CN208306789U - A kind of power steel pipe tower climbing robot - Google Patents
A kind of power steel pipe tower climbing robot Download PDFInfo
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- CN208306789U CN208306789U CN201820604069.9U CN201820604069U CN208306789U CN 208306789 U CN208306789 U CN 208306789U CN 201820604069 U CN201820604069 U CN 201820604069U CN 208306789 U CN208306789 U CN 208306789U
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Abstract
The utility model discloses a kind of power steel pipe tower climbing robots, belong to robotic technology field.A kind of power steel pipe tower climbing robot, comprising: two bases connected respectively by crankshaft connecting rod system with guide rod；The bottom of base is equipped with the sufficient frame of absorption, and adsorbing sufficient frame includes support frame and electromagnet sucker, and the top of support frame is connect by telescoping mechanism with base, and the bottom of support frame is connect with electromagnet sucker.The utility model using the motion mode of linear guide formula and carries out absorption climbing using electromagnet sucker, and whole control is simple, and movement speed is very fast.In moving process, the barycentre offset of climbing robot entirety is small, motion stabilization, and when load has weight to be moved, weight is smaller to the impact of robot, has good stability.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of power steel pipe tower climbing robot.
Background technique
The remote transmission of power transmission line needs to set up power line power steel tower as support, and the timing inspection of power transmission line is to protect
Hinder the premise of electrical power transmission system safety and stability.Electric power tower is generally erected at suburb or mountain area far from cities and towns, be by
Exposing to the weather, the influence of the weathers such as thunder and lightning sleet are very easy to impaired；Need carry out inspection periodically or non-periodically.And it is present
Inspection technology be mainly to carry out inspection by the mode of artificial climbing tower.Using artificial climbing tower hanging buckle safety lock, and with the warp of people
It tests and patrols route, task difficulty is big, and risk is high when hanging buckle.
Now with the development of robot technology, the climbing robot of a variety of different structures and functional characteristics, generation are developed
Climbing operation is carried out for artificial.Common sufficient formula climbing robot energy leaping over obstacles, but complexity is controlled, movement speed is slower；Snake
Anthropomorphic robot completes the leap of obstacle using " adhesive " movement, has that kinetic stability is good, adaptation to the ground ability is strong and traction
The features such as power is big, but its freedom degree is more, and control is difficult and speed is low；Wheeled climbing robot is against rubbing between wheel and wall surface
It wipes power and generates the power to advance, travel speed is fast, and mobile flexibly motion mode uses negative-pressure adsorption, and movement velocity is high, is easy to
Control, but it is smaller with the contact area in tower face, and the weight that robot needs to carry during the motion is larger, in this way
One is difficult to maintain to stablize the state climbed to allow for wheeled robot, and also very unfavorable for obstacle detouring.
Utility model content
The purpose of this utility model is to provide a kind of power steel pipe tower climbing robots, to solve existing climbing machine
The problem of people cannot meet control simply simultaneously and can bear a heavy burden.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of power steel pipe tower climbing robot, comprising: spaced two bases pass through song between base respectively
Axis link mechanism is connected with guide rod, and one end of guide rod is fixedly connected with one of base, the other end of guide rod and another machine
Seat is slidably connected；
The bottom of base is equipped with the sufficient frame of absorption, and adsorbing sufficient frame includes support frame and electromagnet sucker, the top of support frame
Portion is connect by telescoping mechanism with base, and the bottom of support frame is connect with electromagnet sucker.
The crankshaft connecting rod system of the utility model can be realized driven by the motor done between two bases it is opposite past
Multiple movement, and direction is the extending direction of guide rod.Two base fixations can be adsorbed on electric power steel respectively by electromagnet sucker
On tube rod tower, the lock out operation between electromagnet sucker and power steel pipe tower is may be implemented in telescoping mechanism under motor effect.
