CN210440164U - Wind power tower climbing robot system - Google Patents
Wind power tower climbing robot system Download PDFInfo
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- CN210440164U CN210440164U CN201921051700.8U CN201921051700U CN210440164U CN 210440164 U CN210440164 U CN 210440164U CN 201921051700 U CN201921051700 U CN 201921051700U CN 210440164 U CN210440164 U CN 210440164U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model relates to the technical field of robot, concretely relates to wind-powered electricity generation tower robot system that climbs, it includes that two robot components that climb are located the both sides of wind-powered electricity generation blade respectively, and every robot component that climbs includes: the first climbing trolley and the second climbing trolley are both adsorbed on the surface of the wind power tower and are arranged at intervals along the axial direction of the wind power tower, the first climbing trolley is positioned on one side close to the wind power blades, and the second climbing trolley is positioned on one side far away from the wind power blades; the cantilever frame is provided with operating equipment, the cantilever frame is hinged with the first climbing trolley, and the cantilever frame is provided with a hoisting mechanism; the first traction rope is connected with the first climbing trolley and the second climbing trolley; the second traction rope is connected with the second climbing trolley and a winding drum of the winding mechanism; the first rigid connecting piece is hinged with the two first climbing trolleys and arranged at intervals with the wind power tower; and the second rigid connecting piece is hinged with the two second climbing trolleys and is arranged at intervals with the wind power tower.
Description
Technical Field
The utility model relates to the technical field of robots, concretely relates to wind-powered electricity generation tower robot system that climbs.
Background
Wind power generation is a green new energy with great market prospect, the windward side of a blade of a wind driven generator is the main power source of the generator, and the smoothness of the blade back is the basis for determining the rotating speed of a fan. The width of the blade back generates resistance in the air, and if sand holes, cracks and damage exist, the resistance is increased, and the efficiency of wind power generation is influenced. After the general fan runs for two to three years, the protective layer gel coat on the windward side is damaged to the utmost point. The smoothness of the blade back has a serious influence on the rotating speed of the fan, and in order to improve the utilization rate of wind power generation and reduce the operation cost, the fan blade needs to be maintained, cleaned and detected regularly. Generally, the cleaning and detection of domestic wind power blades are realized by building a cleaning and detecting platform, then the detecting platform is lifted to a high place, cleaning and detecting personnel perform cleaning, deicing, detection and other operations on the blades on the detecting platform, the cleaning, deicing and detecting processes belong to high-altitude operation, the safety is poor, the time consumption is long, and the maintenance and inspection efficiency is low.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming among the prior art to the fan blade wash, detect the operation need by the manual work go on, lead to the security relatively poor, maintain the lower technical defect of inspection efficiency to provide one kind can remote control, carry the operation equipment to climb to wind power tower drum eminence and wash wind power blade, the security is better, maintain the higher wind power tower robot system that climbs of inspection efficiency.
In order to solve the technical problem, the utility model discloses a technical scheme as follows:
a wind tower climbing robot system comprising: two climbing robot assemblies located on both sides of the wind turbine blade, respectively, each climbing robot assembly comprising: the lifting device comprises a first climbing trolley, a second climbing trolley, a cantilever bracket, a first traction rope and a second traction rope, wherein the first climbing trolley and the second climbing trolley are adsorbed on the surface of a wind power tower and move on the surface of the wind power tower, the first climbing trolley and the second climbing trolley are arranged at intervals along the axial direction of the wind power tower, the first climbing trolley is positioned on one side, close to the wind power blade, of the wind power tower, and the second climbing trolley is positioned on one side, far away from the wind power blade, of the wind power tower; the cantilever frame is provided with operating equipment, the cantilever frame is hinged with the first climbing trolley, and one end of the cantilever frame, which is far away from the first climbing trolley, is provided with a hoisting mechanism; two ends of the first traction rope are respectively connected with the first climbing trolley and the second climbing trolley; two ends of the second traction rope are respectively connected with the second climbing trolley and a winding drum of the hoisting mechanism; two ends of the first rigid connecting piece are respectively hinged with the two first climbing trolleys, and the first rigid connecting piece and the wind power tower are arranged at intervals; and two ends of the second rigid connecting piece are respectively hinged with the two second climbing trolleys, and the second rigid connecting piece and the wind power tower are arranged at intervals.
