技术领域Technical Field
本发明涉及建筑高空墙面清洁、墙面喷涂、高空墙面维护或装饰布线作业等领域，具体为一种高空作业的桁架机器人。The invention relates to the fields of high-altitude wall cleaning, wall spraying, high-altitude wall maintenance or decorative wiring operations of buildings, and specifically to a truss robot for high-altitude operations.
背景技术Background Art
在建筑高空外墙施工中，因作业的环境恶劣和工人劳动强度大、危险性高，存在招工难、成本高、安全事故频发等诸多痛点，从而导致企业竟争力下降；根据已公开发明专利（CN2018100096002、CN2018100096021、 CN109736548A，CN109171543A，CN107829555A，CN106695830A）等技术方案，在高楼外墙面作业的机器人，均采用真空吸附电磁固定或悬垂吊装，在出现宕机或其它机械故障时，存在坠落等不可控的安全风险，导致其作业时可靠性低，同时，采用真空吸附墙面的方法在作业时，因装饰和铝框等障碍，致其无法跨越作业，采用电磁固定的机器人，因楼层高导致轨道难以安装固定，采用垂悬的方法又存在晃动，因此，解决机器人在高空环境下作业的可靠性、墙面的稳定性、复杂场景操作所需的灵巧性等问题，是实现高空环境下作业能否成功的关键所在。In the construction of high-altitude exterior walls of buildings, due to the harsh working environment and the high labor intensity and high risk of workers, there are many pain points such as difficulty in recruiting workers, high costs, and frequent safety accidents, which leads to a decline in the competitiveness of enterprises; according to the disclosed invention patents (CN2018100096002, CN2018100096021, CN109736548A, CN109171543A, CN107829555A, CN106695830A) and other technical solutions, robots working on the outer walls of high-rise buildings all use vacuum adsorption electromagnetic fixation or suspended hoisting. When a shutdown or other mechanical failure occurs, there are uncontrollable safety risks such as falling, resulting in low reliability during operation. At the same time, when the vacuum adsorption wall method is used for operation, it is impossible to cross the obstacles such as decorations and aluminum frames. For robots using electromagnetic fixation, the track is difficult to install and fix due to the high floor, and there is shaking when using the hanging method. Therefore, solving the problems of the reliability of the robot's operation in a high-altitude environment, the stability of the wall, and the dexterity required for complex scene operations is the key to achieving the success of operations in a high-altitude environment.
发明内容Summary of the invention
为解决背景现有技术的不足，本发明提供一种高空作业的桁架机器人，该机器人由主架、轨道架、柱腿、吸盘、保险缆绳、传感器、机械手、刷辊、视觉系统、控制系统等组成,可根据施工场景切换作业模块，采用高强度轻质材料制造；具备人机交互、深度学习、环境感知及自主决策功能的人工智能(AI)机器人，结合保险缆绳和吸盘装置，使其能够在高空外墙面上的各个方向稳定运行,通过安装视觉系统和传感器等模块，实现多种场景下的自主作业或远程人机协作作业。In order to solve the shortcomings of the background existing technology, the present invention provides a truss robot for high-altitude operations, which consists of a main frame, a track frame, column legs, suction cups, safety cables, sensors, manipulators, brush rollers, a visual system, a control system, etc., and can switch operation modules according to construction scenarios. The robot is made of high-strength and lightweight materials; an artificial intelligence (AI) robot with human-computer interaction, deep learning, environmental perception and autonomous decision-making functions, combined with a safety cable and a suction cup device, enables it to operate stably in all directions on a high-altitude exterior wall surface, and by installing modules such as a visual system and sensors, autonomous operations or remote human-computer collaborative operations in a variety of scenarios can be achieved.
为实现上述目的，本发明采用如下所述的技术方案。To achieve the above object, the present invention adopts the following technical solution.
