are disconnected.
Lower fixed frame moves up, and KA2 powers on reverse power supply, and KA5 is connected, walk motor M7, walk motor M8 and walk
Motor M9, which is powered, to be inverted, and lower fixed frame is driven to move up.
Lower fixed frame clamps, and KA7 is disconnected, and lower electromagnet YA4, lower electromagnet YA5 and lower electromagnet YA6 power-off, KA1 are connected
Forward direction power supply, KA4 are connected, and lower electromagnetic brake YB4, lower electromagnetic brake YB5 and lower electromagnetic brake YB6 are powered and release lock
Fixed, lower clamping motor M4, lower clamping motor M5 connect rotating forward with lower clamping motor M6 and clamp arm are driven to turn to the inside clamping cable
Rope, KA7 is closed after clamping in place, and lower electromagnet YA1, lower electromagnet YA2 and lower electromagnet YA3 are powered and are attracted, and subsequent KA3 is disconnected
It opens, lower electromagnetic brake YB4, lower electromagnetic brake YB5 and lower electromagnetic brake YB6, lower clamping motor M4, lower clamping motor M5
It is powered off with lower clamping motor M6.
Above description is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the same changes or modifications completed under the technical spirit suggested by all the utility model
Change, should all belong to the covered the scope of the claims of the utility model.
Claims (7)
1. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot, it is characterised in that：Including instruction transmitting terminal and command reception
Control terminal, transmitting terminal are installed in ground control box, and command reception end is mounted in robot；Described instruction transmitting terminal includes upper
Position machine, core controller and wireless signal transmitting module, described instruction receive control terminal and include reception of wireless signals module and move
Make drive module；Wherein：
The host computer is connect with the core controller, for the control signal of Manipulation of the machine people to be sent to core control
Device；
The core controller will be sent to reception of wireless signals by wireless signal transmitting module to the control signal of robot
Module, the reception of wireless signals module give control signal transmission to action drives module；
The action drives module includes driving unit, brake unit and sensor unit；The driving unit is held with robot
Row structure is connected, and robot is driven to execute structure motion, and the brake unit executes structure fortune for locking limitation robot
Dynamic, sensor unit detection robot executes structure motion as a result, and motion result is fed back to the core controller.
2. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot according to claim 1, it is characterised in that：The drive
Moving cell includes walk motor, upper gripper motor and lower gripper motor, and the brake unit includes upper electromagnetic brake, lower electromagnetism
Brake, upper electromagnet and lower electromagnet, the sensor unit include upper stroke switch and lower stroke switch；
Walk motor both ends are separately connected the upper holder and lower fixed frame of robot；
The upper gripper motor, upper electromagnetic brake, upper electromagnet and upper stroke switch are installed on fixed frame；Institute
State gripper motor and robot and execute structure and be connected, and drive robot execution structure motion, the upper electromagnetic brake, on
Electromagnet executes structure motion for locking limitation robot, and upper stroke switch detection robot executes structure motion knot
Fruit, and motion result is fed back into the core controller；
The lower gripper motor, lower electromagnetic brake, lower electromagnet and lower stroke switch are installed on the lower fixed frame；Institute
State lower gripper motor and robot and execute structure and be connected, and drive robot execution structure motion, the lower electromagnetic brake, under
Electromagnet executes structure motion for locking limitation robot, and lower stroke switch detection robot executes structure motion knot
Fruit, and result is fed back into the core controller.
3. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot according to claim 2, it is characterised in that：On described
It is PLC controller that position machine, which uses touch-screen display, the core controller,；The touch-screen display by RS-4854W with
The PLC controller is communicated.
4. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot according to claim 3, it is characterised in that：It is described
PLC controller includes relay KA1, KA2, KA3, KA4, KA5, KA6 and KA7；The KA1 and KA2 interlocks and controls electricity
The polarity of circuit is accessed in source, and the KA3 controls the break-make of the upper electromagnetic brake and the upper gripper motor, the KA4 controls
The break-make of the lower electromagnetic brake and the lower gripper motor is made, the KA5 controls the break-make of the walk motor, described
KA6 controls the break-make of the upper electromagnet, the break-make of the KA7 controls lower electromagnet.
5. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot according to claim 1, it is characterised in that：The finger
It further includes electric pressure converter and 12V rechargeable lithium batteries to enable and receive control terminal, the electric pressure converter and 12V rechargeable lithium batteries
It is installed in robot.
6. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot according to claim 1, it is characterised in that：The nothing
Line signal emission module is PT2264 chip wireless transmitter modules, and the reception of wireless signals module is the wireless of PT2272 chips
Receiving module, the PT2264 chips are identical as T2272 chip address position.
7. a kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot according to claim 3, it is characterised in that：It is described
PLC controller is the FX1N-14MT-D controllers of Mitsubishi's series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720490782.0U CN207807742U (en) | 2017-05-05 | 2017-05-05 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720490782.0U CN207807742U (en) | 2017-05-05 | 2017-05-05 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
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| CN207807742U true CN207807742U (en) | 2018-09-04 |
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| CN201720490782.0U Expired - Fee Related CN207807742U (en) | 2017-05-05 | 2017-05-05 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965184A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
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2017
- 2017-05-05 CN CN201720490782.0U patent/CN207807742U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965184A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
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| GR01 | Patent grant | ||
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Granted publication date: 20180904 Termination date: 20190505 |