• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A robotic system designed to autonomously carry out maintenance tasks on lampposts or vertical structures with a conical shape or the like, such as, for example, painting these elements. The robotic system comprises a traction module that adjusts to the lamppost and allows the system to ascend and descend it, a painting module and an electronic control module to control the adjustment and movement of the robotic system. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2759519A1
    申请号:ES201831083
    申请日:2018-11-08
    公开日:2020-05-11
    发明作者:Castano Ramon Barber；Sisamon Cristina Castejon；Alonso Jesus Meneses；Prada Juan Carlos Garcia；Herrero Jonathan Crespo；Caballero Alejandro Bustos；Blazquez Clara Gomez；Silva Alejandra Carolina Hernandez；Diego Lopez Ximena De；Marina Galli；Alonso Higinio Rubio；Garcia Maria Jesus Gomez；Abad Eduardo Corral；Tortola Rafael Monteagudo；Benito Fernando Hence
    申请人:Fcc Ind E Infraestructuras Energeticas S A U；
    IPC主号:
    专利说明:

    [0001]
    [0002] Robotic system and methods for maintenance tasks on lampposts and conical vertical structures
    [0003]
    [0004] Field of the Invention
    [0005]
    [0006] The present invention is included within the devices or systems for the maintenance of street lamps or other types of vertical structures that have a substantially conical shape. More particularly to robotic systems to perform this type of task.
    [0007]
    [0008] Background of the Invention
    [0009]
    [0010] In today's urban environments there are elements that make it up that need to be maintained on a regular basis so that they can retain their functionality. One of these elements is the street lamps, which present the problem that they need to be painted with a certain periodicity to avoid the degradation of their structure by corrosion. The painting of this type of elements is usually done by hand, assisted by machinery, which in many cases presents accessibility problems and generates problems such as the temporary cutting of streets, the need for lifting platforms and other resources that make the task more difficult and more expensive.
    [0011]
    [0012] There are different systems that are intended to facilitate the task of painting in general, such as in patent US4077356 (A) and patent US4722625 (A) where a motor that drives a paint pump is controlled with a wrist device. In MX2017001456 (A), industrial robotic arms are used as a base since painting tasks are performed in an area close to the robot.
    [0013]
    [0014] However, other systems try to make the painting process completely automated. Attempts are made to minimize human intervention with robotic systems such as the patent system CN107790316 (A), which features a paint spraying device that is coupled to a robot that in turn slides on a mobile axis. Another invention within the scope of the industry that presents a robot that travels by rails to paint, is described in patent CN107030716 (A).
    [0015]
    [0016] There are also robotic platforms that move to paint parts such as the one presented in KR20150013969 (A), but these stick to painting parts in an industry or factory, where the parts must be brought for painting. Patent CN107790316 (A) presents a paint spraying device that is coupled to a robot which in turn slide on a moving axis. Another invention within the scope of the industry that presents a robot that travels by rails to paint, is described in patent CN107030716 (A).
    [0017]
    [0018] On the other hand, the usefulness of automated painting systems in the industry is known through scientific works and publications, however, in general they are focused on other purposes such as wall painting. These publications also cover robotic platforms that scale to paint walls, for example using crawler robots.
    [0019]
    [0020] Regarding portable painting systems, there are different inventions such as the one shown in CN106179853 (A), but none of them adequately adapts to painting street lamps.
    [0021]
    [0022] There are also inventions such as that of patent CN107908152 (A) which describes an automatic spraying device of a mobile robot. However, it focuses on painting parts of which you must make a three-dimensional model to plan the painting path. As for portable painting systems, there are different inventions, such as the paint spraying robot described in patent CN108115696 (A), but none of these solutions adequately adapts to the proposed problem.
    [0023]
    [0024] There are robots that ascend through tubular structures for other applications, such as in patent CN205327216 (U), where you ascend through tubular structures, or patent CN108163079 (A) where a robot with double chuck capable of scaling through pipes with varying diameter is presented. , but none of these systems tries to solve the problem of street lamp painting as proposed in this invention. There are other platforms that ascend poles, such as the one shown in ES-2672493_T3, but none when painting street lamps as proposed in this invention.
    [0025]
    [0026] Regarding the grip and coupling system to the lamppost, in the patent ES-2533277-B1 a structure with a system based on spindles is included, but it does not contemplate the grip on the structure with a system and the guide train with springs of traction, so that sufficient grip is guaranteed between the drive wheel to the structure to ascend, as proposed in the present invention.