一种高空作业的桁架机器人，包括主架、轨道架、柱腿、吸盘、保险缆绳、机械手、刷辊、视觉系统、传感器、控制系统等；A truss robot for aerial work, including a main frame, a track frame, column legs, suction cups, safety cables, a manipulator, a brush roller, a visual system, a sensor, a control system, etc.;
所述桁架机器人主架上安装多自由度的机械手（机械手数量可根据需求安装）或刷辊作业模块、视觉系统、控制系统，和用于保险缆绳的吊装固定点；The truss robot main frame is equipped with a multi-degree-of-freedom manipulator (the number of manipulators can be installed according to demand) or a brush roller operation module, a visual system, a control system, and a lifting and fixing point for a safety cable;
所述桁架机器人的主架上、下两边为管状结构，并在底部方向开有糟，管内安装电机、丝杆（或传动皮带），通过电机控制丝杆推动滑块进行左、右运动，以此带动与滑块连接为一体的X向（或横向）轨道架,实现X向（横向）运动，X向（或横向）轨道架两端通过绞链安装连接柱腿，并与其构成直角；The upper and lower sides of the main frame of the truss robot are tubular structures, and a groove is opened in the bottom direction. A motor and a screw (or a transmission belt) are installed in the tube. The motor controls the screw to push the slider to move left and right, thereby driving the X-direction (or transverse) track frame connected to the slider to achieve X-direction (transverse) movement. The two ends of the X-direction (or transverse) track frame are connected to the column legs through hinges and form a right angle with them.
所述桁架机器人的主架左、右两边为管状结构，并在底部方向开有糟，管内安装Y向（或纵向）轨道架，轨道架的一端位于主架两边管的外部，通过铰链安装的柱腿并与其构成直角，另一端通过主架管上的糟孔连接于另一柱腿，通过电机控制丝杆带动Y向（或纵向）轨道架，实现Y向（或纵向）运动；The left and right sides of the main frame of the truss robot are tubular structures, and a groove is opened at the bottom. A Y-direction (or longitudinal) track frame is installed in the tube. One end of the track frame is located outside the tubes on both sides of the main frame, and is connected to the column legs installed by hinges and forms a right angle with them. The other end is connected to the other column leg through the groove hole on the main frame tube. The Y-direction (or longitudinal) track frame is driven by the motor to control the lead screw to realize Y-direction (or longitudinal) movement;
所述桁架机器人柱腿为伸缩结构，末端安装有电机控制的吸盘，柱腿通过内部电机控制丝杆（或传动皮带）带动实现收缩，以避让前进中的障碍，末端与墙面接触的吸盘则通过控制电机拉动吸盘口，实现吸盘的吸附功能。The column legs of the truss robot are telescopic structures, with motor-controlled suction cups installed at the ends. The column legs are driven by the internal motor-controlled screw rod (or transmission belt) to retract to avoid obstacles in the way forward. The suction cups at the ends that contact the wall pull the suction cup mouths by controlling the motor to realize the suction function of the suction cups.
所述吸盘装置为市面易得的强力真空吸盘，由吸盘座（凹形硬料）、吸盘口（平面软胶）、把手组成；在使用时与墙面贴合后，通过电机拉动吸盘座孔内的吸盘口并致其内凹，使内部产生更大空间并形成真空负压，实现对墙面产生吸附固定的作用；其内部有安装传感器后，实现机器人所需的感知反馈和电动控制；The suction cup device is a powerful vacuum suction cup that is easily available on the market, and is composed of a suction cup seat (concave hard material), a suction cup mouth (flat soft rubber), and a handle; when in use, after being attached to the wall, the suction cup mouth in the suction cup seat hole is pulled by a motor to make it concave, so that a larger space is generated inside and a vacuum negative pressure is formed, so as to achieve the effect of adsorption and fixing the wall; after a sensor is installed inside, the sensor feedback and electric control required by the robot are realized;
所述保险缆绳通过锚定于楼顶，为机器人提供安全防护，在机器人垂直上下做业时，保险缆绳仅需锚定位于机器人顶部的一点，如需机器人左右横向宽幅作业时，保险缆绳则可锚定于楼项左、右两个点上，机器人移动时保险缆绳通过吊装固定点的管内滑动，实现左、右方向的自由移动；The safety cable is anchored on the roof to provide safety protection for the robot. When the robot is working vertically up and down, the safety cable only needs to be anchored at one point on the top of the robot. If the robot needs to work horizontally in a wide range, the safety cable can be anchored on the left and right points of the building. When the robot moves, the safety cable slides through the pipe of the lifting fixed point to achieve free movement in the left and right directions.