In the wind power tower climbing robot system, the height of the second climbing trolley in each climbing robot assembly is higher than that of the first climbing trolley.
In the wind power tower climbing robot system, the first climbing trolley and the second climbing trolley are both in a permanent magnet adsorption mode and keep in an adsorption state with the wind power tower.
In the wind power tower climbing robot system, the first climbing trolley and the second climbing trolley both adopt mecanum wheels.
In the wind power tower climbing robot system, the first traction rope and the second traction rope are provided with a plurality of omnidirectional wheels, and the first traction rope and the second traction rope are in contact with the wind power tower barrel through the omnidirectional wheels.
In the wind power tower climbing robot system, the operation equipment comprises a detection device for detecting the wind power blade, and the detection device is arranged on one side of the hoisting mechanism, which is far away from the first climbing trolley, and faces the wind power blade.
In the wind power tower climbing robot system, the operation equipment further comprises a cleaning device for cleaning the wind power blades, the cleaning device is arranged on one side, away from the first climbing trolley, of the hoisting mechanism and faces the wind power blades, and the cleaning device comprises a plurality of high-pressure water nozzles and high-pressure water pipes connected with the high-pressure water nozzles.
In the wind power tower climbing robot system, the first rigid connecting piece and the second rigid connecting piece are both arc-shaped structures matched with the wind power tower drum.
In the wind power tower climbing robot system, the first rigid connecting piece and the second rigid connecting piece are both steel connecting pieces.
In the wind-power tower climbing robot system, the first traction rope and the second traction rope are both steel wire traction ropes.
The utility model discloses technical scheme has following advantage:
1. the utility model discloses a wind-powered electricity generation tower robot system that climbs, include: two climbing robot assemblies located on both sides of the wind turbine blade, respectively, each climbing robot assembly comprising: the lifting device comprises a first climbing trolley, a second climbing trolley, a cantilever bracket, a first traction rope and a second traction rope, wherein the first climbing trolley and the second climbing trolley are adsorbed on the surface of a wind power tower and move on the surface of the wind power tower, the first climbing trolley and the second climbing trolley are arranged at intervals along the axial direction of the wind power tower, the first climbing trolley is positioned on one side, close to the wind power blade, of the wind power tower, and the second climbing trolley is positioned on one side, far away from the wind power blade, of the wind power tower; the cantilever frame is provided with operating equipment, the cantilever frame is hinged with the first climbing trolley, and one end of the cantilever frame, which is far away from the first climbing trolley, is provided with a hoisting mechanism; two ends of the first traction rope are respectively connected with the first climbing trolley and the second climbing trolley; two ends of the second traction rope are respectively connected with the second climbing trolley and a winding drum of the hoisting mechanism; two ends of the first rigid connecting piece are respectively hinged with the two first climbing trolleys, and the first rigid connecting piece and the wind power tower are arranged at intervals; and two ends of the second rigid connecting piece are respectively hinged with the two second climbing trolleys, and the second rigid connecting piece and the wind power tower are arranged at intervals. According to the design, the operation equipment can be conveyed to the high position of the wind power tower cylinder through the first climbing trolley and the second climbing trolley, so that the wind power blade is positioned between the two cantilever brackets, and an operator can realize operations such as cleaning, deicing and detection of the wind power blade only by remotely controlling the robot system on the ground, so that the operation time consumption is reduced, the maintenance and inspection efficiency is improved, and the safety of maintainers is improved; the design of the hoisting mechanism can adjust the angle of the cantilever bracket, realize the pitching of the cantilever bracket and realize the complete cleaning and detection operation of the wind power blade in the cleaning and detection range; the design structure is simple, the operation is convenient, the labor is saved, and the cleaning and detecting effects on the wind power blade are good.