Separating switching electricity by the electromagnet sucker on the continuous movement of crankshaft connecting rod system and two bases can be realized climbing machine
The climbing work of device people.Climbing robot can be realized in switching electricity by simply controlling motor rotation and electromagnet sucker
Climbing operation, can be improved the climbing speed of climbing robot.Two bases are when power steel pipe tower moves, the direction of guide rod
It is basically unchanged, power steel pipe tower climbing robot entirety centre-of gravity shift is smaller, has good stability.Due to climbing machine
Using electromagnet absorption connection between people and power steel pipe tower, increases and attraction can be increased by the electric current of electromagnet, increase
Add the weight bearing ability of climbing robot.
Telescoping mechanism can be such that electromagnet sucker separates with power steel pipe tower and make electromagnet sucker and power steel pipe rod
There is certain gap between tower.When having gap between electromagnet sucker and power steel pipe tower, crankshaft connecting rod system band
Dynamic two bases respectively forwardly move, and two bases can be made to surmount obstacles respectively, to realize the obstacle crossing function of climbing robot.
The motion process of climbing robot: by robot by base from top to bottom in the way of be placed on power steel pipe tower
On, position is preceding base in upper base, and the posterior base in position is rear base, and the distance between makes two bases and be in
Proximal most position.After electromagnet sucker is powered, robot is fixed on power steel pipe tower under the action of electromagnet sucker.Will before
Electromagnet sucker on base powers off, and the telescoping mechanism on preceding base drives the sufficient frame of absorption to shrink driven by the motor.Crankshaft
Link mechanism motor effect work, since rear base is fixed on power steel pipe tower, before crankshaft connecting rod system will drive
Base is moved up along the direction of guide rod, until the distance between preceding base and rear base are maximum.Before motor driven on base
Telescoping mechanism stretching, extension, contacted until adsorbing the electromagnet sucker on sufficient frame with power steel pipe tower, connection electromagnet sucker
Power supply, electromagnet sucker are firmly adsorbed on power steel pipe tower.Electromagnet sucker on rear base is powered off, on rear base
Telescoping mechanism drives the sufficient frame of absorption to shrink driven by the motor.Crankshaft connecting rod system work, base is along guide rod after drive
Direction moves up, until distance is minimum between rear base and preceding base.Telescoping mechanism stretching, extension after motor driven on base, directly
It is contacted to the electromagnet sucker adsorbed on sufficient frame with power steel pipe tower, connects the power supply of electromagnet sucker, electromagnet sucker jail
Jail is adsorbed on power steel pipe tower.So far, one period of motion of climbing robot is completed.
When climbing robot completion work moves down, base after preceding base becomes, base before rear base becomes, with above-mentioned fortune
Flowing mode is moved down.
The utility model was completed in a period of motion, and the center of gravity of two bases is substantially at vertical direction, robot
Overall centre-of gravity shift is smaller, motion stabilization, and when load has weight to be moved, weight is smaller to the impact of robot, has
Good stability.In addition, increasing the electric current for passing through electromagnet sucker, the attraction of electromagnet sucker can be improved, improve negative
The weight of load.Thus climbing robot can will be to have the safety lock of safety rope to take at the cross bar of power steel pipe tower, and incite somebody to action
Safety lock system hangs at cross bar, is to hang operation instead of manually carry out safety lock.
Further, the quantity of above-mentioned guide rod is 2, and guide rod is arranged in parallel in base two sides.
Further, above-mentioned support frame is that damp hinge is connect with the connection type of electromagnet sucker.
The support frame of the utility model is set as damp hinge with the connection type of electromagnet sucker and connects, can be in electromagnet
Sucker can rotate certain angle, to cooperate on power steel pipe tower surface when adsorbing cooperation with power steel pipe tower
Irregular structure, improve the contact area between electromagnet sucker and power steel pipe tower, can not only increase electromagnet suction
Attraction between disk and power steel pipe tower, can also prevent under the effect of gravity electromagnet sucker and power steel pipe tower it
Between there is opposite sliding.
Further, the quantity of the electromagnet sucker on each above-mentioned absorption foot frame is multiple and is in encircle shape.
It is in encircle shape to cooperate circular electric power steel that each of the utility model, which adsorbs the electromagnet sucker on sufficient frame,
Tube rod tower enables climbing robot to be moved along the axial direction of power steel pipe tower, prevents the case where direction is deviateed.
