• 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:
    The present invention relates to a device for inspection and / or maintenance of a rotor blade of a wind turbine, comprising a frame structure, a lifting device and a functional unit arranged next to the frame structure, the lifting device being arranged to be anchored in the upper end of the wind turbine, preferably in the wind turbine. along the tower of the wind turbine, and which in the frame construction is arranged to be able to enclose the blade across its longitudinal lead in such a way that the functional unit can be brought sufficiently close to the rotor blade to be able to perform maintenance on its surface. The invention also relates to a method for inspection and / or maintenance of a rotor blade of a wind turbine.
    公开号:SE1150184A1
    申请号:SE1150184
    申请日:2011-03-01
    公开日:2012-09-02
    发明作者:Byron Hulsart
    申请人:Byron Hulsart Med Njords Aera Fa；
    IPC主号:
    专利说明:

    10l5icing, which means that alternatives must be used for other types of maintenancemethods.
    It is obvious that a better method is needed to facilitate and reduce the risksmaintenance of a wind turbine's rotor blade. inBRIEF DESCRIPTION OF THE INVENTIONIt is an object of the present invention to eliminate or at least minimize. the above-mentioned problem, which is caused by a device for inspectionand / or maintenance of a rotor blade of a wind turbine, comprising aframe construction, a lifting device and one arranged at the frame constructionfunctional unit, the lifting device being arranged to be anchored in the top of the wind turbine.part, preferably in the nacellee of the wind turbine, and be able to lift / lower the frame constructionvertically along the empty of the wind turbine, and which ridge construction is arranged tobe able to enclose the blade across its longitudinal direction in such a way that the functional unit canbrought close enough to the rotor blade to be able to perform maintenance on its surface.
    Thanks to the invention a number of advantages are obtained, such as for example:an extremely light construction in terms of weight that allows anchoring in existing onesanchoring details in the wind turbine, such as the nacelle, without being too heavy,- an unmanned maintenance unit that can be easily controlled from ground level,- a device which can be disassembled and thus easily transported,to be able to use light lifting straps, preferably polyester straps, as lifting devices, and-to allow module construction, where different functional units can be mounted onthe frame construction to provide various maintenance functions (eg washing,newspaper removal, inspection and / or application of surface coatings).
    According to one aspect of the invention, the device comprises a lifting yoke, preferably twopieces of lifting yoke, which are attached to the frame structure, and connected to saidlifting device.
    According to another aspect of the invention, the lifting device comprises at least twolifting straps, preferably consisting of a polyester material, each at its own end.connected to said lifting yoke and at its other end is anchored in the upper of the wind turbinepart, preferably in the nacelle of the wind turbine.-20Fig. 5According to a further aspect of the invention, said lifting strap comprises teeth forfacilitate vertical movement of the frame control diode along the tower.
    According to a further aspect of the invention, said lifting device comprises drive means forto effect a lifting movement of said device.
    According to a further aspect of the invention, the functional unit comprises a pluralitynozzles, each nozzle being positioned so as to be able to apply a jet of liquidsubstantially perpendicular to the surface of the rotor blade.
    According to a further aspect of the invention, said functional unit comprisesat least one sensor for locating the position of the rotor blade relative tothe position of the frame structure.
    According to a further aspect of the invention, the device comprises a total weight of at most150 kg, preferably not more than 125 kg.
    BRIEF DESCRIPTION OF FIGURESThe invention will now be described in more detail with reference to thoseattach the drawing figures, in which:F ig. 1 shows a device according to the invention in the process of performing maintenance ona wind turbine,Fig. 2 shows in perspective a device according to an embodiment of the invention,Fig. -3 shows in perspective a device according to an embodiment of the invention"about to enclose the tip of a rotor blade,Fig. 4 shows in perspective a device according to an embodiment of the inventionenclosing a rotor blade, andshows in perspective a lifting device according to an embodiment ofthe invention.
    DETAILED FIGUR DESCRIPTIONFig. 1 schematically shows how a device according to the invention in the form of a platform 1is hoisted next to a wind turbine 7. In the figure, one of the wind turbinesrotor blade 8 is positioned parallel to the tower 7 and the device has been hoisted up to oneposition where it meets the wing tip of the rotor blade 8. Two guide ropes 6A, 6B are attached to eachof the sides of the device 1, and is used to guide the platform 1 in place from ground levelat the wingtip 80. As will also be described in more detail laterthe device 1 a lifting device 5 arranged to be anchored in the top portion of the wind turbine,preferably in already existing attachment points in the wind turbine's nacelle 9, andthe platform 1 can hereby be lifted and lowered vertically along the tower 7 of the wind turbinewhile performing maintenance on or inspecting the rotor blade 8.