2. The utility model discloses a wind-powered electricity generation tower robot system that climbs, every climb in the robot subassembly the second climb the dolly highly be higher than the first height of climbing the dolly. The design can keep the working range of the cantilever frame consistent with that of the wind power blade, and all areas of the wind power blade can be conveniently located in the working range of cleaning and detection.
3. The utility model discloses a wind-powered electricity generation tower robot system that climbs, first climb the dolly with the second climbs the dolly and all adopts mecanum wheel. The design of mecanum wheel can make first dolly and the second that climbs climb the dolly and can follow wind power tower section of thick bamboo axial climbing, can follow the radial horizontal migration of wind power tower section of thick bamboo again, make the effect of washing, detecting better.
4. The utility model discloses a wind power tower robot system that climbs, first haulage rope with be provided with a plurality of omniwheel on the second haulage rope, first haulage rope with the second haulage rope passes through the omniwheel with wind power tower section of thick bamboo contact. Because the tower cylinder is a conical structure, the first traction rope and part of the second traction rope can contact the surface of the wind power tower cylinder in the climbing process, the flexible structure of the first traction rope and the flexible structure of the second traction rope can be self-adapted to the curved surface structure of the wind power tower cylinder through the design of the omnidirectional wheel, and therefore paint on the surface of the wind power tower cylinder is protected from being damaged through the omnidirectional wheel.
5. The utility model discloses a wind-powered electricity generation tower robot system that climbs, the operation equipment is right including being used for the wind-powered electricity generation blade carries out the detection device that detects, detection device set up in hoist mechanism keeps away from one side and the orientation of first dolly that climbs wind-powered electricity generation blade sets up. The design of the detection device achieves the purpose of detecting information such as welding seams and the like of the wind power blade.
6. The utility model discloses a wind power tower robot system that climbs, the operation equipment is still right including being used for wind-powered electricity generation blade carries out abluent belt cleaning device, belt cleaning device set up in hoist mechanism keeps away from first one side and the orientation of the dolly that climbs the wind-powered electricity generation blade sets up, belt cleaning device include a plurality of high pressure water nozzles and with the high pressure water pipe that high pressure water nozzle connects. The design of the cleaning device achieves the purposes of cleaning, deicing and other operations of the wind power blade.
7. The utility model discloses a wind power tower robot system that climbs, first rigid connection spare with second rigid connection spare be with the arc structure of wind power tower cylinder adaptation. By the design, the surfaces of the wind power tower are not easy to scratch in the crawling process of the wind power tower by the first climbing trolley and the second climbing trolley.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic combination diagram of a wind power tower climbing robot system and a wind power tower according to the present invention;
FIG. 2 is a partial combination schematic diagram of the wind tower climbing robot system shown in FIG. 1 and a wind tower;
fig. 3 is a schematic view of the working range of the wind power tower climbing robot system of the present invention, wherein the area a is a cleaning and detecting area;
description of reference numerals:
1-wind power blades; 2-a wind power tower; 3-a second hauling rope; 4-cantilever frame; 5-a first climbing trolley; 6-a first hauling rope; 7-a second climbing trolley; 8-hoisting mechanism.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Fig. 1 to 3 show a concrete embodiment of a wind tower climbing robot system according to the present invention. The system is used for cleaning, deicing, detecting and other operations of the wind power blade 1 on the wind power tower 2. The wind power tower climbing robot system comprises: two climbing robot assemblies, a first rigid connection, and a second rigid connection.