Further, above-mentioned telescoping mechanism includes the interior body of rod and eccentric shaft that the outer body of rod and the outer body of rod are slidably connected；Outside
The body of rod is fixed on base；The fixing end of the interior body of rod is connect with support frame, and the free end of the interior body of rod is placed in outer bar body；Eccentric shaft
One end be connected to motor, the other end of eccentric shaft passes through the side wall of the outer body of rod and passes through the free end of universal driving shaft and the interior body of rod
Connection.
The structure of the mechanical retractable mechanism of the utility model is simple, drives the rotation of eccentric shaft that can carry out by motor
The control to flexible process can be realized by the control of the revolving speed to motor in scaling operation, and control mode is simple, scaling operation
Response is rapid.Obviously, hydraulic telescopic machanism etc. can also be used to carry out scaling operation.
Further, above-mentioned power steel pipe tower climbing robot further includes infrared distance measuring module, controller and electricity
Machine, controller are electrically connected with infrared distance measuring module, electromagnet sucker and motor respectively, the crankshaft of crankshaft rod structure and
Telescoping mechanism is connected to motor respectively.
The infrared distance measuring module of the utility model be capable of measuring between climbing robot and front ring flange barrier away from
From the data that, controller passes through infrared distance measuring module transfer, control climbing robot preceding base rest on ring flange before, i.e.,
Make the position between preceding base and rear base be not on farthest distance then to control before preceding base can also rest on ring flange
Base is moved to the position nearest with preceding base after system, then controls preceding base and rear base and move forward, with maximum step pitch across
Cross ring flange.
Further, above-mentioned power steel pipe tower climbing robot further include Vision Table and with Vision Table electricity
The wireless transmitter of connection.
Picture signal can be transmitted to wirelessly connecing on ground by wireless transmitter by the Vision Table of the utility model
It receives in device, operator can carry out the work of the inspection to power steel pipe tower by the display on ground.Due to climbing machine
Device people kinetic stability is good, and the image quality that Vision Table captures is higher, can make inspection work can be in climbing robot
It can be carried out when movement, shorten the time for carrying out inspection work by robot.
The utility model has the following beneficial effects:
The utility model using the motion mode of linear guide formula and carries out absorption climbing, entirety using electromagnet sucker
Control is simple, and movement speed is very fast.In moving process, the barycentre offset of climbing robot entirety is small, motion stabilization, when negative
When being loaded with weight and being moved, weight is smaller to the impact of robot, has good stability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the power steel pipe tower climbing robot of the utility model；
Fig. 2 is the structural schematic diagram of the telescoping mechanism of the utility model.
In figure: base before 10-；Base after 20-；30- crankshaft connecting rod system；31- crankshaft；32- connecting rod；40- guide rod；50-
Adsorb sufficient frame；51- support frame；52- electromagnet sucker；The outer body of rod of 61-；The body of rod in 62-；63- universal driving shaft；64- eccentric shaft.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment
Please refer to Fig. 1, a kind of power steel pipe tower climbing robot, including 10 He of preceding base being arranged one behind the other
Base 20 afterwards, the tops of two bases are linked together by crankshaft connecting rod system 30, the crankshaft 31 of crankshaft connecting rod system 30 with
Motor connection in rear base 20 is set, and crankshaft 31 moves in a circle driven by the motor, the company of crankshaft connecting rod system 30
Bar 32 is flexibly connected with preceding base 10.
The side of two bases is linked together by two parallel guide rods 40, and one end of guide rod 40 and rear base 20 are solid
Fixed connection, the other end of guide rod 40 are slidably connected with preceding base 10.Under the drive of crankshaft connecting rod system 30, guide rod 40 and preceding machine
It can opposite sliding between seat 10.The direction of motion of guide rod 40 is consistent with the direction of motion of crankshaft connecting rod system 30, connects in crankshaft
When linkage 30 moves, guide rod 40 can do opposite reciprocating motion with preceding base 10 with the movement of crankshaft connecting rod system 30.