    [0027]
    [0028] Description of the Invention
    [0029]
    [0030] It is necessary to offer an alternative to the state of the art that covers the gaps found in it and, therefore, contrary to existing solutions, this invention proposes a robotic system intended to autonomously carry out maintenance tasks on lampposts or structures vertical conical or similar, such as painted said elements.
    [0031]
    [0032] Specifically, the invention relates to a robotic system (100) for maintenance tasks on lampposts and conical-shaped vertical structures (10) comprising:
    [0033] - a traction module,
    [0034]
    [0035] - a painting module, and
    [0036]
    [0037] - an electronic control module,
    [0038]
    [0039] where the traction module comprises:
    [0040]
    [0041] - a driving wheel (101), driven by an electric motor (108).
    [0042]
    [0043] - a passive guide train (115) supported on the side of the lamppost opposite the side where the driving wheel (101) is supported, and
    [0044]
    [0045] - an active adjustment module (116) to the diameter of the section of the lamppost (10) comprising motorized spindles (104),
    [0046]
    [0047] where the painting module comprises:
    [0048]
    [0049] - cans of spray paint (113) located perpendicular to the axis of the lamppost (10); and
    [0050] - electromechanical linear actuators (114),
    [0051]
    [0052] where the electronic control module comprises:
    [0053]
    [0054] - on-board control and processing means,
    [0055]
    [0056] where the adjustment to the diameter of the section of the lamppost (10) with the active adjustment module (116) is performed by synchronizing, the electronic control module, the distance between the driving wheel (101) and the guide train (115) with the speed of the ascent or descent of the robotic system (100) along the lamppost (10), and
    [0057]
    [0058] where the control module acts on the linear actuators (114) that act on the paint cans (113) that paint the lamppost (10) when the robotic system (100) is in descent.
    [0059]
    [0060] Therefore, the robotic system described in the present invention eliminates the need to use auxiliary equipment that makes the task more expensive, while reducing operating times.
    [0061] Brief description of the figures
    [0062]
    [0063] The foregoing and other advantages and features will be more fully understood from the following detailed description of embodiments, with reference to the following figures, which are to be considered in an illustrative and not limiting manner.
    [0064]
    [0065] Figure 1. Shows a schematic of a front view of the robotic system located in a conical element or structure such as a lamp post.
    [0066]
    [0067] Figure 2. Shows a schematic of a perspective view of the robotic system located in an element or conical structure such as a lamp post, where the system is already coupled to said structure.
    [0068]
    [0069] Figure 3. Shows a schematic of a perspective view of the robotic system located in an element or conical structure such as a lamp post, where the mobile block together with the elements and the adjustment elements are arranged to be coupled to the fixed block of the system and therefore to adjust to the lamppost or similar.
    [0070]
    [0071] Figure 4. Shows a schematic of a perspective view of the robotic system located in an element or conical structure such as a lamppost pole, where the painting elements are located at the top.
    [0072]
    [0073] Figure 5. Shows a schematic of a front view of the robotic system located in a conical element or structure, such as a lamp post, where the painting elements are located at the top.
    [0074]
    [0075] Figure 6. Shows a schematic of a perspective view of the robotic system located in a conical element or structure such as a lamp post, where the painting elements are located on top, and in fact the lamp is being painted. .
    [0076]
    [0077] Figure 7. Shows a diagram of the elements of the self-supporting auxiliary structure to the lamppost so that the rest of the robotic system can be supported on said structure for mounting around the lamppost.
    [0078]
    [0079] Figure 8. Shows a diagram of the elements of the protection module of the robotic system itself and the environment against painting.
    [0080]
    [0081] Detailed description of the invention
    [0082]
    [0083] The proposed robotic system is capable of ascending structures or columns of Variable section (1), as most streetlights are, thanks to a traction module that actively adapts to the column section.
    [0084]
    [0085] In addition, it incorporates a passive guide train made up of two pairs of rocker arms with wheels at their ends, which provide four higher-order contacts to ensure the alignment of the robot axis with the axis of the column. When the robotic system reaches the highest point of the column (a point close to the luminaire, in the case of a lamppost), the descent and the painting phase begin, through the controlled actuation of a number of onboard aerosol cans.