In this embodiment, two climbing robot assemblies are located on two sides of the wind power blade 1 respectively, one of the wind power blades 1 is perpendicular to the ground during operation, one of the climbing robot assemblies is located on the left side of the wind power blade 1, the other climbing robot assembly is located on the right side of the wind power blade 1, the operation equipment located on the assemblies on two sides of the wind power blade 1 cleans, deices, detects and other operations on each area of the wind power blade 1, so that the wind power blade 1 can be completely located in the cleaning and detecting operation range, and each climbing robot assembly includes: the wind power blade climbing device comprises a first climbing trolley 5, a second climbing trolley 7, a cantilever bracket 4, a first traction rope 6 and a second traction rope 3, wherein the first climbing trolley 5 and the second climbing trolley 7 are both adsorbed on the surface of the wind power tower 2 and move on the surface of the wind power tower 2, the first climbing trolley 5 and the second climbing trolley 7 are arranged at intervals along the axial direction of the wind power tower 2, the first climbing trolley 5 is positioned on one side of the wind power tower 2 close to the wind power blade 1, and the second climbing trolley 7 is positioned on one side of the wind power tower 2 far away from the wind power blade 1; the cantilever frame 4 is of a truss structure, operating equipment is mounted on the cantilever frame 4, the cantilever frame 4 is hinged with the first climbing trolley 5, and a hoisting mechanism 8 is arranged at one end, far away from the first climbing trolley 5, of the cantilever frame 4; two ends of the first traction rope 6 are respectively connected with the first climbing trolley 5 and the second climbing trolley 7; and two ends of the second traction rope 3 are respectively connected with the second climbing trolley 7 and a winding drum of the winding mechanism 8.
The winding mechanism 8 is arranged on the cantilever frame 4, so that the pitching of the cantilever frame 4 can be realized, and the complete cleaning and detection of the wind power blade 1 can be realized within the cleaning and detection range. When the wind power generation device works, one of the blades of the wind power blade 1 is located between the two cantilever brackets 4, so that the operation equipment arranged on the cantilever brackets 4 can clean, deice or detect all areas of the wind power blade 1.
In the present embodiment, the height of the second climbing trolley 7 in each climbing robot assembly is higher than the height of the first climbing trolley 5. By the design, the working range of the cantilever frame 4 can be consistent with that of the wind power blade 1, and all areas of the wind power blade 1 can be conveniently located in the working range of cleaning and detection.
The first climbing trolley 5 and the second climbing trolley 7 are both in a permanent magnet adsorption mode and keep in an adsorption state with the wind power tower 2. The first climbing trolley 5 and the second climbing trolley 7 both adopt Mecanum wheels. The wheels of the first climbing trolley 5 and the second climbing trolley 7 are horizontally arranged along the radial direction, and the wheels of the second climbing trolley are vertically arranged along the axial direction. The design of mecanum wheel can make first dolly 5 and the second dolly 7 that climbs climb can follow wind power tower 2 axial climbing, can follow wind power tower 2 radial horizontal migration again, makes the effect of washing, detecting better.
In this embodiment, the first traction rope 6 and the second traction rope 3 are both steel wire traction ropes. The first traction rope 6 and the second traction rope 3 are provided with a plurality of omnidirectional wheels, and the first traction rope 6 and the second traction rope 3 are in contact with the wind power tower 2 through the omnidirectional wheels. Because the tower section of thick bamboo is the toper structure, climb in-process first haulage rope 6 and part second haulage rope 3 and can contact wind power tower 2 surfaces, multiunit omniwheel series connection installation is fixed on first haulage rope 6 and second haulage rope 3, can make the flexible construction self-adaptation wind power tower 2's of first haulage rope 6 and second haulage rope 3 curved surface structure, thereby paint through omniwheel structure protection wind power tower 2 surfaces is not damaged, the quantity of omniwheel is confirmed according to actual need on first haulage rope 6 and the second haulage rope 3.
In this embodiment, two ends of the first rigid connecting piece are respectively hinged to the two first climbing trolleys 5, and the first rigid connecting piece and the wind power tower 2 are arranged at an interval. Two ends of the second rigid connecting piece are respectively hinged with the two second climbing trolleys 7, and the second rigid connecting piece and the wind power tower 2 are arranged at intervals. The first rigid connecting piece and the second rigid connecting piece are both arc-shaped structures matched with the wind power tower 2. The design of the arc-shaped structure can ensure that the first climbing trolley 5 and the second climbing trolley 7 are not easy to scratch the surface of the wind power tower 2 in the crawling process of the wind power tower 2. The first rigid connecting piece and the second rigid connecting piece are both steel connecting pieces. With the face of wind power blade 1 as the front, two first climbing trolleys 5 in the two climbing robot assemblies are located on the front side of wind power tower 2, two second climbing trolleys 7 are located on the rear side of the wind power tower 2, and the first rigid connecting piece and the second rigid connecting piece connect the two first climbing trolleys 5 and the two second climbing trolleys 7 into an encircling structure to encircle the tower.