The length of guide rod 40 can satisfy when crankshaft connecting rod system 30 is in longest position, and guide rod 40 will not be slided from preceding base 10
Out.In addition, the position that guide rod 40 is contacted with preceding base 10 is able to bear the weight of rear base 20 and other components above it.
Obviously, in the other embodiments of the utility model, guide rod 40 can also be fixedly connected with preceding base 10, be slided with rear base 20
Connection.
The bottom of preceding base 10 and the bottom of rear base 20 are provided with the sufficient frame 50 of absorption, and two bases pass through flexible respectively
Mechanism and the sufficient frame 50 of absorption link together, and telescoping mechanism is connect with the motor being separately positioned in two bases, telescoping mechanism
The reciprocating motion perpendicular to 40 extending direction of guide rod can be done driven by the motor, thus drive the sufficient frame 50 of absorption do perpendicular to
The reciprocating motion of 40 extending direction of guide rod.
It adsorbs sufficient frame 50 and includes support frame 51 and electromagnet sucker 52, the electromagnet sucker 52 on each support frame 51
Quantity is that 4,4 electromagnet suckers 52 are distributed in the both ends of climbing robot axial direction two-by-two and are in encircle shape, when electromagnet is inhaled
When disk 52 is matched with power steel pipe tower, 4 electromagnet suckers 52 can be contacted by way of encircling with power steel pipe tower,
In climbing robot movement, climbing robot can be limited and moved to power steel pipe tower extending direction, it is inclined when preventing from moving
From direction.In the other embodiments of the utility model, the quantity of the electromagnet sucker 52 on each support frame 51 can be 1
A arc-shaped sucker can also be the multiple and lesser sucker of sectional area, to increase electromagnet sucker 52 and electric power steel pipe
Contact area between shaft tower increases the attraction between electromagnet sucker 52 and power steel pipe tower.
It is linked together between support frame 51 and electromagnet sucker 52 using damping rotary gemel connection type, when electric power steel
When tube rod tower is reducing cylindrical shape or shape mutation, the position of electromagnet sucker 52 can be with power steel pipe tower shape
Change and change, matching the shape of power steel pipe tower, increase electromagnet sucker 52 and power steel pipe tower it
Between contact area, increase the attraction between electromagnet sucker 52 and power steel pipe tower.
Referring to Fig.1 and 2, telescoping mechanism be it is mechanical, structure is simple, controls it relatively simple, can reduce
The weight of climbing robot itself reduces the probability that climbing robot is fallen during climbing due to gravity.At this
In the other embodiments of utility model, telescoping mechanism can also be fluid pressure type telescoping mechanism.
Mechanical telescoping mechanism includes the body of rod 62 and eccentric shaft 64 in the cylindrical outer body of rod 61, cylinder.The outer body of rod 61
Inner hollow and be fixedly mounted on base along the direction perpendicular to guide rod 40.Interior 62 one end of the body of rod and support frame 51 are solid
Fixed connection, this end are the fixing end of the interior body of rod 62；The other end of the interior body of rod 62 is placed in the inside of the outer body of rod 61, this end is the interior body of rod
62 free end.The free end of the interior body of rod 62 can move reciprocatingly in the inside of the outer body of rod 61, the reciprocating motion of the interior body of rod 62
Drive the reciprocating motion for adsorbing sufficient frame 50.
The free end of the interior body of rod 62 is flexibly connected by universal driving shaft 63 with eccentric shaft 64, and eccentric shaft 64 is in electricity connected to it
It makes rotating motion under the drive of machine, the rotary motion of eccentric shaft 64 is converted to the reciprocating motion of the interior body of rod 62 by universal driving shaft 63.Partially
The middle part of mandrel 64 passes through the side wall of the outer body of rod 61, and the outer body of rod 61 is linked together by rolling bearing and eccentric shaft 64.
Eccentric shaft 64 and crankshaft 31 in two bases are separately connected different motors, and the rotation between each motor is asynchronous, is convenient for
Respectively in two bases eccentric shaft 64 and crankshaft 31 control.
Power steel pipe tower climbing robot further includes controller, controller respectively with each motor and electromagnet sucker 52
Electrical connection, controller can control the switch and control 52 switching of electromagnet sucker electricity of motor according to programming, climb to realize
Climb the climbing operation of robot.In the present invention, the model of the main control chip of controller is STC89C51.