    [0086]
    [0087] The robotic system consists of at least the following modules, all shipped:
    [0088] - Traction module
    [0089]
    [0090] - Painting module
    [0091]
    [0092] - Electronic control module.
    [0093]
    [0094] The energy necessary for the operation of these three modules is provided by low-weight batteries shipped in the system itself.
    [0095]
    [0096] The traction module is made up of:
    [0097]
    [0098] i) a drive wheel (101), driven by an electric motor (108), which in a preferred embodiment is an electric brushless motor or brushiess, lightweight, has a sensor of Haii effect or Haii probe with controller, and a planetary reducer, which provides sufficient torque for the ascension of the robotic system (100);
    [0099]
    [0100] ii) a passive guide train (115), which rests on the side of the lamppost opposite the driving wheel (101), and avoids misalignment between the axis of the robotic system and that of the lamppost or vertical element (10) . Where the guide train (115) includes four guide wheels (102), two upper and two lower, a rocker arm (103) and a tension spring that, in a preferred embodiment, is made up of a pair of tension springs. The guide wheels (102) are coupled to threaded shafts (107) at their ends so that they allow the distance between said guide wheels (102) to adapt to the section and taper of the lamppost (10); and
    [0101]
    [0102] iii) an active adjustment module (116) to the diameter of the section of the lamppost or vertical element (10) along it (the lamppost generally has a certain taper) that is a function of input to the electronic control module, which allows the distance between the driving wheel (101) and the guide train (115) with the raising or lowering of the robotic system (100), that is to say with the turning of the driving wheel (101). The absorption of imperfections in the taper or variations in the function of the section along the column (10) with respect to the theoretical function, is achieved thanks to the traction spring of the guide train (115). In this way, the distance between the driving wheel (101) and the guide train (115) is not rigidly determined by the angular position of some spindles (104), but can vary elastically. In other words, said adjustment module (116) regulates, by means of the action of the motorized spindles (104) (106), the distance between the driving wheel (101) and the guide train (115), so that the Sufficient grip between the drive wheel (101) and the lamppost (10), as the robotic system (100) ascends or descends on it.
    [0103]
    [0104] In short, the robotic system (100), thanks to the traction module, is capable of ascending, stopping at any point and descending, not only by conventional conical lampposts (10), but in general, by any column of variable section, known This variation, since it has the active adjustment module (116) through the mechatronic ascent and descent device that surrounds the lamppost (10) and that adapts to the taper of the lamppost (10) and that includes the actuators and sensors needed to paint the lamppost (10) and adapt to the taper of the lamppost. It also has, as mentioned, the passive guide train (115) or mechanical device for lifting by slender conical surfaces and / or of variable section that includes an adaptation mechanism to the column, the active adjustment module (116 ), which has motorized (106) and guide and alignment spindles (104) that provide a certain elasticity to the adaptation system.
    [0105]
    [0106] The painting module is made up of linear electromechanical actuators (114) that activate the onboard aerosol paint cans (113). In operation, these cans (113) will be fixed to the chassis, but in a position that can be previously adjusted in the plane perpendicular to the axis of the column (10).
    [0107]
    [0108] The control module regulates and synchronizes the ascent and descent speeds through the column (10), therefore, the rotation of the driving wheel (101) and the approach speed of the guide module (115), therefore, rotation of the spindles (104) through their motors (106), to the driving wheel (101). It also controls the actuation of the aerosol cans (113), regulating the paint outflow, by means of linear electromechanical actuators (114).
    [0109]
    [0110] Said control module includes on-board control and processing means that are the different sensors are in charge of controlling the motor-reducer (108) of the driving wheel (101) in charge of correctly positioning the inspection device; also a manual control command module between the robotic system (100) and a possible user-controlled control center and / or a wireless communication command or module between the robotic system (100) and / or a possible control center governed by the user.
    [0111]
    [0112] The robotic system (100), and specifically the active adjustment module (116), has a structure in the form of a quadrangular frame composed of a fixed block (111) and another mobile one (112) that constitute separate facing sides joined together by bars (105) jointly connected to the fixed block (111) and slideable through the mobile block (112), which serves as a guide in its movement, on which the painting module is supported.
    [0113]
    [0114] In said fixed block (111) is where the driving means are located, the motorized spindles (104) (106) that allow the movement of the movable block (112) in it (111).
    [0115]
    [0116] The motorization (106) of these driving means that allow the movement of the movable nozzle (112), in a preferred embodiment, consists of at least two stepper motors (106) that, through a transmission means, transmits the movement to two spindles (104) attached to the movable block (112) by means of the corresponding helical pair or nut (110) so that it can approach or move away from the fixed block (111) according to the taper of the lamppost or variable section of the column or vertical structure (10).
    [0117]
    [0118] The traction module is supported by the fixed block (111) of the robotic system (100), while the passive guide train module (115) is supported by the movable block (112), which is provided with bearings for them to enter guides (105) located in the fixed block (111) and of the nuts (110) of the spindles (104). In this way, the rotation of the spindles (104) causes the translational movement of the mobile block (112), approaching or moving away from the fixed block (111), with the precise speed so that the guide wheels (102) always maintain the contact with the column (10) and with the necessary force so that the driving wheel (101) does not slide on the column (10).
    [0119]
    [0120] To adapt the robotic system (100) to the column (10), the operator must separate the two blocks, fixed (111) and mobile (112) and place the fixed block (111) in front of the column so that the spindles ( 104) and guides (105) are on both sides of it (111). Then the moving block (112) is joined so that the spindles (104) are inserted by threading in the nuts (110), and the guides (105) in the bearings. At this time, the spindles (104) are activated to move the movable block (112) until, between the drive wheel (101) and the guide wheels (102), a sufficient gripping force is obtained so that the robotic system (100) remain static in column (10).
    [0121]
    [0122] In the initial adjustment process of the robotic system (100), in one embodiment, an auxiliary structure (120) is additionally included, specifically a portable system for self-support to the lamppost (10) and allows its coupling to lampposts (10) of different diameters or tapers and makes it possible to assemble the rest of the robotic system (100) at different heights of the lamppost or vertical element (10), where said auxiliary structure is provided with the templates necessary to position both blocks (111 and 112), as well as the guides (105) and spindles (104). Once the auxiliary structure is anchored to the column (10), the robotic system (100) can be raised by synchronized actuation of the tractor and adjustment modules, with the control of the electronic control module.
    [0123]
    [0124] Said auxiliary structure (120) consists of a sheet of elastic material (128) wound on the lamppost (10) in the area established for fixing the rest of the elements or components of the robotic system (100), which, in turn, is surrounded by a flexible grooved metal mesh (121) that surrounds it and both (128 and 121) are fixed to the lamppost (10) by at least one girdle (122). Several metal brackets (123) attached to the wire mesh (121) support a first "U" shaped board (124), to which they are also attached. The interior space of the "U" of the first board (124) is where the lamppost (10) is located. Above the first board (124) in the "U" shape is located, in parallel, a second board (126) (124), with two slides (125 and 127) between both boards (124 and 126) that allow horizontal displacement of the second board (126) and what is supported by it, with respect to the first. The rest of the components of the robotic system (100) would be placed on this second board (126) to anchor it to the lamppost (10).
    [0125]
    [0126] In another embodiment, optionally, the robotic system (100) includes a module for protecting the robot itself and the environment against paint (130). This module (130) is formed by a bellows system (136) for the protection of the guides (105) and the spindles (104), in addition to a system of rods (132) fixed to the main structure of the robotic system (100 ) by means of couplings (133), which hold variable extension protectors (137). The variable extension protectors (137) can be fan-folded curtains (137) held by solid rods (135) that are inserted into hollow rods (134). The module (130) is completed with sheets (131), on both sides, for the protection of the driving wheel (101) and the guide train (115) respectively.
    [0127]
    [0128] Among the sensors that the robotic system has (100) there is at least one located at the highest point in the system and another at the lowest point. It's all about sensors limit switch electromechanical devices arranged to detect proximity to the luminaire in the case of the upper sensor and the auxiliary structure or the ground in the case of the lower sensor, in such a way that the robotic system stops its ascent or descent respectively.
    [0129]
    [0130] The robotic system (100), therefore, is controlled with a method that includes the following phases and steps:
    [0131]
    [0132] to. Initialization: initial self-adjustment to the lamppost (10).
    [0133]
    [0134] i. Positioning of the auxiliary structure (120) for coupling in the lamppost (10).
    [0135]
    [0136] ii. Positioning of the rest of the elements of the robotic system (100) in the auxiliary structure (120).
    [0137]
    [0138] iii. Automatic auto-coupling to the lamppost section (100): the spindle motors (106) (104) operate with independent control until the rocker arm (103) and traction spring and guide wheels (102), which guarantees sufficient grip between the driving wheel (101) and the lamppost (10) indicated mechanical tension feedback.
    [0139]
    [0140] b. Ascent: ascent with adaptation to the lamppost (10).
    [0141]
    [0142] i. Gradual start of rotation of the motor (108) traction brushiess that rotates the driving wheel (101) in the direction of ascent.
    [0143]
    [0144] ii. Start of the self-adjusting system of the grip system: control for monitoring the contour of the lamppost (10) combines control the spindle motors (106) (104) operate with independent control until the rocker arm (103) and springs and wheels of guide (102), combined with a coordinated control of the motors (106) depending on the taper of the lamppost (10) and advance through the structure, so as to guarantee sufficient grip between the driving wheel (101) and the lamppost (10) during the ascent.
    [0145] iii. End of ascent: using a system consisting of an electromechanical limit switch sensor located at the highest point, proximity to the luminaire will be detected and the robotic system (100) will stop the ascent.
    [0146]
    [0147] c. Lowering: lowering with adaptation to the lamppost (10) and control of the paint system
    [0148] i. Gradual start of rotation of the motor (108) traction brushiess that rotates the driving wheel (101) in the downward direction and activation of the automated painting system controlled by linear solenoid valves (114).
    [0149] ii. Start of the self-adjusting system of the grip system: control for monitoring the contour of the lamppost (10) combines control the spindle motors (106) (104) operate with independent control until the rocker arm (103) and springs and wheels of guide (115), combined with a coordinated control of the motors (106) depending on the taper of the lamppost (10) and advance through the structure, so as to guarantee sufficient grip between the driving wheel (101) and the lamppost (10) during descent.
    [0150] iii. Control of the painting system: controlled action of the linear solenoid valves (114) depending on the taper of the lamppost.
    [0151]
    [0152] iv. Completion of descent: using a system consisting of an electromechanical limit switch sensor located at the lowest point, proximity to the auxiliary structure or ground will be detected and the robotic system (100) will stop the descent.
    权利要求:
    Claims (11)
    [1]
    1. Robotic system (100) for maintenance tasks on lampposts and conical-shaped vertical structures (10) characterized in that it comprises:
    a traction module,
    a painting module, and
    an electronic control module,
    where the traction module comprises:
    - a driving wheel (101), driven by an electric motor (108).
    - a passive guide train (115) supported on the side of the lamppost opposite the side where the driving wheel (101) is supported, and
    - an active adjustment module (116) to the diameter of the section of the lamppost (10) comprising motorized spindles (104),
    where the painting module comprises:
    - cans of spray paint (113) located perpendicular to the axis of the lamppost (10); and
    - electromechanical linear actuators (114),
    where the electronic control module comprises:
    - on-board control and processing means,
    where the adjustment to the diameter of the section of the lamppost (10) with the active adjustment module (116) is performed by synchronizing, the electronic control module, the distance between the driving wheel (101) and the guide train (115) with the speed of the ascent or descent of the robotic system (100) along the lamppost (10), and
    where the control module acts on the linear actuators (114) that act on the paint cans (113) that paint the lamppost (10) when the robotic system (100) is in descent.
    [2]
    2. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1, characterized in that the energy necessary for the operation of said robotic system (100) is provided by low-weight batteries on board in the system itself (100).
    [3]
    3. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1, characterized in that the electric motor (108) that drives the driving wheel (101) is an electric motor without brushes or brushiess, low weight (9), equipped with a Hall effect sensor or Hall probe, with controller, and a planetary reducer, which provides sufficient torque for the ascension of the robotic system (100).
    [4]
    4. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1, characterized in that the passive guide train (115) comprises four guide wheels (102), two upper and two lower , a rocker arm (103) and a tension spring.
    [5]
    5. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 4, characterized in that the tension spring comprises two tension springs.
    [6]
    6. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1 characterized in that the active adjustment module (116) of the traction module additionally comprises:
    - a fixed block (111), and
    - a mobile block (112),
    where in the fixed block (111) are located the driving wheel (101) driven by an electric motor (108), the spindles (104) with their respective motors (106) and some guides (105),
    where in the mobile block (112) the passive guide train (115), a nut or helical torque (110) for each spindle (104) and some bearings are located,
    where the movable block bearings (112) are arranged to receive the guides (105) of the fixed block (111), and
    where the action by the electronic control module on the motors (108) of the spindles (104) allows the threading of the spindles (104) in their respective nuts or torque helical (110) and therefore move the moving block (112) closer or farther to the fixed block (111) according to the taper of the lamppost or variable section of the column or vertical structure (10).
    [7]
    7. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1 characterized in that the electronic control module additionally comprises a manual control command module between robotic system (100) and a control center controlled by the user and / or a wireless communication module between the robotic system (10) and a remote control center controlled by the user.
    [8]
    8. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1, characterized in that the robotic system (100) additionally comprises a portable auxiliary structure (120) arranged to self-support on the lamppost (10) and to be able to support the installation of the rest of the robotic system (100).
    [9]
    9. Robotic system (100) for maintenance tasks on lamp posts and conical vertical structures (10) according to claim 8, characterized in that the portable auxiliary structure comprises:
    - a sheet of elastic material (128) arranged to be wound to the lamppost (100) in the established area to start the ascent of the robotic system (100),
    - a flexible grooved metal mesh (121) that wraps it around the sheet of elastic material (128)
    - at least one girdle (122) arranged to fix the metal mesh (121) and the sheet of elastic material (128) to the lamppost (10),
    - metal brackets (123) attached to the metal mesh (121),
    - a first "U" shaped board (124) fixed to the metal brackets (123), where the "U" shaped hole is located in the lamppost (10), and
    - a second board (126) arranged to be located on the first board (124), where between both boards (124 and 126) there are slides on each board (125 and 127) that allow the horizontal movement of the second board (124) with respect to the first (126),
    where the rest of the robotic system components (100) would be placed on the second board (126) to anchor it (100) to the lamppost (10).
    [10]
    10. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1 or claim 8 characterized in that the robotic system (100) comprises two electromechanical limit switches, one located in the highest part of the system arranged to detect proximity to the luminaire and stopping during the ascent of the robotic system and the other sensor located at the lowest point of the robotic system (100) arranged to detect during descent of the robotic system (100) the proximity to the ground or auxiliary structure (120) and stop.
    [11]
    11. Robotic system (100) for maintenance tasks on lampposts and conical vertical structures (10) according to claim 1, characterized in that the robotic system (100) comprises a module for protecting the robot itself and the environment against painting (130 ) that includes:
    - a bellows system (136) for the protection of the guides (105) and the spindles (104),
    - a system of rods (132) fixed to the main structure of the robotic system (100) by means of couplings (133), which hold protectors of variable extension (137), held by solid rods (135) that are inserted into hollow rods (134 ), and
    - two sheets (131), on both sides of the module, to protect the driving wheel (101) and the guide train (115) respectively.
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    同族专利:
    公开号 | 公开日
    ES2759519A8|2020-07-30|
    ES2759519B2|2020-10-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE20311395U1|2003-07-24|2003-10-30|Boue Andreas|Remotely-controlled cable inspection platform rotates through roll plane for all-round cable inspection|
    WO2006077358A1|2005-01-19|2006-07-27|Iti Scotland Limited|A clamp, self-advancing climbing device, and method of coupling same to a tubular|
    US20080105491A1|2006-11-03|2008-05-08|National Automated Palm Tree Company|Self-propelled climbing apparatus for stripping, trimming and coating palm trees|
    CN201516880U|2009-10-16|2010-06-30|谢军芳|Electrical pole lifting cleaning coater|
    CN203920962U|2014-04-15|2014-11-05|宁波职业技术学院|Cable-maintaining robot|
    CN106049270A|2016-06-23|2016-10-26|中国计量学院|Novel cable rope climbing device|
    法律状态:
    2018-11-19| PC2A| Transfer of patent|Owner name: FFC INDUSTRIAL E INFRAESTRUCTURAS ENERGETICAS, S.A Effective date: 20181119 |
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    ES201831083A|ES2759519B2|2018-11-08|2018-11-08|Robotic system and methods for maintenance tasks on lampposts and vertical conical structures|ES201831083A| ES2759519B2|2018-11-08|2018-11-08|Robotic system and methods for maintenance tasks on lampposts and vertical conical structures|
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