所述保险缆绳通过锚定在楼顶，做为防患机器人坠地跌落的安全风险；可以通过改进，在楼顶锚定端或机器人本体端安装卷缆电机，通过控制系统驱动来作为机器人上、下的升降机；。The safety cable is anchored on the roof to prevent the robot from falling to the ground. It can be improved by installing a cable winding motor on the roof anchor end or the robot body end, and driven by a control system to serve as an elevator for the robot to go up and down.
所述桁架机器人的传感器，安装于X向（或横向）轨道架和Y向（纵向）轨道架左、右柱腿的末端两侧，用于障碍、孔洞和作业区域边缘的检测，机械手、吸盘内部均根据需求安装；The sensors of the truss robot are installed on both sides of the ends of the left and right column legs of the X-direction (or horizontal) track frame and the Y-direction (vertical) track frame, and are used to detect obstacles, holes and edges of the working area. The manipulator and the suction cup are installed inside according to the needs;
所述机械手由多节构成，为三个（含）以上的多自由度的机械手臂，利用闭环电机及控制技术，通过对每个肢节和绞链关节布置的传感器反馈实际位置、速度、力矩等，由控制系统根据预定的目标位置或轨迹计算，来调整各关节运动的角度与力矩，控制机械手末端把持的工具(如刮片、刷辊等)对目标墙面实施作业；The manipulator is composed of multiple sections and is a multi-degree-of-freedom manipulator with three or more degrees of freedom. It uses a closed-loop motor and control technology to feedback the actual position, speed, torque, etc. of sensors arranged on each limb and hinge joint. The control system adjusts the angle and torque of each joint movement according to a predetermined target position or trajectory calculation, and controls the tool (such as a scraper, a brush roller, etc.) held at the end of the manipulator to perform operations on the target wall surface;
所述刷辊为钻孔植毛的空心滚筒型结构，通过电机转动刷辊实现对的墙面作业，刷辊两端采用的固定支架为伸缩结构，在作业行进中通过传感器反馈场景，由控制系统根据场景需求控制其伸缩避让，以实现墙面的越障作业；The brush roller is a hollow drum structure with holes and planted hair. The brush roller is rotated by a motor to achieve wall operation. The fixed brackets at both ends of the brush roller are telescopic structures. During the operation, the scene is fed back by the sensor, and the control system controls the telescopic avoidance according to the scene requirements to achieve wall obstacle crossing operation.
所述视觉系统在作业时收集目标图像，提取位置、形状、尺寸、颜色等特征信息，发送至机器人的控制系统，或在远程人机协作操作时，将目标实时图像通过无线图传（FPV）传送给操作人员；The visual system collects target images during operation, extracts feature information such as position, shape, size, color, etc., and sends it to the robot's control system, or transmits the target real-time image to the operator via wireless image transmission (FPV) during remote human-machine collaborative operation;
所述控制系统主要用于收集视觉系统和各传感器的反馈信息，实施对各组件的控制功能，通过收集的反馈信息，在计算后与内部预存的各种工作模型预案适配，并按适配的模型方案控制桁架机器人X向、Y向轨道梁运动，驱动多自由度的机械手或刷辊自主实施作业。The control system is mainly used to collect feedback information from the visual system and various sensors, implement control functions on various components, and adapt the collected feedback information to various internally stored working model plans after calculation, and control the movement of the truss robot's X- and Y-direction track beams according to the adapted model plan, driving the multi-degree-of-freedom manipulator or brush roller to autonomously perform operations.
本发明所述传感器包括位置传感器、距离传感器、速度和加速度传感器、力矩传感器、姿态传感器等，用于感知桁架机器人的运行参数和环境参数，实现对机器人动作的精准控制。The sensors described in the present invention include position sensors, distance sensors, speed and acceleration sensors, torque sensors, attitude sensors, etc., which are used to sense the operating parameters and environmental parameters of the truss robot and achieve precise control of the robot's movements.
所述多自由度的机械手内均设置有铰链和动力单元，作为关节的驱动。The multi-freedom manipulator is provided with hinges and power units as the driving force of the joints.
所述动力单元为电机、微型气泵、微型液压站,其中的任一种动力装置，根据功能需求予以配置，作为桁架机器人机械手的驱动动力。The power unit is a motor, a micro air pump, or a micro hydraulic station, any one of which is configured according to functional requirements and serves as the driving power of the truss robot manipulator.