    Fig. 2 shows a device 1 according to an embodiment of the invention. The device 1comprises a frame structure 10, a lifting device 5 and one at the frame structure 10arranged functional unit 2. The frame construction comprises according to a preferredembodiment forms a closed frame that has a rectangular shape, which contributes to a goodstrength in the construction. Two lifting yokes 4 are attached opposite each otherthe 10 sides of the frame structure, and each ok 4 comprises winches 40 (also called"Balancing plate") to which the lifting device 5 is arranged to be attached. The lifting device(which is described in more detail in Fig. 5) comprises a drive assembly 51 which comprises adrive means 52 such as a motor, and two lifting straps 50, preferably but not necessarilyconsisting of lightweight polyester material, which is coupled to a geared feed mechanism 54(see Fig. 5) in connection with the drive 52. The feed mechanism 54 is arranged to feedthe straps 50 so as to lift the platform 1. Thanks to the advantageous flame of the deviceweight, light polyester material can be used for the lifting straps 50, which further contributesto a low total weight and thus to the device 1 being anchored directly inthe wind turbine's nacelle 9, e.g. in important door anchoring details in the nacelle 91Said assembly 51 is slidably attached to the clearance 40 of each yoke 4, andthe attachment point of the lifting straps 50 to the platform 1 can be adjusted by displacingthe assembly 51 along the winches 40 so that a good balance is obtained in the platform 1 when lifting.
    Said displacement of the lifting device 5 along the balancing plate 40 canprovided by some form of balancing driver 41, for example a motor, whichpreferably can be remotely controlled by a remote control unit 12 (not shown) which caninclude a processor / control unit 11 equipped with a processor, e.g. a PC or amicroprocessor 11, so that control / balancing (and preferably also othersfunctions / units on / at the device 1) of the platform 1 can be achieved from a _.distance (either via cable or wireless), e.g. of operators on the ground. Bands 50 areadvantageously designed with transverse tooth portions 53 (see Fig. 4) which facilitatelifting movement with the feed mechanism 54.
    On each side of the frame structure 10 there are attached controls, for example in the form ofguide lines 6A, 6B which enable the platform 1 to be guided with respect to its position,for example by pulling from the ground level in the respective line 6A, 6B.
    At the frame construction 10 there is arranged a functional unit 2 arranged to performmaintenance work on and / or inspecting the surface of the rotor blade 8. In the embodiment asappears in Figs. 2, the function unit 2 comprises at least one camera unit 21 (such as one)camcorder) facing the center of the frame structure, a microwave generator 22 forto melt ice and also a radar 23 which can be used to detect anycracks. It will be appreciated that many different features may be obtained by varyingthe type of equipment mounted on the platform, and that approximate functional unitsp (camera 21, microwave generator 22 and radar 23 respectively) can be mounted onthe frame construction 10 all at once or individually depending on the need. The functional unit2 can also be easily replaced with other types of equipment, which will be laterdescribed further.One side of the frame structure 10 comprises a control unit 3 (also called)platform foot 3), preferably in the form of a bogie 3 comprising a number, e.g. fourpieces, wheel parts 30 linked to each other and to one side of the frame structure 10.
    The control unit 3 is arranged to be placed against the wind power tower 7 so that the wheel parts 30 canroll vertically along the side of the tower 7 which leads to increased stability when lifting (or,immersion) of the platform 1.
    The frame structure 10 is arranged to be able to enclose a rotor blade 8 across it.longitudinal direction in such a way that the functional unit 2 can be brought sufficiently close to the rotor blade 8to be able to perform maintenance on its entire surface. For example, it is seen in Fig. 2 thatThe frame structure 10 comprises a rail 24 at the sine end which here holds onefunction unit 2, where the function unit can be mounted thanks to the rail 24 so that it can »displaced along the rail 24 and can perform the intended function from differentdirections to a rotor blade 8. In the embodiment shown here comprisesthe functional unit 2 a video camera 21, a microwave generator 22 and a radar unit 23.
