CN213197536U - Inverted V-shaped track and inspection system - Google Patents
Inverted V-shaped track and inspection system Download PDFInfo
- Publication number
- CN213197536U CN213197536U CN202021721882.8U CN202021721882U CN213197536U CN 213197536 U CN213197536 U CN 213197536U CN 202021721882 U CN202021721882 U CN 202021721882U CN 213197536 U CN213197536 U CN 213197536U
- Authority
- CN
- China
- Prior art keywords
- track
- shaped
- unit
- inverted
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The application discloses type of falling V track and system of patrolling and examining. The inverted V-shaped track comprises a track unit, and guide structures are formed on two sides of the track unit. The two guide structures are symmetrically distributed relative to the vertical center line of the track unit. The upper surface of the guide structure forms a walking inclined plane for contacting with the walking wheels of the track robot, and the walking inclined plane is inclined downwards relative to the vertical central line of the track unit. The application provides a technical scheme can make track robot when following the orbital motion of type of falling V, has good centering nature, guarantees track robot and steadily follows orbital motion.
Description
Technical Field
The application relates to the technical field of rail robots, in particular to an inverted V-shaped rail and inspection system.
Background
Along with the development and progress of intelligent science and technology, the track inspection robot is more and more widely applied.
The rail robot travels along the rail by its traveling mechanism, and the existing rail generally has a horizontal guide surface along which the traveling mechanism travels.
The running gear of track robot leads to the walking wheel atress of running gear's both sides inhomogeneous on the horizontally spigot surface, through long-time work, leads to both sides walking wheel wearing and tearing degree inconsistent, leads to the track robot to overturn of turning on one's side.
SUMMERY OF THE UTILITY MODEL
The application provides a type of falling V track and system of patrolling and examining, it can make track robot when following the type of falling V rail running, has good centering nature, guarantees that track robot steadily follows rail running.
In a first aspect, an embodiment of the present invention provides an inverted V-shaped track, including:
the guide structure is formed on each of two sides of the track unit;
the two guide structures are symmetrically distributed relative to a vertical central line of the track unit;
the upper surface of the guide structure forms a walking inclined plane for contacting with the walking wheels of the track robot, and the walking inclined plane is inclined downwards relative to the vertical central line of the track unit.
Above-mentioned scheme provides a type of falling V track, the type of falling V track be used for with the cooperation of track robot for the track robot passes through running gear along type of falling V track walking. The inverted V-shaped track comprises a track unit, the traveling wheels at two sides of the traveling mechanism are respectively supported on the traveling inclined planes of the guide structures at two sides of the track unit, because the two guide structures are symmetrical relative to the vertical central line of the track unit, the travelling wheels at the two sides of the travelling mechanism are also symmetrical relative to the vertical central line of the track unit when being assembled on the track unit, and simultaneously, because the walking inclined planes are inclined downwards relative to the vertical central line of the track unit, and the two walking inclined planes are in an inverted V shape, the walking wheels on the two sides have good centering property under the action of gravity of the track robot, meanwhile, it should be noted that, because the walking inclined plane is inclined, compared with the existing track, under the condition of not increasing the width of track, the inclined walking inclined plane can increase with the area of contact between the walking wheel for the track robot can walk on the type of falling V track steadily.
In an alternative embodiment, the side of the guide structure forms a guide plane, the guide plane being perpendicular to the horizontal direction, the guide plane being for contact with a guide wheel of the rail robot;
the bottom surface of the guide structure is formed with a pressure plane parallel to the horizontal direction for contacting with a pressure wheel of the rail robot.
In an optional embodiment, the inverted-V-shaped track further comprises a U-shaped fixing piece and a hoisting assembly;
the lower surface of the track unit is provided with a mounting groove, and the mounting groove extends along the length direction of the track unit and penetrates through two ends of the track unit;
the U-shaped fixing piece is embedded in the mounting groove and is fixed with the track unit through bolts and nuts;
the hoisting assembly is connected with the U-shaped fixing piece and used for hoisting the track unit to the top of a building.
In an alternative embodiment, the U-shaped fixing member includes an insertion portion extending along a length direction of the rail unit;
when the two track units are butted together, the U-shaped fixing piece is positioned between the two track units, the part of the embedding part is positioned in the positioning groove of one track unit, the rest part of the embedding part is positioned in the positioning groove of the other track unit, and the two track units are respectively fixed with the track units through bolts and nuts.