In this embodiment, the operation equipment includes the detection device that is used for right wind-powered electricity generation blade 1 detects, detection device set up in hoisting mechanism 8 keeps away from one side of first dolly 5 that climbs and towards wind-powered electricity generation blade 1 sets up, and detection device is used for detecting welding seam, sand hole, crackle, damage etc. on wind-powered electricity generation blade 1. The operation equipment further comprises a cleaning device used for cleaning the wind power blade 1, the cleaning device is arranged on one side, far away from the first climbing trolley 5, of the hoisting mechanism 8 and faces the wind power blade 1, the cleaning device comprises a plurality of high-pressure water nozzles and high-pressure water pipes connected with the high-pressure water nozzles, and the cleaning device is used for cleaning, deicing and other operations on the wind power blade 1.
The cleaning device and the detection device arranged on the cantilever frames 4 are conveyed to the positions, corresponding to the wind power blades 1, of the high positions of the wind power towers 2, the cleaning device and the detection device arranged on the cantilever frames 4 are conveyed, one of the wind power blades 1 is perpendicular to the ground during operation, the first climbing trolley 5 and the second climbing trolley 7 can move horizontally or climb along the wind power towers 2, when the wind power blades 1 are located between the two cantilever frames 4, the cleaning, deicing or detection and other operations are started, high-pressure water is guided to the two cantilever frames 4 from the ground along the wind power towers 2 during cleaning, high-pressure water nozzles are installed on the cantilever frames 4, the wind power blades 1 are cleaned by the high pressure of the high-pressure water, and the detection device installed on the cantilever frames 4 detects welding seams and the like of the wind power blades 1; the second traction rope 3 is pulled through the hoisting mechanism 8 on the cantilever frame 4, so that the cantilever frame 4 is tilted upwards to a certain angle, as shown in fig. 3, the wind power blade 1 is positioned in a working area at the front end of the cantilever frame 4, and then cleaning, deicing or detection and other operations are carried out, the first climbing trolley 5 and the second climbing trolley 7 are in intermittent climbing operation, the hoisting mechanism 8 also works intermittently, the wind power blade 1 is always positioned in the working area at the front end of the cantilever frame 4 until the whole wind power blade 1 is operated, and then cleaning, deicing or detection and other operations are carried out on the next wind power blade 1. The first climbing trolley 5 and the second climbing trolley 7 in each climbing robot assembly can also climb independently, carry high-pressure water or a detection device to clean a tower or detect a welding seam, and the horizontal state of the first climbing trolley 5 and the horizontal state of the second climbing trolley 7 can be adjusted through a sensor system, and the horizontal state and the vertical state of the four climbing trolleys can also be adjusted. The robot system is remotely controlled on the ground by an operator, so that the maintenance and inspection efficiency is improved, and the safety of maintenance personnel is improved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. A wind tower climbing robot system, comprising:
two climbing robot assemblies respectively located on both sides of the wind power blade (1), each climbing robot assembly comprising: the wind power blade climbing device comprises a first climbing trolley (5), a second climbing trolley (7), a cantilever bracket (4), a first traction rope (6) and a second traction rope (3), wherein the first climbing trolley (5) and the second climbing trolley (7) are adsorbed on the surface of a wind power tower (2) and move on the surface of the wind power tower (2), the first climbing trolley (5) and the second climbing trolley (7) are arranged at intervals along the axial direction of the wind power tower (2), the first climbing trolley (5) is positioned on one side, close to the wind power blade (1), of the wind power tower (2), and the second climbing trolley (7) is positioned on one side, far away from the wind power blade (1), of the wind power tower (2); the cantilever frame (4) is provided with operation equipment, the cantilever frame (4) is hinged with the first climbing trolley (5), and one end of the cantilever frame (4) far away from the first climbing trolley (5) is provided with a hoisting mechanism (8); two ends of the first traction rope (6) are respectively connected with the first climbing trolley (5) and the second climbing trolley (7); two ends of the second traction rope (3) are respectively connected with the second climbing trolley (7) and a winding drum of the winding mechanism (8);
two ends of the first rigid connecting piece are respectively hinged with the two first climbing trolleys (5), and the first rigid connecting piece and the wind power tower (2) are arranged at intervals;
and two ends of the second rigid connecting piece are respectively hinged with the two second climbing trolleys (7), and the second rigid connecting piece and the wind power tower drum (2) are arranged at intervals.