    The operation of the function unit 2 can be followed by camcorder equipment 21 'andcontrolled from a distance, for example by monitoring the maintenance work on ascreen in a transport vehicle on the ground. It will be appreciated that the camera equipment l2l is also possibleuse to inspect the surface of the blade 8, e.g. to detect cracks and / orlightning damage etc. The microwave generator '22 can be used to melt ice formed onthe rotor blade, and the radar unit 23 for determining the position of the surface of the rotor blade 8 andfor example, locating ice formations so that the microwave generator 22 can in principle onlyis made to irradiate unwanted ice layers and not the Wing 8 itself. The radar unit 23 can alsoused to detect any cracks / damage in the Wing 8.
    I F ig. 3 and F, respectively. 4 shows how a device 1 according to an embodiment ofthe invention is hoisted up next to a wind power tower 7 and encloses one ofthe rotor blade 8 of the wind turbine. In Fig. 3 the platform 1 has been hoisted up along the tower 7 sofar enough that it encloses the wingtip 80 of the blade 8, and in Fig. g. 4 has the platformlifted further upward along the rotor blade 8. In the embodiment shown hereincomprises the functional unit of the platform 1 2 liquid nozzles 20 arranged to be fitteda fluid / liquid against the surface of the rotor blade 8, for example in the form of water ordetergent. The liquid is delivered in the example shown via said nozzles 20or nozzles mounted on link arms 25 which in turn are attached to the frame structure 10.
    Supply of liquid / id uid to the functional unit 2 can be accomplished in various ways. It isit is possible, for example, to mount a container construction (not shown) at the frame unit 10arranged to be filled with liquid already at ground level, to then be transportedtogether with the platform 1. Such a container structure may be so constructedthat it fits the dimensions of the pipe construction 10, the container construction can advantageouslyis given the shape of a frame which is dimensionally adapted to the platform 1 and which can be attachedit, for example at the underside of the platform 1, so that a good balance is obtained in the device1. Those skilled in the art will appreciate that it is also possible to make a container an integrated onepart of the frame structure 10, as well as that it may be detachable.
    Another option is to pump up liquid from the ground via pressure hoses that are connectedinto the device in a suitable place, for example at one short side of the platformtogether with other cabling (eg electrical cables, optical cable, etc.). A combination ofsaid solutions are also conceivable, i.e. to provide the platform 1 with a smaller oneliquid tank (not shown) mounted on the frame 10, which is supplied with liquid from the groundvia pressure hoses.
    Each link arm 25 can be angled so that the nozzles can be moved in the direction of or away fromthe rotor blade 8, which leads to the function unit 2 under the platform 1vertical movement along the rotor blade 8 will be adaptable to the blade'dimension. This can be seen, for example, by comparing the position of the link array 25 in Fig. 3and Fig. 4. When the platform 1 is positioned at the wingtip 80, as in Fig. 3, isthe link jugs 25 are angled inwardly towards the center of the frame structure 10 to thereby enterclose to the surface of the rotor blade 8, for example so that the nozzles 20 can apply the liquid toblade 8 with sufficient pressure / high temperature to effectively remove dirt andparticles that may have formed on its surface. When the platform 1 has been moved to a position therethe rotor blade 8 has a larger cross-sectional area compared to, for example, the wing tip 80, such asin Fig. 4, the link arms 25 can be adjusted accordingly by angling outwards so that the nozzles 20do not receive the rotor blade 8 but at the same time are so close that they can carry out theirfunction effectively. It will be appreciated that the adaptation of the functional unit 2 afterthe dimension of the rotor blade 8 can be achieved in different ways. According to one embodiment,the function head (eg the link arms 25) 'inwardly so that it can grip the wing 8regardless of the size of the wing. According to another embodiment, the injection unit 2 is controlledposition of a microprocessor 11. The microprocessor 11 preferably comprises oneform of tar control unit 12 so that it can be controlled via remote control e.g. fromground level and allows to position and activate both via remote controlfunction unit 2. If the function unit 2 e.g. comprises link arms 25, as in Figs. 3and Fig. 4, the microprocessor 11 can be programmed to control the arms 25 and thusalso the position of the liquid nozzles 20 relative to the blade 8. About the functional unit 2comprises a rail 24 provided with, for example, a microwave generator 22 can microprocessor11 is programmed to control the position of the microwave generator 22 on the rail 24.
    Fig. 5 shows in perspective an embodiment of the lifting device 5 according to the invention,comprising a drive assembly 51, with drive motor 52, arranged to be attached to suitablylocation at the device 1. Preferably, each device comprises a drive assembly 51 ateach of the two yokes 4, each drive assembly 51 being slidably attached to the winches 40as previously described. The drive motor 52 is arranged to drive a gearfeed mechanism 54, which in turn feeds a lifting strap 50 connected to the assembly51. Preferably, the lifting strap 50 comprises transverse tooth portions 53 meaning thatvertical displacement is facilitated and can be carried out in a controlled manner.
    Many different functions can be obtained thanks to the device 1 according to the invention, andby changing function unit 2, it is possible to perform many different types of workwith one and the same platform 1. Preferably, the platform 1 is built up of modules such asare adapted to any function, and when using the device one usesany of the possible tools to perform the work. Examples of possible types ofwork which can be carried out thanks to the invention is washing (eg by means ofultrapure water), inspection, application of anti-icing surface (such as wax),de-icing, and applying an icephobic to prevent ice from sticking to the blade 8.
    The function (s) of the device will in the following be described in more detail, withreference to the accompanying figures.
    The device 1 can be transported folded or disassembled to the place ofthe wind turbine to be maintained / inspected, and can thus assume a lotcompact shape that takes up little space. This means that the device 1 withoutproblems can be transported, for example, in a larger van or on a trailer. Thanks tothat it can be made very light in weight (preferably a maximum total weightunder 150 kg, even more preferably under 125 kg) two people are enough to lift,assemble and manage platform 1, and also the work steps associated with itusing the device can be performed with few operators, preferably with sofew as two people.
    Before the device 1 is put into use, the wind turbine's rotor blade 8 is positioned so that one ofthey are parallel to the tower 7. The platform 1 is assembled and then placed so thatthe platform foot 3 presses with the wheel parts 30 against the wind power frame 7. Two lightpolyester straps 50, preferably provided with teeth 53, are anchored in the wind turbineupper part (preferably in existing anchoring details in the nacelle 9) and is dropped fromeach side of the nacelle 9, for example by an operator taking up the wind turbineand lets them down. If the lifting yoke 4 has been angled down during a possible transportthey fold up to a position corresponding to that in e.g. Fig. 3 so that the lifting straps 50 cananchored via the unit 51 to the respective balancing plate 40. The lifting straps 50attachment point at the yoke 4 can be adjusted so that the respective unit 51 candisplaced back and forth along the balancing plate 40 at the upper part of the respectivelift ~ ok 4.'This can be accomplished in different ways. According to an embodiment shown inattached figures, said lifting device 5A is attached to the balancing plate 40 via aslider. Preferably, a balancing drive 41, such as a motor, is used to adjustthe position of the lifting device 5 at the respective sliding strip 40. It is preferably operatedbalancing driver 41 via a remote control unit 12 so as to balance the platform1 can be done e.g. from ground level.
    The device is provided with the functional unit 2 to be used, e.g.liquid nozzles 20 for applying cleaning uid to the rotor blade for washingand / or microwave generator 22 to melt ice, and associated equipment is turned on.
    In the case of water nozzles 20, water hoses are connected under the platform, e.g. atone short side of the frame structure 10, and any cables for power supply canalso connected. The device 1 is then lifted vertically along the wind turbine tower 7 throughthe lifting device 5. According to a preferred embodiment, the lifting device 5 comprises aassembly 51 inside which a drive motor 52 drives a geared feed mechanism 54 whichfeeds the lifting straps 50, which is facilitated by the straps 50 in turn preferablycomprises transverse tooth portions 53. The feed mechanism 54 may preferably as wellthe balancing driver 41 is remotely controlled via a remote control unit 12, which may constitute acommon receiver for controlling the different functions of the platform.
    The remote control unit 12 may be comprised of a microprocessor unit or central processor11 arranged to obtain requested machine instructions and execute them, for exampleto lift the platform 1. An operator can hereby via the remote control unit 12 from onedistance continuously control the lifting movement as well as balance the platform during the lift.
    By adjusting the attachment point for the lifting straps 50 along the winches 40 at eachok 4, the frame structure 10 can be balanced so that it has the correct position. One morestabilizing effect is obtained thanks to the control unit 3 and its supporting wheel parts 30up the platform 1 against the tower 7. At one position the device 1 will meetthe wing tip 80 of the rotor blade 8, the frame structure 10 being guided in place manuallyby two operators pulling / steering with the aid of the control devices (control lines) 6A, 6Bthe platform to the correct position so that on further lifting it can enclose the wing tip 80 transverselythe longitudinal direction of the rotor blade 8, and the function unit 2 (here the liquid nozzles 20) cangrip the wingtip 80. The platform 1 may be equipped with some form of sensor forsensing the position of the rotor blade in relation to the functional unit 2, and saidcentral processor 11, which is preferably arranged to control sensors andfunction unit 2, can control the function head in place so that the corresponding function(eg washing) can be carried out efficiently. Alternatively, or as a complement, devices canincluded in the functional unit 2 is controlled by the operator via the remote control unit 12, whichcan be designed in many different ways depending on wishes and requirements. The 12 mayfor example consists of an ordinary PC or smaller handheld device 12, which is either wirelessor via cable control units included in the device 1. Specific software, e.g. forautomatic control of one or more devices, may be implemented inthe computer unit 12 of the operator and / or a computer unit 11 of the device 1. eThe function unit 2 starts the function at the wing tip 80, e.g. washing offthe surface 8 of the rotor blade via nozzles 20, and the work can be followed at a distance e.g. via screens pleaseeach 21 lm cameras 21 mounted on the platform 1. The function unit 2 performs maintenance onthe rotor blade while the frame structure is moved vertically along the blade betweenwing tip 80 and blade 8 root 81. Thanks to the invention, the rotor blade willbe able to be treated (eg cleaned) around its entire periphery at the same time, becausethe functional unit 2 is preferably arranged to reach around the entire blade at eachcross section. When the entire length of the blade 8 from the wing tip 80 to the root 81 has been treated, it is hoistedthe platform l down so that one can either rotate the next wing forward to perform the samefunction on it, or change function unit 2 so that another type of maintenance can be performed.
    When maintenance and / or inspection is completed, the platform 1 is hoisted down and foldedput together / disassembled.
    The acquisition is not limited by what has been described above, but can be varied withinthe framework of the appended claims. It will be appreciated, for example, that other types of lightweightlifting straps in addition to polyester can be used, as well as the frame construction 10 may have othersforms than those shown in the figures: it could, for example, take an oval shapeas well as a rectangular. Furthermore, it is realized that there are many others, other than those whodescribed above, possible variants to achieve remote control of units included inthe device 1.
    权利要求:
    Claims (1)
    [1]
    10 15 20 25 30 35 11 CLAIMS 1. Device for inspection and / or maintenance of a rotor blade of a wind turbine, comprising a frame structure (10), a lifting device (5) and a functional unit (2) arranged at the frame structure, wherein the lifting device (5 ) is arranged to be anchored in the upper end of the wind turbine, preferably in the nacelle (9) of the wind turbine, and to be able to lift / lower the frame structure (10) vertically along the tower (7) of the wind turbine, and which frame structure (10) is arranged to enclose at least 8) transversely thereto in such a way that the functional unit (2) can be brought sufficiently close to the rotor blade (8) to be able to perform maintenance on its surface, characterized in that said frame structure (10) constitutes an unmanned lightweight structure provided with at least one drive assembly ( 51) for vertical movement of the frame structure and arranged to be operable with a remote control unit (12). Device according to claim 1, wherein the device comprises lifting yoke (4) which is attached to the frame structure (10), and which is further connected to said lifting device (5), preferably via said drive assembly (51). Device according to claim 1 or 2, wherein the lifting device (5) comprises at least two lifting straps (5), preferably consisting of a polyester material, each of which is connected at its one end to said lifting yoke (4) and is anchored at its other end in the wind turbine, preferably the nacelle (9) of the wind turbine, and more preferably in a fastening member present in the nacelle. Device according to claim 2 or 3, wherein said lifting yoke (4) comprises a balancing device (40) arranged to adjust the position of the attachment point of the lifting device (5) at said lifting yoke (4). Device according to claim 3 or 4, wherein said lifting strap (5) comprises teeth for facilitating vertical movement of the frame structure (10) along the tower (7). Device according to claim 5, wherein said drive assembly (51) comprises a drive motor (52) with a toothed feed mechanism (54) which feeds the lifting straps (50). Device according to any one of the preceding claims, wherein said functional unit (2) comprises a number of nozzles (20), each nozzle (20) being positioned so that it can direct a jet of liquid substantially perpendicular to the surface of the rotor blade (8). Device according to any one of the preceding claims, wherein said functional unit (2) comprises at least one sensor and / or camera for locating the position of the rotor blade (8) in relation to the position of the frame structure (10). "Device" according to any one of the preceding claims, arranged to be collapsible. Device according to any one of the preceding claims, arranged with a control unit (11) arranged to control the function of at least some, preferably all, control / controllable units arranged at the device (1), either automatically by means of own software, or via said remote control unit ( 12). Device according to one of the preceding claims, arranged to be able to be positioned from ground level via control devices (6A, 6B). Device according to one of the preceding claims, comprising control unit (3) arranged to support the device (1) against the wind power tower (7). Device according to one of the preceding claims, comprising a total weight of at most 150 kg, preferably at most 125 kg. Method for inspecting and / or performing maintenance on a rotor blade of a wind turbine, comprising the steps of: a. Positioning one of the rotor blades (8) of the wind turbine parallel to the tower (7), b. Providing a device (1) according to any one of claims 1 - 12, c. Anchor the device (1) in the nacelle (9) of the wind turbine via the lifting device (5), d. Lift the device (1) vertically along the wind turbine's empty (7) until the pipe construction (10) meets the wing tip (8) of the rotor blade (8) 80), e. Position the frame structure (10) so as to enclose the rotor blade (8) across the longitudinal direction of the rotor blade, and f. Use the functional unit (2) to perform maintenance on the rotor blade while the frame structure is moved vertically along the blade between the wing tip (80) and leaf (8) rot (81). Method, according to claim 14, wherein the device (1) is controlled without manning the device itself (1), by means of the use of a tar control unit (12).
    类似技术:
    公开号 | 公开日 | 专利标题
    CN105178157B|2017-07-04|The unmanned remote control autoset road marking of highway and its control method
    KR101368679B1|2014-03-06|Blade maintenance platform for wind turbine
    CA2705982A1|2010-12-16|Method and apparatus for cleaning and de-icing wind turbine rotor blades
    WO2011107087A2|2011-09-09|Rotor blade cleaner
    KR101245778B1|2013-03-21|Blade maintenance device for wind turbine
    EP2536512A2|2012-12-26|Service platform
    CN107528281B|2020-10-02|Wire deicing system for high-voltage power transmission and transformation project
    KR20140001444A|2014-01-07|Blade maintenance platform for wind turbine
    KR20130025526A|2013-03-12|Blade maintenance device for wind turbine
    US10953938B2|2021-03-23|Apparatus and methods for maintenance of wind turbine blades
    SE1150184A1|2012-09-02|Device for maintenance of rotor blades of a wind turbine
    CN106114832B|2018-10-02|A kind of multipurpose agricultural unmanned helicopter
    CN107703959A|2018-02-16|A kind of crusing robot control system and method based on unmanned plane
    KR20130143425A|2013-12-31|Blade maintenance platform for wind turbine
    KR101245775B1|2013-03-21|Blade maintenance device for wind turbine
    KR101246567B1|2013-03-21|Blade maintenance device for wind turbine
    KR101358125B1|2014-02-07|Maintenance apparatus for wind turbine
    CN203675937U|2014-07-02|Efficient pull type pesticide spraying plant protection vehicle
    CN206615361U|2017-11-07|It is waterborne to drag for careless equipment
    CN207013358U|2018-02-16|Vehicle-mounted lifting formula lens cleaning machine
    KR101372288B1|2014-03-11|Wind turbine carriage, and wind turbine maintenance system having the same
    CN207200226U|2018-04-06|A kind of deicer for power transmission line
    CN105986755A|2016-10-05|Integrated climbing device
    CN210310822U|2020-04-14|Working platform for assembling marine main engine
    CN208062675U|2018-11-06|A kind of Portable power transmission line lifting wire structure
    同族专利:
    公开号 | 公开日
    SE536574C2|2014-03-04|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN113446172A|2017-02-27|2021-09-28|莱博机器人株式会社|Device and system for performing object maintenance|
    法律状态:
    2017-10-31| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1150184A|SE536574C2|2011-03-01|2011-03-01|Device for maintenance of rotor blades of a wind turbine|SE1150184A| SE536574C2|2011-03-01|2011-03-01|Device for maintenance of rotor blades of a wind turbine|
    [返回顶部]