In an alternative embodiment, the inverted V-shaped track further comprises a horizontal positioning plate;
the lower surface of the track unit is provided with a positioning groove, and the positioning groove extends along the length direction of the track unit and penetrates through two ends of the track unit;
when the two track units are butted together, the horizontal positioning plate is positioned between the two track units and embedded in the positioning grooves of the two track units;
the horizontal positioning plate is fixed with the two track units through fastening screws.
In an optional embodiment, the U-shaped fixing member further includes a hoisting connection portion, and the hoisting connection portion is formed by two mounting plates extending to both sides of the embedding portion;
the hoisting assembly comprises a T-shaped connecting piece, and the vertical connecting rod of the T-shaped connecting piece is arranged between the two mounting plates and is connected with the mounting plates through bolts and nuts.
In an alternative embodiment, the mounting plate is formed with a hinge hole and an arc-shaped hole, and the hinge hole is positioned above the arc-shaped hole;
two through holes are formed at intervals on the vertical connecting rod, and correspond to the hinge hole and the arc-shaped hole respectively;
the vertical connecting rod is hinged at the hinge hole through a bolt and a nut;
the vertical connecting rod forms a connection relation with adjustable angle at the arc-shaped hole through a bolt and a nut, and is used for changing the inclination angle of the hoisting connecting part relative to the track unit.
In an optional embodiment, the hoisting assembly further comprises a door-shaped frame and two adjusting screws;
two free ends of the door-shaped frame are respectively connected with a top cement board of a building through a connecting base;
two adjusting screw rods are arranged on the cross rod of the door-shaped frame and are respectively connected to the transverse connecting rods of the T-shaped connecting piece, and the two adjusting screw rods are symmetrically distributed along the vertical central line of the track unit.
In a second aspect, an embodiment of the present invention provides an inspection system, including:
a track robot, and
the inverted V-shaped track of any one of the previous embodiments;
the running gear of the track robot is hung on the inverted V-shaped track, and the running wheel of the track robot is in contact with the running inclined plane.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a perspective view of an inverted V-shaped track in this embodiment;
FIG. 2 is a sectional view of the rail unit in the present embodiment;
FIG. 3 is an enlarged view taken at III in FIG. 1;
FIG. 4 is a perspective view of the U-shaped fastener of this embodiment;
fig. 5 is a perspective assembly view of two track units.
Icon: 10-inverted V-shaped track; 11-a track unit; a 12-U shaped fastener; 13-hoisting the assembly; 14-horizontal positioning plate; 20-a walking inclined plane; 21-a guide plane; 22-pressure plane; 30-mounting grooves; 40-positioning grooves; 41-fastening screws; 50-a climbing rack mounting groove; 51-climbing rack; 90-hinge hole; 91-arc shaped holes; 110-a guide structure; 120-an embedding part; 121-hoisting the connecting part; 130-T connection; 131-a door-type frame; 132-adjusting screw; 133-a connection base; 1210-mounting a plate; 1300-vertical connecting rods; 1301-a transverse connecting rod; 1310-crossbar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The present embodiment provides an inverted V-shaped track 10, which can ensure that the track robot smoothly travels along the track with good alignment when the track robot travels along the inverted V-shaped track 10.
Referring to fig. 1 and fig. 2, fig. 1 is a perspective view of an inverted V-shaped track 10 in the present embodiment, and fig. 2 is a cross-sectional view of a track unit 11 in the present embodiment.
The inverted-V-shaped track 10 comprises track units 11, and the working length of the track robot is met through splicing connection of the track units 11.
The guide structures 110 are formed on both sides of the rail unit 11, and the two guide structures 110 are symmetrically distributed with respect to a vertical center line of the rail unit 11.
The upper surface of the guide structure 110 forms a walking slope 20 for contacting with the walking wheels of the rail robot, the walking slope 20 being inclined downward with respect to the vertical center line of the rail unit 11.
The running gear of the track robot is matched with the track unit 11, and the running wheels at two sides of the running gear are supported on the running inclined plane 20.
Because two guide structure 110 are symmetrical for the vertical central line of track unit 11, so the walking wheel of the both sides of running gear is also symmetrical for the vertical central line of track unit 11, simultaneously, because walking inclined plane 20 is for the downward sloping of the vertical central line of track unit 11, two walking inclined planes 20 are the type of falling V, so the action of gravity of cooperation track robot makes the track robot have good centering nature, simultaneously, it should be said, because walking inclined plane 20 is the slope, so compared with current track, under the condition that does not increase the width of track, the inclined walking inclined plane 20 can increase and walk the area of contact between the wheel, make the track robot can walk on the type of falling V track 10 steadily, prevent that the track robot from overturning on one's side.