所述桁架机器人的所需电力和作业材料均可由管线连接输送。The required power and working materials of the truss robot can be transported by pipeline connection.
所述桁架机器人轨道架与柱腿采用铰链连接，利于桁架机器人折叠和搬运。The truss robot track frame and the column legs are connected by hinges, which is convenient for folding and carrying of the truss robot.
本发明所述桁架智能机器人用于建筑高空作业的方法：The method of using the truss intelligent robot for high-altitude construction work in the present invention:
通过将连接桁架机器人的保险缆绳锚定于楼顶后，利用主架内安装的电机控制丝杆（或传动皮带）带动X向或Y向轨道架移动、通过轨道架移动时末端的柱腿收缩功能和吸盘交替吸附（墙面左右横向运动通过X向（横向）轨道架2伸缩运行，上下纵向运动通过Y向(纵向)轨道架2伸缩运行），实现在空中各个方向的位置移动和障碍跨越；After the safety cable connecting the truss robot is anchored on the roof, the motor-controlled screw rod (or transmission belt) installed in the main frame is used to drive the X-direction or Y-direction track frame to move, and the column leg contraction function at the end and the alternate adsorption of the suction cup when the track frame moves (the horizontal movement of the wall is extended and retracted by the X-direction (horizontal) track frame 2, and the vertical movement is extended and retracted by the Y-direction (longitudinal) track frame 2), so as to achieve position movement in all directions in the air and obstacle crossing;
抵达作业目标区域时，视觉系统提取目标的图像位置、形状、尺寸、颜色等特征信息，发送至控制系统，与存贮于控制系统中的各种场景模型预案进行比对、判断，选定与目标相匹配的场景模型预案，利用预案中设计的机器人动作指令，控制多自由度的机械手作业距离和方向，机械手通过末端把持的刮片接触墙面，利用其安装的力矩传感器反馈来确定与目标接触，控制喷头完成作业材料的喷洒，并对目标墙面执行相应的运动轨迹和动作，实现对目标的自主作业；When arriving at the target area, the visual system extracts the target's image position, shape, size, color and other feature information, sends it to the control system, compares and judges it with various scene model plans stored in the control system, selects the scene model plan that matches the target, and uses the robot action instructions designed in the plan to control the multi-degree-of-freedom manipulator's operating distance and direction. The manipulator contacts the wall through the scraper held at the end, uses the torque sensor feedback installed on it to determine the contact with the target, controls the nozzle to complete the spraying of the operating material, and executes the corresponding motion trajectory and action on the target wall to achieve autonomous operation on the target;
当桁架机器人在需要大面积作业区域施工时，可以把主架上的机械手改为刷辊为作业工具，以提高大面积施工的作业速度，实现不同场景下模块的适配切换和高效率配置；When the truss robot is working in a large area, the manipulator on the main frame can be replaced with a brush roller as the working tool to increase the working speed of large-area construction and achieve adaptive switching and efficient configuration of modules in different scenarios;
同时，针对上大下小的特殊建筑，垂吊不能到达的特殊场景，桁架机器人通过吸附功能实现攀爬到达，以满足高难场景下的施工作业。At the same time, for special buildings that are large on top and small on the bottom, and special scenes that cannot be reached by hanging, the truss robot can climb and reach them through the adsorption function to meet the construction work in difficult scenes.
本发明所述桁架机器人用于墙面远程人机协作作业的方法：The truss robot of the present invention is used for the method of remote human-machine collaborative operation on the wall:
机器人利用安装的轨道架到达作业区域后，操作人员通过自已手臂肢体关节，佩戴与桁架机器人的多自由度机械手，相对应位置安装的传感器，利用无线通讯，并通过CAN现场总线型控制系统，采用分布式控制架构，来构建关节空间角度位置的运动控制，实现人机间控制的有效沟通和动作同步，采用无线图传（FPV）为机器人视觉与操作员佩戴的VR/AR眼镜通讯，满足其第一视角下持相应工具，远距控制桁架机器人手的机械手，在虚拟动作下完成真实场景的同步操作，实现机器人与人的协同作业。After the robot reaches the working area using the installed track frame, the operator uses the sensors installed at the corresponding positions of the multi-degree-of-freedom manipulator of the truss robot through the joints of his own arms and limbs, and uses wireless communication and a CAN field bus control system to adopt a distributed control architecture to build motion control of the spatial angle position of the joints, thereby achieving effective communication and action synchronization between man and machine control. Wireless image transmission (FPV) is used for the robot's vision to communicate with the VR/AR glasses worn by the operator, so that the operator can hold the corresponding tools in the first-person perspective and remotely control the manipulator of the truss robot hand, completing the synchronous operation of the real scene under virtual action, and realizing the collaborative operation of the robot and humans.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明桁架机器人完整结构示意图。FIG1 is a schematic diagram of the complete structure of the truss robot of the present invention.