Power steel pipe tower climbing robot further includes the infrared distance measuring module with controller electrical connection, infrared distance measuring
Module includes the infrared ambulator of model YHJ-200.Infrared distance measuring module can monitor climbing robot and flange
The distance between disk barrier, and the data monitored are passed into controller, controller is inhaled by control motor and electromagnet
Before the preceding base 10 of climbing robot is parked in ring flange barrier by disk 52, then controls motor and electromagnet sucker 52 carries out
Obstacle detouring operation.
In order to realize the inspection function of power steel pipe tower climbing robot, further include Vision Table and with vision cloud
The wireless transmitter of platform electrical connection.The image captured can be transmitted to bottom surface by wireless transmitter by Vision Table, be passed through
Display equipment shows image, to complete inspection work.It is replaced manually carrying out inspection with robot, avoids manually climbing electric power
The various risks of steel pipe tower.
It further include mechanical arm to realize the function of hanging safety lock of power steel pipe tower climbing robot, it is mechanical
Arm is arranged on preceding base 10.Safety lock with safety rope can be hanging to designated position by mechanical arm, avoid manually hanging
The various risks of safety lock.
Power steel pipe tower climbing robot climbs process upwards: (1) by climbing robot according to preceding base 10 it is upper, after
Being subsequently placed on power steel pipe tower under of base 20, and the distance between two bases are in proximal most position；(2) will
Electromagnet sucker 52 is powered, and robot is fixed on power steel pipe tower under the action of electromagnet sucker 52；(3) by preceding base
Electromagnet sucker 52 on 10 powers off, and the telescoping mechanism on preceding base 10 drives the sufficient frame 50 of absorption to shrink driven by the motor；
(4) the motor work connecting with crankshaft connecting rod system 30, band dynamic crankshaft 31 make rotating motion, and preceding base 10 is in crankshaft connecting rod system
It is moved up under 30 driving effect and the guiding role of guide rod 40, until the distance between two bases maximum；(5) motor drives
Telescoping mechanism stretching, extension before dynamic on base 10 is contacted until adsorbing the electromagnet sucker 52 on sufficient frame 50 with power steel pipe tower；
(6) power supply of the electromagnet sucker 52 before connecting on base 10, electromagnet sucker 52 are firmly adsorbed on power steel pipe tower；
(7) the electromagnet sucker 52 on rear base 20 is powered off, the telescoping mechanism on rear base 20 drives absorption driven by the motor
Sufficient frame 50 is shunk；(8) motor drives crankshaft connecting rod system 30 to work, in the driving effect and guide rod 40 of crankshaft connecting rod system 30
Under guiding role, rear base 20 is moved up, until distance is minimum between two bases；(9) after motor driven on base 20
Telescoping mechanism stretching, extension is contacted until adsorbing the electromagnet sucker 52 on sufficient frame 50 with power steel pipe tower；(10) base after connecting
The power supply of electromagnet sucker 52 on 20, electromagnet sucker 52 are firmly adsorbed on power steel pipe tower.So far, electric power steel is completed
One period of motion of tube rod tower climbing robot, power steel pipe tower climbing robot successively proceed as described above, can be with
Realize the continuous upward climbing operation of power steel pipe tower climbing robot.
Power steel pipe tower climbing robot climbs downwards process: when being climbed downwards, base after preceding base 10 becomes
20, rear base 20 becomes preceding base 10, repeats above-mentioned climbing engineering, downward climbing process can be realized.
Power steel pipe tower climbing robot obstacle detouring process: (1) infrared distance measuring module measurement climbing robot and flange
The distance between disk barrier, and the data measured are passed into controller；(2) base 10 is parked in ring flange before controller controls
Before barrier and fixation is adsorbed on power steel pipe tower；(3) after controller control base 20 be moved to it is nearest with preceding base 10
Position and fixation be adsorbed on power steel pipe tower；(4) it repeats power steel pipe tower climbing robot and climbs process, can be realized
Obstacle detouring process.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (7)
1. a kind of power steel pipe tower climbing robot characterized by comprising spaced two bases, the base
Between connected respectively by crankshaft connecting rod system (30) and guide rod (40), one end of the guide rod (40) and one of them described machine
Seat is fixedly connected, and the other end of the guide rod (40) is slidably connected with base described in another；
The bottom of the base is equipped with the sufficient frame (50) of absorption, and the sufficient frame (50) of the absorption includes support frame (51) and electromagnet
The top of sucker (52), support frame as described above (51) is connect by telescoping mechanism with the base, the bottom of support frame as described above (51)
It is connect with the electromagnet sucker (52).
2. power steel pipe tower climbing robot according to claim 1, which is characterized in that the quantity of the guide rod (40)
It is 2, the guide rod (40) is arranged in parallel in the base two sides.
3. power steel pipe tower climbing robot according to claim 1, which is characterized in that support frame as described above (51) and institute
The connection type of electromagnet sucker (52) is stated as damp hinge connection.
4. power steel pipe tower climbing robot according to claim 3, which is characterized in that the sufficient frame of each described absorption
(50) quantity of the electromagnet sucker (52) on is multiple and is in encircle shape.
5. power steel pipe tower climbing robot according to any one of claims 1 to 4, which is characterized in that described flexible
Mechanism includes the outer body of rod (61) and the interior body of rod (62) and eccentric shaft (64) that the outer body of rod (61) is slidably connected；It is described outer
The body of rod (61) is fixed on the base；The fixing end of the interior body of rod (62) is connect with support frame as described above (51), the interior bar
The free end of body (62) is placed in the outer body of rod (61)；One end of the eccentric shaft (64) is connected to motor, the eccentric shaft
(64) the other end passes through the side wall of the outer body of rod (61) and passes through the free end of universal driving shaft (63) and the interior body of rod (62)
Connection.
6. power steel pipe tower climbing robot according to claim 5, which is characterized in that the power steel pipe tower is climbed
Climbing robot further includes infrared distance measuring module, controller and motor, the controller respectively with the infrared distance measuring mould
Block, the electromagnet sucker (52) and motor electrical connection, the crankshaft (31) of the crankshaft rod structure (30) and described stretch
Contracting mechanism is connected to motor respectively.
7. power steel pipe tower climbing robot according to claim 6, which is characterized in that the power steel pipe tower is climbed
Climb the wireless transmitter that robot further includes Vision Table and is electrically connected with the Vision Table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820604069.9U CN208306789U (en) | 2018-04-25 | 2018-04-25 | A kind of power steel pipe tower climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820604069.9U CN208306789U (en) | 2018-04-25 | 2018-04-25 | A kind of power steel pipe tower climbing robot |
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| CN208306789U true CN208306789U (en) | 2019-01-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382480A (en) * | 2018-04-25 | 2018-08-10 | 贵州电网有限责任公司 | A kind of power steel pipe tower climbing robot |
| CN110281159A (en) * | 2019-07-01 | 2019-09-27 | 汕头大学 | A kind of intelligent automation Rust Removal Robot of Sand Blast |
| CN116142340A (en) * | 2023-01-04 | 2023-05-23 | 南通星球石墨股份有限公司 | Climbing type leakage detection equipment for hydrogen chloride graphite absorption tower |
-
2018
- 2018-04-25 CN CN201820604069.9U patent/CN208306789U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382480A (en) * | 2018-04-25 | 2018-08-10 | 贵州电网有限责任公司 | A kind of power steel pipe tower climbing robot |
| CN110281159A (en) * | 2019-07-01 | 2019-09-27 | 汕头大学 | A kind of intelligent automation Rust Removal Robot of Sand Blast |
| CN116142340A (en) * | 2023-01-04 | 2023-05-23 | 南通星球石墨股份有限公司 | Climbing type leakage detection equipment for hydrogen chloride graphite absorption tower |
| CN116142340B (en) * | 2023-01-04 | 2023-08-08 | 南通星球石墨股份有限公司 | Climbing type leakage detection equipment for hydrogen chloride graphite absorption tower |
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