In order to improve the stability of the track robot walking on the inverted V-shaped track 10:
the side of the guide structure 110 forms a guide plane 21, the guide plane 21 is perpendicular to the horizontal direction, and the guide plane 21 is used to contact with a guide wheel of the rail robot.
The bottom surface of the guide structure 110 is formed with a pressure plane 22, the pressure plane 22 being parallel to the horizontal direction, the pressure plane 22 being for contact with a pressure wheel of the rail robot.
The walking inclined plane 20, the guide plane 21 and the pressure plane 22 of the guide structure 110 are respectively matched with the walking wheel, the guide wheel and the pressure wheel of the track robot, so that at least three directions of supporting points exist between the track robot and the inverted V-shaped track 10, and the track robot can form a stable matching relation with the inverted V-shaped track 10 when turning along a straight line or bumping.
Referring to fig. 3, fig. 3 is an enlarged view of the point iii in fig. 1.
The inverted-V track 10 further includes a U-shaped fastener 12 and a lifting assembly 13.
The lower surface of the rail unit 11 is formed with mounting grooves 30, and the mounting grooves 30 extend in the longitudinal direction of the rail unit 11 and penetrate both ends of the rail unit 11.
The U-shaped fixing member 12 is embedded in the mounting groove 30 and fixed to the rail unit 11 by bolts and nuts. The lifting assembly 13 is connected to the U-shaped fixing member 12 for lifting the rail unit 11 to the top of the building.
U type mounting 12 is fixed a position through the mode of pegging graft with track unit 11, and fixes through bolt and nut's mode, can make constructor accomplish track unit 11's hoist and mount fast, and guarantee the precision of installation.
It should be noted that, since the mounting groove 30 extends along the length direction of the rail unit 11 and penetrates through both ends of the rail unit 11, the constructor can insert the U-shaped fixing member 12 into the mounting groove 30 at any position above the rail unit 11, so that the constructor can conveniently operate.
In order to ensure a tight connection between two adjacent track units 11 and ensure the integrity of the inverted V-shaped track 10 when the track units 11 are assembled in a butt joint manner, refer to fig. 3 in combination with fig. 4, and fig. 4 is a perspective view of a U-shaped fixing member 12 in this embodiment.
The U-shaped fixing member 12 includes an insertion portion 120, and the insertion portion 120 extends along the length direction of the rail unit 11.
When the two track units 11 are butted together, the U-shaped fixing piece 12 is positioned between the two track units 11, a part of the embedding part 120 is positioned in the positioning groove of one track unit 11, the rest part of the embedding part 120 is positioned in the positioning groove of the other track unit 11, and the two track units 11 are respectively fixed with the track units 11 through bolts and nuts.
Bolt through holes are preset in the butt joint positions of two adjacent track units 11 and are aligned with the bolt through holes preset in the U-shaped fixing piece 12, so that the connection precision between the two adjacent track units 11 can be ensured.
The U-shaped fixing member 12 further includes a hoisting connection portion 121, and the hoisting connection portion 121 is formed by two mounting plates 1210 extending to both sides of the embedding portion 120.
The hoisting assembly 13 comprises a t-shaped connecting piece 130, and the vertical connecting rod 1300 of the t-shaped connecting piece 130 is arranged between two mounting plates 1210 and is connected through bolts and nuts.
Referring to fig. 3 and 4, the mounting plate 1210 is formed with a hinge hole 90 and an arc hole 91, and the hinge hole 90 is located above the arc hole 91.
The vertical connecting rod 1300 is formed with two through holes at intervals, and the two through holes correspond to the hinge hole 90 and the arc hole 91 respectively.
The vertical connecting rod 1300 is hinged to the hoisting connection part 121 at the hinge hole 90 by means of bolts and nuts.
The vertical connecting rod 1300 forms an angularly adjustable connection relationship with the hoisting connecting part 121 at the arc-shaped hole 91 through a bolt and a nut, so as to change the inclination angle of the hoisting connecting part 121 relative to the rail unit 11.
In an actual environment, a scene needing climbing exists, the track unit 11 can be inclined to the horizontal line, and for facilitating the lifting of the inclined track unit 11 and the horizontal line, the relative positions of the vertical connecting rod 1300 and the arc-shaped hole 91 can be adjusted.