图2为本发明桁架机器通过Y向轨道架的柱腿伸缩功能，实现在墙面上、下运动及越障示意图。FIG. 2 is a schematic diagram showing that the truss machine of the present invention realizes movement up and down on a wall and overcoming obstacles through the telescopic function of the column legs of the Y-axis track frame.
图3为本发明桁架机器人通过X向轨道架的柱腿伸缩功能，实现在墙面左、右横向宽幅运动的示意图。FIG3 is a schematic diagram showing a truss robot of the present invention realizing wide horizontal movement to the left and right of a wall surface through the telescopic function of the column legs of the X-axis track frame.
图4为本发明桁架机器人轨道架传动结构、柱腿内部伸缩结构示意图。FIG. 4 is a schematic diagram of the transmission structure of the track frame of the truss robot and the internal telescopic structure of the column legs of the present invention.
图5为本发明桁架机器人吸盘结构示意图（包含电机、传感器、吸盘口、吸盘座等）。FIG5 is a schematic diagram of the suction cup structure of the truss robot of the present invention (including a motor, a sensor, a suction cup opening, a suction cup seat, etc.).
图6为本发明桁架机器安装刷辊的结构示意图FIG. 6 is a schematic diagram of the structure of the brush roller installed on the truss machine of the present invention.
图中：主架1、轨道架2、柱腿3、吸盘4、保险缆绳5、机械手6、视觉系统7、传感器8、控制系统9、刮片10、铰链11、喷头12、刷辊13、电力及材料管线14、电机a、丝杆b。In the figure: main frame 1, track frame 2, column leg 3, suction cup 4, safety cable 5, manipulator 6, visual system 7, sensor 8, control system 9, scraper 10, hinge 11, nozzle 12, brush roller 13, power and material pipeline 14, motor a, screw b.
具体实施方式DETAILED DESCRIPTION
为了使本发明的目的和技术方案便于了解，以下请参考附图并结合具体实施例，对本发明作进一步详细说明。In order to facilitate understanding of the purpose and technical solutions of the present invention, please refer to the accompanying drawings and combine with specific embodiments to further describe the present invention in detail.
如附图所示，本发明一种高空作业的桁架机器人，包括包括主架、轨道架、柱腿、吸盘、保险缆绳、机械手、刷辊、视觉系统、传感器、控制系统等；As shown in the accompanying drawings, the present invention is a truss robot for aerial work, including a main frame, a track frame, column legs, suction cups, safety cables, a manipulator, a brush roller, a visual system, a sensor, a control system, etc.;
所述桁架机器人利用主架1上的吊装固定点通过保险缆绳5锚定于楼顶，当桁架机器人需Y向（纵向）移动时，主架1利用X向轨道架2上的柱腿3吸盘4吸附于墙面保持稳定，Y向的轨道架2收缩柱腿3后，在主架1控制系统9驱动内装的电机a控制丝杆b带动轨道架2向前进方向伸出，Y向的轨道架2利用柱腿3侧的传感器8识别和规避障碍、边界和孔洞，到达合适位置后，伸出柱腿3并利用吸盘4吸附于墙面固定，主架1再控制X向轨道架2的柱腿3吸盘4脱离墙面并收缩，通过控制系统9驱动电机a安装的丝杆b，带动Y向轨道架2缩进，并拉动主架1向前进方向移动，通过X向或Y向轨道架2、柱腿3、吸盘4的各功能交替运行（墙面左右横向运动通过X向（横向）轨道架2伸缩运行，上下纵向运动通过Y向(纵向)轨道架2伸缩运行），实现桁架机器人在墙面的位置移动；The truss robot is anchored on the roof by the lifting fixing point on the main frame 1 through the safety cable 5. When the truss robot needs to move in the Y direction (longitudinal direction), the main frame 1 uses the column leg 3 suction cup 4 on the X-direction track frame 2 to adhere to the wall to maintain stability. After the Y-direction track frame 2 retracts the column leg 3, the control system 9 of the main frame 1 drives the built-in motor a to control the screw rod b to drive the track frame 2 to extend in the forward direction. The Y-direction track frame 2 uses the sensor 8 on the side of the column leg 3 to identify and avoid obstacles, boundaries and holes. After reaching the appropriate position, the column leg 3 is extended and the column leg 3 is used to move. The suction cup 4 is fixed on the wall, and the main frame 1 controls the column leg 3 suction cup 4 of the X-axis track frame 2 to detach from the wall and retract. The control system 9 drives the screw rod b installed on the motor a to drive the Y-axis track frame 2 to retract, and pull the main frame 1 to move in the forward direction. Through the alternate operation of the functions of the X-axis or Y-axis track frame 2, the column leg 3, and the suction cup 4 (the left and right lateral movement of the wall is operated by the telescopic operation of the X-axis (lateral) track frame 2, and the up and down longitudinal movement is operated by the telescopic operation of the Y-axis (longitudinal) track frame 2), the truss robot is moved on the wall;