2. Wind tower climbing robot system according to claim 1, characterized in that the height of the second climbing trolley (7) in each climbing robot assembly is higher than the height of the first climbing trolley (5).
3. The wind tower climbing robot system according to claim 1, wherein the first climbing trolley (5) and the second climbing trolley (7) are both kept in an adsorption state with the wind tower (2) by adopting a permanent magnet adsorption manner.
4. The wind tower climbing robot system according to claim 1, wherein the first climbing trolley (5) and the second climbing trolley (7) both employ mecanum wheels.
5. The wind tower climbing robot system according to claim 1, wherein a plurality of omnidirectional wheels are arranged on the first traction rope (6) and the second traction rope (3), and the first traction rope (6) and the second traction rope (3) are in contact with the wind tower (2) through the omnidirectional wheels.
6. The wind tower climbing robot system according to any one of claims 1 to 5, wherein the working equipment comprises a detection device for detecting the wind blade (1), and the detection device is arranged on one side of the hoisting mechanism (8) far away from the first climbing trolley (5) and faces the wind blade (1).
7. The wind tower climbing robot system according to claim 6, wherein the operation equipment further comprises a cleaning device for cleaning the wind power blade (1), the cleaning device is arranged on one side of the hoisting mechanism (8) far away from the first climbing trolley (5) and faces the wind power blade (1), and the cleaning device comprises a plurality of high-pressure water nozzles and high-pressure water pipes connected with the high-pressure water nozzles.
8. The wind tower climbing robot system according to any one of claims 1 to 5, wherein the first rigid connecting member and the second rigid connecting member are both arc-shaped structures adapted to the wind tower (2).
9. The wind tower climbing robot system according to claim 8, wherein the first rigid connector and the second rigid connector are both steel connectors.
10. Wind tower climbing robot system according to any of the claims 1-5, characterized in that the first tractive rope (6) and the second tractive rope (3) are both steel wire tractive ropes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921051700.8U CN210440164U (en) | 2019-07-05 | 2019-07-05 | Wind power tower climbing robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921051700.8U CN210440164U (en) | 2019-07-05 | 2019-07-05 | Wind power tower climbing robot system |
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| CN210440164U true CN210440164U (en) | 2020-05-01 |
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| CN201921051700.8U Active CN210440164U (en) | 2019-07-05 | 2019-07-05 | Wind power tower climbing robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112033958A (en) * | 2020-08-03 | 2020-12-04 | 河北工业大学 | Wind-powered electricity generation blade inspection robot |
| CN112901430A (en) * | 2021-04-06 | 2021-06-04 | 兰州理工大学 | Climb-assisting type deformable wind power blade deicing special equipment |
-
2019
- 2019-07-05 CN CN201921051700.8U patent/CN210440164U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112033958A (en) * | 2020-08-03 | 2020-12-04 | 河北工业大学 | Wind-powered electricity generation blade inspection robot |
| CN112901430A (en) * | 2021-04-06 | 2021-06-04 | 兰州理工大学 | Climb-assisting type deformable wind power blade deicing special equipment |
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