Referring to fig. 1, the hoist assembly 13 further includes a gantry 131 and two adjusting screws 132.
The two free ends of the gate frame 131 are connected to the top floor slab of the building through connection bases 133, respectively.
The two adjusting screws 132 are disposed on the cross bars 1310 of the gate frames 131 and connected to the transverse connecting rods 1301 of the t-shaped connecting members 130, respectively, and the two adjusting screws 132 are symmetrically distributed along the vertical center line of the track unit 11.
In a practical environment, since the installation scene height may be different, the height of the rail unit 11 may be adjusted by adjusting the distance between the t-shaped connector 130 and the gate frame 131 by the adjusting screw 132. The adjusting screws 132 are symmetrically distributed along the vertical center line of the track unit 11, so that the hoisting stability of the track unit 11 can be ensured.
Referring to fig. 2 and 5, fig. 5 is a perspective assembly view of two rail units 11.
The inverted V-shaped rail 10 further includes a horizontal positioning plate 14, a positioning groove 40 is formed on a lower surface of the rail unit 11, and the positioning groove 40 extends along a length direction of the rail unit 11 and penetrates through both ends of the rail unit 11.
When the two rail units 11 are butted together, the horizontal positioning plate 14 is located between the two rail units 11 and is embedded in the positioning groove 40 of the two rail units 11. The horizontal positioning plate 14 is fixed to the two rail units 11 by fastening screws 41.
When the two rail units 11 are butted, the horizontal positioning plate 14 is inserted into the positioning groove 40 along one side of one of the rail units 11, a portion of the horizontal positioning plate 14 is inserted into the positioning groove 40 of the other rail unit 11 by adjusting the position of the horizontal positioning plate 14, and then fixed by the fastening screw 41, it is possible to ensure the conformity of the two rail units 11 and the alignment of the guide structures 110 of the two rail units 11 with each other.
It should be noted that, referring to fig. 2, below the positioning groove 40, the track unit 11 may further be formed with a climbing rack installation groove 50, and a climbing rack 51 may be installed in the climbing rack installation groove 50, so that the track robot is adapted to a scene requiring climbing.
It should be noted that, this embodiment also provides an inspection system.
The inspection system includes a rail robot and the inverted V-shaped rail 10 described above. The traveling mechanism of the track robot is suspended on the inverted V-shaped track 10, and the traveling wheel of the track robot contacts with the traveling slope 20. When the track robot walks along the inverted V-shaped track 10, the alignment performance is good, and the track robot is guaranteed to stably walk along the track.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. An inverted V-shaped track, comprising:
the guide structure comprises a rail unit, a guide unit and a guide unit, wherein guide structures are formed on two sides of the rail unit;
the two guide structures are symmetrically distributed relative to a vertical middle line of the track unit;
the upper surface of the guide structure forms a walking inclined plane which is used for being in contact with a walking wheel of the track robot, and the walking inclined plane inclines downwards relative to the vertical central line of the track unit.
2. The inverted-V track according to claim 1,
the side surface of the guide structure forms a guide plane which is vertical to the horizontal direction and is used for contacting with a guide wheel of the track robot;
the bottom surface of the guide structure is formed with a pressure plane parallel to the horizontal direction for contacting with a pressure wheel of the rail robot.
3. The inverted-V track according to claim 1,
the inverted V-shaped track further comprises a U-shaped fixing piece and a hoisting assembly;
the lower surface of the track unit is provided with mounting grooves, and the mounting grooves extend along the length direction of the track unit and penetrate through two ends of the track unit;
the U-shaped fixing piece is embedded in the mounting groove and is fixed with the track unit through bolts and nuts;
the hoisting assembly is connected with the U-shaped fixing piece and used for hoisting the track unit to the top of a building.
4. The inverted-V track according to claim 3,
the U-shaped fixing piece comprises an embedding part, and the embedding part extends along the length direction of the track unit;
when the two track units are butted together, the U-shaped fixing piece is positioned between the two track units, the part of the embedding part is positioned in the positioning groove of one track unit, the rest part of the embedding part is positioned in the positioning groove of the other track unit, and the two track units are respectively fixed with the track units through bolts and nuts.
5. The inverted-V track according to claim 4,
the U-shaped fixing piece also comprises a hoisting connecting part, and the hoisting connecting part is composed of two mounting plates extending to two sides of the embedding part;
the hoisting assembly comprises a T-shaped connecting piece, and the vertical connecting rod of the T-shaped connecting piece is arranged between the mounting plates and is connected with the mounting plates through bolts and nuts.