抵达作业目标区域时，视觉系统7提取的目标的图像位置、形状、尺寸、颜色等特征信息，发送至控制系统9，与存贮于控制系统9中的各种场景模型预案进行比对、判断，选定与目标相匹配的场景模型预案，利用预案中设计的机器人动作指令，控制多自由度的机械手6的作业距离和方向，机械手6通过末端把持的刮片10（或刷辊）接触墙面，利用其内部安装的力矩传感器8反馈来确定与目标接触，控制喷头12完成作业材料的喷洒，并对目标墙面执行相应的运动轨迹和动作，实现对目标的自主作业；When arriving at the target area, the image position, shape, size, color and other characteristic information of the target extracted by the visual system 7 are sent to the control system 9, and compared and judged with various scene model plans stored in the control system 9, and the scene model plan matching the target is selected, and the robot action instructions designed in the plan are used to control the operation distance and direction of the multi-degree-of-freedom manipulator 6. The manipulator 6 contacts the wall through the scraper 10 (or brush roller) held at the end, and uses the feedback of the torque sensor 8 installed inside to determine the contact with the target, and controls the nozzle 12 to complete the spraying of the operation material, and executes the corresponding motion trajectory and action on the target wall, so as to realize autonomous operation on the target;
当桁架机器人在需要大面积作业区域施工时，可以把主架1上的机械手6改为刷辊13为作业工具，以提高大面积施工的作业速度，实现不同场景下模块的适配切换和高效率配置。When the truss robot is constructing in a large-area operation area, the manipulator 6 on the main frame 1 can be replaced with a brush roller 13 as an operation tool to increase the operation speed of large-area construction and achieve adaptive switching and efficient configuration of modules in different scenarios.
以上实施例显示和描述了本发明的基本原理和主要结构特征，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。The above embodiments show and describe the basic principles and main structural features of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410953781.XACN118636118A (en) | 2024-07-16 | 2024-07-16 | A truss robot for aerial work |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410953781.XACN118636118A (en) | 2024-07-16 | 2024-07-16 | A truss robot for aerial work |
| Publication Number | Publication Date |
|---|---|
| CN118636118Atrue CN118636118A (en) | 2024-09-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410953781.XAPendingCN118636118A (en) | 2024-07-16 | 2024-07-16 | A truss robot for aerial work |
| Country | Link |
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| CN (1) | CN118636118A (en) |
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| CN119238565A (en)* | 2024-10-25 | 2025-01-03 | 重庆市设计院有限公司 | A box beam bottom plate maintenance robot and maintenance method |
| CN119348733A (en)* | 2024-12-25 | 2025-01-24 | 中铁十局集团城建工程有限公司 | Composite wheel-leg-skirt robot for space steel structures |
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| CN119238565A (en)* | 2024-10-25 | 2025-01-03 | 重庆市设计院有限公司 | A box beam bottom plate maintenance robot and maintenance method |
| CN119348733A (en)* | 2024-12-25 | 2025-01-24 | 中铁十局集团城建工程有限公司 | Composite wheel-leg-skirt robot for space steel structures |
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