6. The inverted-V track according to claim 5,
the mounting plate is provided with a hinge hole and an arc-shaped hole, and the hinge hole is positioned above the arc-shaped hole;
two through holes are formed in the vertical connecting rod at intervals, and correspond to the hinge hole and the arc-shaped hole respectively;
the vertical connecting rod is hinged at the hinge hole through a bolt and a nut;
the vertical connecting rod forms a connection relation with adjustable angle at the arc-shaped hole through a bolt and a nut, and is used for changing the inclination angle of the hoisting connecting part relative to the track unit.
7. The inverted-V track according to claim 5,
the hoisting assembly also comprises a door-shaped frame and two adjusting screws;
the two free ends of the door-shaped frame are respectively connected with a top cement board of a building through a connecting base;
two adjusting screw rod locate the horizontal pole of door type frame, and connect respectively on the transverse connection pole of T connecting piece, two adjusting screw rod follows the vertical central line symmetric distribution of track unit.
8. The inverted-V track according to claim 1,
the inverted V-shaped track also comprises a horizontal positioning plate;
the lower surface of the track unit is provided with a positioning groove, and the positioning groove extends along the length direction of the track unit and penetrates through two ends of the track unit;
when the two track units are butted together, the horizontal positioning plate is positioned between the two track units and embedded in the positioning grooves of the two track units;
the horizontal positioning plate is fixed with the two track units through fastening screws.
9. An inspection system, comprising:
a track robot, and
the inverted V-shaped track of any one of claims 1-8;
the traveling mechanism of the track robot is hung on the inverted V-shaped track, and the traveling wheel of the track robot is in contact with the traveling inclined plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021721882.8U CN213197536U (en) | 2020-08-14 | 2020-08-14 | Inverted V-shaped track and inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021721882.8U CN213197536U (en) | 2020-08-14 | 2020-08-14 | Inverted V-shaped track and inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213197536U true CN213197536U (en) | 2021-05-14 |
Family
ID=75839600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021721882.8U Active CN213197536U (en) | 2020-08-14 | 2020-08-14 | Inverted V-shaped track and inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213197536U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500580A (en) * | 2021-06-21 | 2021-10-15 | 国网安徽省电力有限公司 | Rail mounted electric power angle steel tower overhauls robot |
-
2020
- 2020-08-14 CN CN202021721882.8U patent/CN213197536U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500580A (en) * | 2021-06-21 | 2021-10-15 | 国网安徽省电力有限公司 | Rail mounted electric power angle steel tower overhauls robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213197536U (en) | Inverted V-shaped track and inspection system | |
| US5653172A (en) | Transport system for travelling crabs | |
| CN216098904U (en) | Rail mounted electric power angle steel tower overhauls robot | |
| US5043052A (en) | Flexible rail, flexible conveyor and electrodeposition coating system with flexible conveyor | |
| JPH0786042B2 (en) | Track rail equipment | |
| CN110783864B (en) | Cable cabling rack device under travelling crane beam | |
| CN215106032U (en) | T-shaped steel frame and assembly type building | |
| KR100264283B1 (en) | Gantry welding system | |
| JP2002167969A (en) | Pipe-constructed frame with carriage | |
| CA2102585A1 (en) | Device for hanging travelling rails | |
| CN216892810U (en) | Space special-shaped truss without supporting jig frame | |
| US3942618A (en) | Rollerway for handling molding apparatus | |
| CN215948520U (en) | Installation structure for joint-crossing connecting bridge | |
| CN221140924U (en) | Meat slide rail conveying system | |
| KR101670322B1 (en) | Monorail installation structure | |
| CN218643853U (en) | Creeping formwork guide rail and creeping formwork | |
| CN212925623U (en) | Track system for coal mine robot and omnidirectional deformation connecting structure thereof | |
| CN216551618U (en) | Anchor puller for steel bridge top pushing type installation | |
| CN216418285U (en) | Non-regular ferris wheel track with different planes | |
| CN215759574U (en) | Anti-seismic steel frame and assembly type building | |
| CN217537932U (en) | Casting surface flatness control device | |
| CN217557816U (en) | High-stability wall support for building | |
| CN214162992U (en) | Indoor inspection robot applied to petrochemical operation and maintenance center | |
| CN207829441U (en) | Large span inclined roof is led a wandering life curtain wall mounting device | |
| JPH038747Y2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |