CN102219033B - Wall surface mobile robot based on gecko motion organism structural form bionics - Google Patents

Wall surface mobile robot based on gecko motion organism structural form bionics Download PDF

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Publication number
CN102219033B
CN102219033B CN201110115923A CN201110115923A CN102219033B CN 102219033 B CN102219033 B CN 102219033B CN 201110115923 A CN201110115923 A CN 201110115923A CN 201110115923 A CN201110115923 A CN 201110115923A CN 102219033 B CN102219033 B CN 102219033B
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CN
China
Prior art keywords
crawler belt
antidumping
stepping motor
load
motor
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CN201110115923A
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Chinese (zh)
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CN102219033A (en
Inventor
高学山
邵洁
戴福全
王会彬
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北京理工大学
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Priority to CN201110115923A priority Critical patent/CN102219033B/en
Publication of CN102219033A publication Critical patent/CN102219033A/en
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Publication of CN102219033B publication Critical patent/CN102219033B/en

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Abstract

The invention relates to a wall surface mobile robot based on gecko motion organism structural form bionics and in particular relates to a wall surface mobile robot which can rapidly move on the magnetic conductive material surface of a high cone-shaped steel tower or a large spherical tank and carries large load operation. The wall surface mobile robot provided by the invention is obtained by carrying out bionic evolution on the structural form of a gecko motion organism and comprises a driving unit, a chain caterpillar track, a load dispersing mechanism, an antidumping device, an ultrasonic probe servo mobile device, a robot box shell and a control system, wherein the chain caterpillar track is provided with a relative rotating shaft and a multipath magnetic circuit magnetic stripe adsorption unit. The robot in a gecko bionic form structure can safely move on a flat and smooth magnetic conductive wall surface, is especially suitable for moving on various curved wall surfaces with an arc, and can perform corresponding operations, thus a rapid and large-load automatic transporting tool is provided for overhead operation.

Description

Based on the bionical wall-surface mobile robot of gecko motor body structure form
Technical field
The present invention relates to a kind of based on the bionical wall-surface mobile robot of gecko motor body structure form; Be particularly related to a kind of tall and big coniform head tower or large-size spherical tank etc. of being used for and have on the magnetic conductive material surface quick travel and carry the wall-surface mobile robot of big heavy burden operation, belong to the bio-robot technical field.
Background technology
Industrial circle tends to use not only high but also big tank body, for example blower fan tower of the boiler of enterprises such as the oil storage of petrochemical complex or natural fuels enterprise, storage tank, power plant, wind power plant etc.The geometry of these tank bodies presents cylindric, spherical and cone shape characteristics.And tank body often needs to be serviced, the thick detection of an ancient piece of jade, round, flat and with a hole in its centre; Still adopt the conventional artificial mode at present; Its equipment generally is exactly rope ladder, rope or scaffold and so on; Therefore problems such as labour intensity is big with regard to having brought like this, the cycle is long, inefficiency and poor stability are badly in need of a kind of detection of automation or the equipment that carries out other operations, and this equipment will have the characteristics that stick and move flexibly at these tank surfaces.Magnetic for general attaches wall-surface mobile robot, owing to will be operated on the wall at this change interface, and the weld on the wall is higher, therefore wants to carry out moving of any direction, with being difficult to accomplish to reach constantly the firmly purpose of absorption.
The wall-surface mobile robot that is applied on these tank bodies generally adopts magnetic stripe as absorbing unit; In general; Magnetic attaches the absorption of wall-surface mobile robot to the magnet conductivity wall; The most directly method is to adopt permanent magnetism suction type and electromagnetism suction type, and electromagnetism suction type mechanism is more, complicacy in the control, consume energy greatlyyer, but can realize the ACTIVE CONTROL to magnetic force; The permanent magnetism suction type is simple in structure, need not consume energy, but uncontrollable magnetic force.
The wall Work robot belongs to the category of specialized robot, is divided into vacuum/negative-pressure adsorption, magnetic by the interactive mode of itself and wall and attaches, cohesive material adsorbs and hook absorption etc.Though academia has proposed the method for multiple associated machine robot mechanism and absorption, carry big heavy burden (as carrying the above implement of 20kg) but, any direction moves on cone wall technical method and principle prototype do not see.Its reason is that for cone, its cooresponding radius of a circle is different on the cross section of process any point highly, and promptly the shaft section of cone changes.When robot during, how to guarantee that safety absorption is vital with stability under loading cone surperficial comprehensive mobile.Secondly, when robot runs into the big obstacle of weld seam or other, how to realize flexible absorption, to guarantee that it also is one of difficult point that enough adsorption affinitys are arranged.Yet; With respect to robot; Natural gecko is accomplished various motions on wall then very flexible; Robot morphology is exactly the morphosis how research makes robot possess as much as possible to adapt to respective environment, and reconstruct or the robot mechanism that this process is accompanied by structure often accomplished environment real-time servo.Above-mentioned analysis shows that the robot construction form has certain limitation, and if thought to realize fully biological function under study for action would be at present technology can't accomplish.
Summary of the invention
It is a kind of based on the bionical wall-surface mobile robot of gecko motor body structure form that the present invention provides, and can be implemented in the wall defects detection operation of bearing a heavy burden greatly of the enterprising row of cylindric, spherical and coniform tank body wall.
Based on the bionical wall-surface mobile robot of gecko motor body structure form, comprise four driver elements, four chain crawler belts, load decentralized institution, anti-overturning devices, the servo mobile device of ultrasonic probe, robot cabinet shell and control system; It is characterized in that four chain crawler belts are respectively initiatively chain crawler belt 62, the passive chain crawler belt in left side, right side active chain crawler belt, the passive chain crawler belts in right side of left side, have the magnetic stripe unit on the chain crawler belt; Whole annexation is: the servo mobile device 55 of ultrasonic probe is fixed in the front end of robot cabinet shell; Anti-overturning devices 58 is fixed on the robot cabinet shell, and affixed position is the center-of-gravity position of this device; Two driver elements respectively are installed on the left and right sides face of robot cabinet shell; But homonymy has only a driver element that servomotor is installed; The left side initiatively is installed in robot cabinet shell left side before and after the passive chain crawler belt of chain crawler belt and left side side by side; The right side initiatively is installed in robot cabinet shell right side before and after the passive chain crawler belt of chain crawler belt and right side side by side, and two driver elements that servomotor is installed are connected with right side active chain crawler belt with left side active chain crawler belt respectively; Each load decentralized institution is installed in the inboard of every chain crawler belt; Control system is placed on respectively in the robot cabinet shell, and is connected with the servo mobile device of driver element, anti-overturning devices and ultrasonic probe, wherein, two front and back chain crawler belt of installing arranged side by side of the drive unit drives homonymy of servomotor is installed.
Wherein driver element comprises that code-disc, servomotor, motor fixing seat, the short contact roller of band synchronously erecting device, crawler belt are installed inner panel, the short contact roller of band synchronously, initiatively crawler belt sprocket wheel, driven crawler belt sprocket wheel, crawler belt are installed outside plate, short synchronous belt drive mechanism, crawler belt sprocket wheel degree of tightness regulating mechanism, long synchronous pulley, support sleeve, rotating shaft cover, short band synchronously and clamped pillar; Code-disc is connected the rear portion of servomotor; Servomotor and motor fixing seat are affixed; Motor fixing seat is fixed on the robot cabinet shell; Support sleeve and motor fixing seat and robot cabinet shell are affixed, and support sleeve is connected with the rotating shaft cover through bearing, and the rotating shaft cover is connected with motor shaft through bearing; The rotating shaft cover rotates with respect to support sleeve around motor shaft, and the rotation of rotating shaft cover and the rotation of motor shaft are independent of each other, and it is affixed that rotating shaft cover and crawler belt are installed inner panel, i.e. the rotation of rotating shaft cover is directly passed to crawler belt and inner panel is installed and with crawler belt the structure that inner panel is connected is installed; The weak point of motor shaft and the short synchronous belt drive mechanism synchronous pulley of band synchronously is affixed, and the rotation of motor shaft passes to short band synchronously, through short synchronous belt drive mechanism the rotation of motor shaft is passed to initiatively crawler belt sprocket wheel; Simultaneously; Initiatively the axle of crawler belt sprocket wheel and synchronous pulley is connected with crawler belt installation inner panel; The rotation that crawler belt is installed inner panel has also passed to initiatively crawler belt sprocket wheel; Initiatively the motion of crawler belt sprocket wheel is the resultant motion that crawler belt is installed inner panel and motor shaft; Initiatively the chain-driving that moves through of crawler belt sprocket wheel passes to driven crawler belt sprocket wheel, and crawler belt sprocket wheel degree of tightness regulating mechanism is installed in crawler belt and installs in the regulating tank of inner panel, regulates the chain-drive tightness through the position between fine setting active crawler belt sprocket wheel and the driven crawler belt sprocket wheel.The short contact roller of band synchronously erecting device is fixed in crawler belt and installs on the inner panel, and the short contact roller of band synchronously is connected on the short contact roller of the band synchronously erecting device to compress short synchronous belt drive mechanism, and the short contact roller of band synchronously compresses short synchronous belt drive mechanism; Clamp pillar and be fixed between crawler belt installation inner panel and the crawler belt installation outside plate, the short synchronous belt drive mechanism of auxiliary clamping limits the rotation of crawler belt installation inner panel; Crawler belt installation outside plate is through initiatively the axle and the clamping pillar of crawler belt sprocket wheel and driven crawler belt sprocket wheel are connected with crawler belt installation inner panel; The transmission shaft that connects firmly with long synchronous pulley also connects firmly with the axle of drive motor; The mechanism that moves through with motor is delivered on the chain crawler belt through long band synchronously, in addition, and is to realize differential through two groups of bearings between the transmission shaft that connects firmly of long synchronous pulley and the shell side plate; Be that crawler belt can carry out the rotation of certain angle around transmission shaft when motion; When its objective is obstacles such as touching convexity when crawler belt, can eliminate antagonistic force through the rotation adjustment attitude of self from obstacle; Thereby guarantee holding position of robot body, this has also realized some functions of simulation gecko shank.
The chain crawler belt is connected into the banded crawler belt of annular side by side by plural magnetic stripe unit; The magnetic stripe unit comprises chain pin link plate, magnetic isolation plate, outside yoke, middle yoke and magnetic stripe; Magnetic isolation plate links to each other with the chain pin link plate through flathead screw; Magnetic isolation plate is connected with outside yoke, middle yoke through flathead screw again, and outside yoke is positioned at the outside of a magnetic stripe unit and has a rib, and middle yoke has two ribs; Fixing magnetic stripe between the rib of the outside yoke and middle yoke, a magnetic stripe unit comprises plural outside yoke, middle yoke and magnetic stripe; Wherein the thickness of outside yoke be in the middle of yoke 1/2nd, the magnetic pole of adjacent magnetic stripe is identical, can constitute the adsorption affinity that the osed top magnetic line of force makes the magnetic stripe unit thus and reach the strongest, magnetic stripe unit outside face coats the rubber that one deck is used for protecting and increasing friction force.
The load decentralized institution comprises that load is disperseed axle, load dispersion spring, load dispersion wheel, the load branch falls apart and load is divided extra seat; Load dispersion cover for seat is contained in load and disperses axle to go up and be fixed on the crawler belt installation outside plate; Load disperses the below suit load of axle to disperse spring; Load disperses spring and load to divide the extra seat conflict to be connected, and falls apart with the load branch through hinge and be connected in the bottom of load dispersion axle, and load dispersion axle can be made resilient motion of translation while load branch and fall apart and can rotate around the hinge axle center in load is divided extra seat; For the chain crawler belt disperses load, guarantee that the chain crawler belt fits tightly wall; The load dispersion wheel is installed in the load branch and compresses the chain crawler belt on falling apart.
Anti-overturning devices comprises anti-overturning devices track cover, antidumping cross axle bed, antidumping stepping motor seat, antidumping stepping motor, antidumping stock, antidumping caster axle, antidumping castor spring, antidumping castor, antidumping quarter butt, antidumping center cross; The antidumping stepping motor is fixed on the antidumping motor cabinet; And the antidumping motor cabinet is fixed on the robot cabinet shell; The antidumping center cross is fixed on the motor shaft of antidumping stepping motor; Antidumping cross axle bed is connected with the antidumping center cross, and antidumping cross axle bed can rotate around the antidumping center cross; Antidumping stock and antidumping quarter butt are fixed in relative two ends on the antidumping cross axle bed respectively; Anti-overturning devices track cover is fixed on the robot cabinet shell and with the antidumping quarter butt and contacts; Anti-overturning devices track cover is used to limit the scope that antidumping cross axle bed rotates; Be socketed in behind the antidumping caster axle suit antidumping castor spring in the terminal mounting hole of antidumping stock; It can make to be parallel to the elasticity motion of translation of antidumping stepping motor axis under the restriction of antidumping stock, the antidumping castor is fixed on the antidumping caster axle and follows the motion of antidumping caster axle; The motion of synthetic stepping motor of this antidumping bar and antidumping cross axle bed can prevent effectively that robot from toppling from wall.Real-time attitude sensor is installed in the anti-overturning devices mechanism; When the attitude of robot changes; Sensor is given control system with signal; Signal after treatment, control system can be controlled the antidumping stepping motor and drive the antidumping stock and rotate around the center cross that topples, thus the antidumping stock of controlling this anti-overturning devices in real time is vertical with the horizontal direction maintenance.
The servo mobile device of ultrasonic probe comprises ultrasonic flaw detection module, probe holder, horizontal leading screw stepping motor nut, horizontal stepper motor screw set, longitudinal leadscrew stepping motor nut, horizontal leading screw stepping motor fixed mount, link span, vertical stepping motor screw set, the ultrasonic mechanical interface of popping one's head in, probe mount pad, longitudinal leadscrew stepping motor fixed mount, longitudinal leadscrew stepping motor and horizontal leading screw stepping motor; The probe mount pad all is fixed on the shell of robot head with the probe mechanical interface; Longitudinal leadscrew stepping motor fixed mount is fixed on the probe mechanical interface; The longitudinal leadscrew stepping motor is fixed on the longitudinal leadscrew stepping motor fixed mount; Longitudinal leadscrew stepping motor nut is installed on the longitudinal leadscrew stepping motor; The rotation of longitudinal leadscrew stepping motor can convert the motion of translation of longitudinal leadscrew stepping motor nut into; Link span is fixed on the longitudinal leadscrew stepping motor nut; Along with the motion of longitudinal leadscrew stepping motor nut, and connected horizontal leading screw stepping motor fixed mount.Laterally the leading screw stepping motor is fixed on the horizontal leading screw stepping motor fixed mount, and it is the same with the longitudinal leadscrew stepping motor, is that kind of motor output shaft is the stepping motor of leading screw.Laterally leading screw stepping motor nut is installed on the horizontal leading screw stepping motor, the rotation of horizontal leading screw stepping motor is converted into the motion of translation of horizontal leading screw stepping motor nut.Probe holder is installed on the horizontal leading screw stepping motor nut and is used to install the ultrasonic flaw detection module; Just can control the motion of ultrasonic flaw detection module through control longitudinal leadscrew stepping motor and horizontal leading screw stepping motor; The horizontal stepper motor screw set is fixed in horizontal leading screw stepping motor fixed mount; Be used for the motion of limit lateral leading screw stepping motor nut, same, vertically the stepping motor screw set is fixed on the longitudinal leadscrew stepping motor fixed mount to limit the motion of longitudinal leadscrew stepping motor nut; Detect the trouble point of tank body when the ultrasonic flaw detection module after, the labelling apparatus that the ultrasonic flaw detection module can start ultrasonic flaw detection module self carries out mark to the trouble point, so that the carrying out of handling labor.
Its whole annexation is: shell side plate, outer casing upper cover, shell lower plate, shell front side plate and shell rear quarter panel connect to form the robot cabinet shell successively; The servo mobile device of ultrasonic probe is fixed on the wall-surface mobile robot shell front side plate, and the modular event driven unit of wall-surface mobile robot is installed in the front end of the shell front side plate of wall-surface mobile robot, chain crawler belt link block driver element; Anti-overturning devices is fixed in outer casing upper cover with the trim that is used to decorate, and antidumping castor on the anti-overturning devices and tank body wall are fitted; Outer casing upper cover is an absolute construction so that dismantle, install, and spanner is fixed on the shell side plate, makes mechanism be convenient to whole carrying; Two driver elements are installed on the shell side plate lateral surface of the left and right sides; On a driver element servomotor is installed therein; The rotation of servomotor will pass to another driver element on the side plate through long synchronous belt drive mechanism; The long contact roller of band synchronously erecting frame is installed on the shell side plate of wall-surface mobile robot; The long contact roller of band synchronously is installed on the long contact roller of the band synchronously erecting frame and is used to compress long synchronous belt drive mechanism, and the circuit adapter plate is installed on the shell lower plate of robot, is used for the installation and control system.
Beneficial effect: ultrasonic detection device of the present invention, have multipath magnetic circuit the magnetic stripe unit, move crawler belt, robot casing, anti-overturning devices simulate respectively gecko head, sole, shank, function health and afterbody, realized bionical evolution to the structural form of gecko; The chain crawler belt that employing magnetic stripe unit is formed has been realized cylindric, spherical and coniform tank body wall is taken up an official post moving of meaning direction and flexible absorption, two groups of chain crawler belts of a drive unit drives, thus adapt to the wall absorption that becomes the interface more; The phenomenon that anti-overturning devices can at utmost avoid robot in traveling process, to topple has strengthened the reliability of robot work.
Description of drawings
Fig. 1 is a wall-surface mobile robot overall structure scheme drawing
Fig. 2 is the inner structure scheme drawing of wall-surface mobile robot
Fig. 3 is a magnetic stripe block construction scheme drawing
Fig. 4 is the scheme drawing of driver element
Fig. 5 is a chain caterpillar belt structure scheme drawing
Fig. 6 is a load decentralized institution schematic diagram
Fig. 7 is a load decentralized institution structural representation
Fig. 8 is an anti-overturning devices mechanism structure scheme drawing
Fig. 9 is the servo mobile device mechanism structure of a ultrasonic probe scheme drawing
Wherein: the pin link plate of 1-chain, 2-magnetic isolation plate, 3-outside yoke; Yoke in the middle of the 4-, 5-magnetic stripe, 6-code-disc, 7-servomotor, 8-motor fixing seat, 9-weak point are with contact roller erecting device, 10-crawler belt installation inner panel, the short synchronous band contact roller of 11-, 12-active crawler belt sprocket wheel, 13-crawler belt installation outside plate, the short synchronous belt drive mechanism of 14-, 15-crawler belt sprocket wheel degree of tightness regulating mechanism, the long synchronous pulley of 16-, 17-support sleeve, 18-rotating shaft cover synchronously, band, the driven crawler belt sprocket wheel of 21-, 22-clamp pillar to the 19-weak point synchronously; 25-magnetic stripe unit, 26-chain, 27-load decentralized institution; 28-load disperses axle, 29-load to disperse spring, 30-load dispersion wheel, 31-load branch to fall apart, and 32-load is divided extra seat, 33-anti-overturning devices track cover; 34-antidumping cross axle bed, 35-antidumping stepping motor seat, 36-antidumping stepping motor; 37-antidumping stock, 38-antidumping caster axle, 39-antidumping castor spring; 40-antidumping castor, 41-antidumping quarter butt, 42-antidumping center cross; 43-probe holder, the horizontal leading screw stepping motor of 44-nut, 45-horizontal stepper motor screw set, 46-longitudinal leadscrew stepping motor nut, the horizontal leading screw stepping motor of 47-fixed mount, 48-link span, the vertical stepping motor screw set of 49-, 50-pop one's head in ultrasonic mechanical interface, 51-probe mount pad, 52-longitudinal leadscrew stepping motor fixed mount, 53-longitudinal leadscrew stepping motor, the horizontal leading screw stepping motor of 54-, the servo mobile device of 55-ultrasonic probe, 56-driver element; 57-shell side plate, 58-anti-overturning devices, 59-trim; The 60-outer casing upper cover; 61-shell lower plate, the 62-left side is chain crawler belt, 63-shell front side plate, 64-shell rear quarter panel, 65-spanner initiatively, the long band synchronously of 66-contact roller; 67-circuit adapter plate, the long band synchronously of 68-contact roller erecting frame.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is explained further details.
Gecko has four legs, and two joints are arranged on every leg, corresponds to hip joint and knee joint.Hip joint provides the degree of freedom that rolls, and knee joint provides the inclination degree of freedom, and two joints of gecko leg can guarantee stable flexibly the moving of gecko.The pin of gecko has adsorption function, can make gecko be adsorbed on wall surface closely.Its tail has also played the effect of balance support except keeping away the enemy, the environment around the eyes on its head etc. can be surveyed makes limbs make a response to the variation of environment.The limbs structure of gecko has adapted to various wall environment fully, but the mankind but can't make gecko to wall-surface mobile robot fully under existing technical merit.Therefore, need carry out correspondingly bionical evolution, i.e. evolution on the technological layer to the structural form of gecko.
At first, the shank of gecko showed at technological layer turn to connecting rod mechanism, hip joint of gecko and knee joint develop and are hinge.This connecting rod mechanism can equally move as the leg of gecko, and mechanism further develops to having flexible caterpillar belt structure, and in this structure, the caterpillar belt structure that keeps the degree of freedom that rolls replaces connecting rod mechanism.The flexibility of caterpillar belt structure had both guaranteed with the degree of freedom that rolls that this structure can the same moving also guarantee fitting tightly of crawler belt and wall as the leg of gecko, and control is simple.The sole that gecko is used to adsorb has been evolved into the magnetic absorbing unit, and these magnetic absorbing units just can guarantee that with the simplest form wall-surface mobile robot steadily is adsorbed on the magnet conductivity wall.
The health of gecko is evolved into a container, and inside can the installing drive device and control setup etc., and the head of gecko is used for installing sonac, vision sensor etc. by evolution.Consider the support of the tail of gecko, stable and equilibrium activity, wall-surface mobile robot is installed an anti-overturning devices, thus the final wall-surface mobile robot that develops and accomplish.
Shown in accompanying drawing 1; Based on the bionical wall-surface mobile robot of gecko motor body structure form, comprise the servo mobile device of four driver elements 56, four chain crawler belts, load decentralized institution 27, anti-overturning devices 58, ultrasonic probe 55, robot cabinet shell and control system; The body of robot cabinet shell is linked in sequence by shell front side plate 63, outer casing upper cover 60, shell rear quarter panel 64 and shell lower plate 61 and forms continuous loop configuration, and the left and right sides of body constitutes the robot cabinet shell after being sealed by shell side plate 57; Four chain crawler belts are respectively initiatively chain crawler belt 62, the passive chain crawler belt in left side, right side active chain crawler belt, the passive chain crawler belts in right side of left side, have the magnetic stripe unit on the chain crawler belt; Whole annexation is: the servo mobile device 55 of ultrasonic probe is fixed in the front end of robot cabinet shell; Anti-overturning devices 58 is fixed on the robot cabinet shell, and affixed position is the center-of-gravity position of this device; Two driver elements 56 respectively are installed on the left and right sides face of robot cabinet shell; But homonymy has only a driver element that servomotor 7 is installed; Left side initiatively chain crawler belt 62 is installed in robot cabinet shell left side side by side with passive chain crawler belt front and back, left side; The right side initiatively is installed in robot cabinet shell right side before and after the passive chain crawler belt of chain crawler belt and right side side by side, and two driver elements 56 that servomotor 7 is installed are connected with right side active chain crawler belt with left side active chain crawler belt 62 respectively; Each load decentralized institution 27 is installed in the inboard of every chain crawler belt; Control system is placed on respectively in the robot cabinet shell; And be connected with the servo mobile device 55 of driver element 56, anti-overturning devices 58 and ultrasonic probe; Two front and back chain crawler belt of installing arranged side by side of the driver element 56 driving homonymies of servomotor 7 wherein, is installed; The long contact roller of band synchronously erecting frame 68 is installed on the shell side plate 63; The long contact roller 66 of band synchronously is installed on the long contact roller of the band synchronously erecting frame 68 and is used to compress long synchronous belt drive mechanism; Be installed in length on the shell side plate 63 synchronously with the adjustable positions of contact roller erecting frame 68; To regulate the degree of tightness of long synchronous belt drive mechanism, circuit adapter plate 67 is installed on the shell lower plate 61 of robot, is used for the installation and control system.
Shown in accompanying drawing 4, the modular event driven unit comprises that code-disc 6, servomotor 7, motor fixing seat 8, the short contact roller of band synchronously erecting device 9, crawler belt are installed inner panel 10, the short contact roller 11 of band synchronously, initiatively crawler belt sprocket wheel 12, driven crawler belt sprocket wheel 21, crawler belt are installed outside plate 13, short synchronous belt drive mechanism 14, crawler belt sprocket wheel degree of tightness regulating mechanism 15, long synchronous pulley 16, support sleeve 17, rotating shaft cover 18, shortly are with 19 and clamping pillar 22 synchronously; Code-disc 6 is connected the rear portion of servomotor 7; Servomotor 7 is affixed with motor fixing seat 8; Motor fixing seat 8 is fixed on the robot cabinet shell; Support sleeve 17 is affixed with motor fixing seat 8 and robot cabinet shell, and support sleeve 17 is connected with rotating shaft cover 18 through bearing, and rotating shaft is overlapped 18 and is connected with motor shaft through bearing; Rotating shaft cover 18 rotates with respect to support sleeve 17 around motor shaft; The rotation of rotating shaft cover 18 and the rotation of motor shaft are independent of each other; Rotating shaft cover 18 is affixed with crawler belt installation inner panel 10, i.e. the rotation of rotating shaft cover 18 is directly passed to crawler belt and inner panel 10 is installed and with crawler belt the structure that inner panel 10 is connected is installed; Motor shaft is affixed with 19 synchronous pulley synchronously with the weak point of short synchronous belt drive mechanism 14, and the rotation of motor shaft passes to shortly is with 19 synchronously, through short synchronous belt drive mechanism 14 rotation of motor shaft is passed to initiatively crawler belt sprocket wheel 12; Simultaneously; Initiatively the axle of crawler belt sprocket wheel 12 and synchronous pulley 20 is connected with crawler belt installation inner panel 10; The rotation that crawler belt is installed inner panel 10 has also passed to initiatively crawler belt sprocket wheel 12; Initiatively the motion of crawler belt sprocket wheel 12 is resultant motions that crawler belt is installed inner panel 10 and motor shaft; Initiatively the chain-driving that moves through of crawler belt sprocket wheel 12 passes to driven crawler belt sprocket wheel 21, and crawler belt sprocket wheel degree of tightness regulating mechanism 15 is installed in crawler belt and installs in the regulating tank of inner panel 10, regulates the chain-drive tightness through the position between fine setting active crawler belt sprocket wheel 12 and the driven crawler belt sprocket wheel 21.The short contact roller of band synchronously erecting device 9 is fixed in crawler belt and installs on the inner panel 10, and the short contact roller 11 of band synchronously is connected on the short contact roller of the band synchronously erecting device 9 to compress short synchronous belt drive mechanism 14, and the short contact roller 11 of band synchronously compresses short synchronous belt drive mechanism 14; Clamp pillar 22 and be fixed between crawler belt installation inner panel 10 and the crawler belt installation outside plate 13, the auxiliary rotation that clamps 14 pairs of crawler belts installations of short synchronous belt drive mechanism inner panel 10 limits; Crawler belt installation outside plate 13 is through initiatively the axle and the clamping pillar 22 of crawler belt sprocket wheel 12 and driven crawler belt sprocket wheel 21 are connected with crawler belt installation inner panel 10; The transmission shaft that connects firmly with long synchronous pulley 16 also connects firmly with the axle of drive motor; The mechanism that moves through with motor is delivered on the driven chain crawler belt in left side through long band synchronously, in addition, and is to realize differential through two groups of bearings between the transmission shaft that connects firmly of long synchronous pulley 16 and the shell side plate 57; Be that the chain crawler belt can carry out the rotation of certain angle around transmission shaft when motion; When its objective is obstacles such as touching convexity when the chain crawler belt, can eliminate antagonistic force through the rotation adjustment attitude of self from obstacle; Thereby guarantee holding position of robot body, this has also realized some functions of simulation gecko shank.
Shown in accompanying drawing 5; The chain crawler belt is connected into the banded crawler belt of annular side by side by plural magnetic stripe unit 25; Magnetic stripe unit 25 comprises chain pin link plate 1, magnetic isolation plate 2, outside yoke 3, middle yoke 4 and magnetic stripe, and magnetic isolation plate 2 links to each other with chain pin link plate 1 through flathead screw, and magnetic isolation plate 2 is connected with outside yoke 3, middle yoke 4 through flathead screw again; Outside yoke 3 is positioned at the outside of a magnetic stripe unit and has a rib; Middle yoke 4 has two ribs, between the rib of outside yoke 3 and middle yoke 4 fixedly 5, one magnetic stripe unit of magnetic stripe comprise plural outside yoke 3, middle yoke 4 and magnetic stripe 5; Wherein the thickness of outside yoke 3 be in the middle of yoke 4 1/2nd, the magnetic pole of adjacent magnetic stripe 5 is identical, can constitute the adsorption affinity that the osed top magnetic line of force makes magnetic stripe unit 25 thus and reach the strongest.
Shown in accompanying drawing 6 and 7; The load decentralized institution comprise load disperse axle 28, load disperse spring 29, load dispersion wheel 30, load branch fall apart 31 and load divide extra seat 32; Load is divided extra seat 32 to be sleeved on load and is disperseed on the axle 28 and be fixed in crawler belt to install on the outside plate 13; Load disperses the below suit load of axle 28 to disperse spring 29; Load disperses spring 29 and load to divide extra seat 32 to conflict to be connected, falls apart through hinge and load branch and 31 be connected in the bottom that load is disperseed axle 28, and load dispersion spools 28 can be made resilient motion of translation while load branch and fall apart and 31 can rotate around the hinge axle center in load is divided extra seat 32; For the chain crawler belt disperses load, guarantee that the chain crawler belt fits tightly wall; Load dispersion wheel 30 is installed in the load branch and falls apart and compress the chain crawler belt on 31.
Shown in accompanying drawing 8, anti-overturning devices 58 comprises anti-overturning devices track cover 33, antidumping cross axle bed 34, antidumping stepping motor seat 35, antidumping stepping motor 36, antidumping stock 37, antidumping caster axle 38, antidumping castor spring 39, antidumping castor 40, antidumping quarter butt 41, antidumping center cross 42; Antidumping stepping motor 36 is fixed on the antidumping motor cabinet 35; And antidumping motor cabinet 35 is fixed on the robot cabinet shell; Antidumping center cross 42 is fixed on the motor shaft of antidumping stepping motor 36; Antidumping cross axle bed 34 is connected with antidumping center cross 42, and antidumping cross axle bed 34 can rotate around antidumping center cross 42; Antidumping stock 37 is fixed in relative two ends on the antidumping cross axle bed 34 respectively with antidumping quarter butt 41; Anti-overturning devices track cover 33 is fixed on the cabinet shell and with antidumping quarter butt 41 and contacts; Anti-overturning devices track cover 33 is used to limit the scope that antidumping cross axle bed 34 rotates; Be socketed in behind the antidumping caster axle 38 suit antidumping castor springs 39 in the mounting hole of antidumping stock 37 ends; It can make to be parallel to the elasticity motion of translation of antidumping stepping motor 36 axis under the restriction of antidumping stock 37, antidumping castor 40 is fixed on the antidumping caster axle 38 and follows 38 motions of antidumping caster axle; The motion of synthetic stepping motor of this antidumping bar and antidumping cross axle bed 34 can prevent effectively that robot from toppling from wall.Real-time attitude sensor is installed in the anti-overturning devices mechanism; When the attitude of robot changes; Sensor is given control system with signal; Signal after treatment, control system can be controlled antidumping stepping motor 36 and drive antidumping stocks 37 and rotate around the center cross 42 that topples, thus the antidumping stock 37 of controlling this anti-overturning devices in real time is vertical with the horizontal direction maintenance.
Shown in accompanying drawing 9; The servo mobile device of ultrasonic probe comprises ultrasonic flaw detection module, probe holder 43, laterally leading screw stepping motor nut 44, horizontal stepper motor screw set 45, longitudinal leadscrew stepping motor nut 46, laterally leading screw stepping motor fixed mount 47, link span 48, the vertically ultrasonic mechanical interface of stepping motor screw set 49, probe 50, probe mount pad 51, longitudinal leadscrew stepping motor fixed mount 52, longitudinal leadscrew stepping motor 53 and horizontal leading screw stepping motor 54; Probe mount pad 51 all is fixed on the shell of robot head with probe mechanical interface 50; Longitudinal leadscrew stepping motor fixed mount 52 is fixed on the probe mechanical interface 50; Longitudinal leadscrew stepping motor 53 is fixed on the longitudinal leadscrew stepping motor fixed mount 52; Longitudinal leadscrew stepping motor nut 46 is installed on the longitudinal leadscrew stepping motor 53; The rotation of longitudinal leadscrew stepping motor 53 can convert the motion of translation of longitudinal leadscrew stepping motor nut 46 into; Link span 48 is fixed on the longitudinal leadscrew stepping motor nut 46, along with 46 motions of longitudinal leadscrew stepping motor nut, and has connected horizontal leading screw stepping motor fixed mount 47.Laterally leading screw stepping motor 54 is fixed on the horizontal leading screw stepping motor fixed mount 47, and it is the same with longitudinal leadscrew stepping motor 53, is that kind of motor output shaft is the stepping motor of leading screw.Laterally leading screw stepping motor nut 44 is installed on the horizontal leading screw stepping motor 54, the rotation of horizontal leading screw stepping motor 54 is converted into the motion of translation of horizontal leading screw stepping motor nut 44.Probe holder 43 is installed on the horizontal leading screw stepping motor nut 44 and is used to install the ultrasonic flaw detection module; Just can control the motion of ultrasonic flaw detection module through control longitudinal leadscrew stepping motor 53 and horizontal leading screw stepping motor 54; Horizontal stepper motor screw set 45 is fixed in horizontal leading screw stepping motor fixed mount 47; Be used for the motion of limit lateral leading screw stepping motor nut 44; Equally, vertically stepping motor screw set 49 is fixed on the longitudinal leadscrew stepping motor fixed mount 52 to limit the motion of longitudinal leadscrew stepping motor nut 46; Detect the trouble point of tank body when the ultrasonic flaw detection module after, the labelling apparatus that the ultrasonic flaw detection module can start ultrasonic flaw detection module self carries out mark to the trouble point, so that the carrying out of handling labor.

Claims (7)

1. based on the bionical wall-surface mobile robot of gecko motor body structure form, comprise four driver elements (56), four chain crawler belts, load decentralized institution (27), anti-overturning devices (58), the servo mobile device of ultrasonic probe (55), robot cabinet shell and control system; It is characterized in that four chain crawler belts are respectively initiatively chain crawler belt (62), the passive chain crawler belt in left side, right side active chain crawler belt, the passive chain crawler belts in right side of left side, have the magnetic stripe unit on the chain crawler belt; Whole annexation is: the servo mobile device of ultrasonic probe (55) is fixed in the front end of robot cabinet shell; Anti-overturning devices (58) is fixed on the robot cabinet shell, and affixed position is the center-of-gravity position of this device; Two driver elements (56) respectively are installed on the left and right sides face of robot cabinet shell; But homonymy has only a driver element that servomotor (7) is installed; The left side initiatively is installed in robot cabinet shell left side before and after the passive chain crawler belt of chain crawler belt (62) and left side side by side; The right side initiatively is installed in robot cabinet shell right side before and after the passive chain crawler belt of chain crawler belt and right side side by side, and two driver elements (56) that servomotor (7) is installed are connected with right side active chain crawler belt with left side active chain crawler belt (62) respectively; Each load decentralized institution (27) is installed in the inboard of every chain crawler belt; Control system is placed on respectively in the robot cabinet shell; And be connected with driver element (56), anti-overturning devices (58) and the servo mobile device of ultrasonic probe (55); Two front and back chain crawler belt of installing arranged side by side of driver element (56) the driving homonymy of servomotor (7) wherein, is installed; Said driver element comprises code-disc (6); Servomotor (7); Motor fixing seat (8); The short contact roller erecting device (9) of band synchronously; The long contact roller erecting frame (68) of band synchronously; The long contact roller (66) of band synchronously; Crawler belt is installed inner panel (10); The short contact roller (11) of band synchronously; Active crawler belt sprocket wheel (12); Driven crawler belt sprocket wheel (21); Crawler belt is installed outside plate (13); Short synchronous belt drive mechanism (14); Crawler belt sprocket wheel degree of tightness regulating mechanism (15); Long synchronous pulley (16); Support sleeve (17); Rotating shaft cover (18); Short band (19) synchronously and clamping pillar (22); Code-disc (6) is connected the rear portion of servomotor (7); Servomotor (7) is affixed with motor fixing seat (8); Motor fixing seat (8) is fixed on the robot cabinet shell; Support sleeve (17) is affixed with motor fixing seat (8) and robot cabinet shell, and support sleeve (17) is connected with rotating shaft cover (18) through bearing, and rotating shaft cover (18) is connected with motor shaft through bearing; Rotating shaft cover (18) rotates with respect to support sleeve (17) around motor shaft, and the rotation of rotating shaft cover (18) and the rotation of motor shaft are independent of each other, and rotating shaft cover (18) is affixed with crawler belt installation inner panel (10); Motor shaft is affixed with the synchronous pulley of (19) synchronously with the weak point of short synchronous belt drive mechanism (14); The rotation of motor shaft passes to short band (19) synchronously, through short synchronous belt drive mechanism (14) rotation of motor shaft is passed to initiatively crawler belt sprocket wheel (12); Simultaneously; Initiatively the axle of crawler belt sprocket wheel (12) and synchronous pulley is connected with crawler belt installation inner panel (10); The rotation that crawler belt is installed inner panel (10) also passes to initiatively crawler belt sprocket wheel (12); Initiatively the motion of crawler belt sprocket wheel (12) is the resultant motion that crawler belt is installed inner panel (10) and motor shaft; Initiatively the chain-driving that moves through of crawler belt sprocket wheel (12) passes to driven crawler belt sprocket wheel (21); Crawler belt sprocket wheel degree of tightness regulating mechanism (15) is installed in crawler belt and installs in the regulating tank of inner panel (10), and short band contact roller erecting device (9) synchronously is fixed in crawler belt and installs on the inner panel (10), and short band contact roller (11) synchronously is connected short band contact roller erecting device (9) synchronously and goes up to compress short synchronous belt drive mechanism (14); Clamping pillar (22) is fixed between crawler belt installation inner panel (10) and the crawler belt installation outside plate (13); Crawler belt installation outside plate (13) is through initiatively the axle and the clamping pillar (22) of crawler belt sprocket wheel (12) and driven crawler belt sprocket wheel (21) are connected with crawler belt installation inner panel (10); Long band contact roller erecting frame (68) synchronously is installed in the inboard of shell side plate (63); Long band contact roller (66) synchronously is installed in and is used to compress long band synchronously on the long band contact roller erecting frame (68) synchronously; The transmission shaft that connects firmly with long synchronous pulley (16) also connects firmly with the axle of servomotor (7), on the driven chain crawler belt of the Motion Transmission of servomotor (7) being installed to homonymy through long band synchronously; And the transmission shaft that long synchronous pulley (16) connects firmly is with being to realize differential through two groups of bearings between the shell side plate (57).
2. as claimed in claim 1 based on the bionical wall-surface mobile robot of gecko motor body structure form; The body that it is characterized in that said robot cabinet shell is linked in sequence by shell front side plate (63), outer casing upper cover (60), shell rear quarter panel (64) and shell lower plate (61) and forms continuous loop configuration, and the left and right sides of body constitutes the robot cabinet shell by shell side plate (57) sealing back.
3. as claimed in claim 1 based on the bionical wall-surface mobile robot of gecko motor body structure form; It is characterized in that said chain crawler belt is connected into the crawler belt of annular side by side by plural magnetic stripe unit (25); Magnetic stripe unit (25) comprises chain pin link plate (1), magnetic isolation plate (2), outside yoke (3), middle yoke (4) and magnetic stripe (5); Magnetic isolation plate (2) links to each other with chain pin link plate (1) through flathead screw; Magnetic isolation plate (2) is connected with outside yoke (3), middle yoke (4) through flathead screw again; Outside yoke (3) is positioned at the outside of a magnetic stripe unit (25) and has a rib, and middle yoke (4) has two ribs, fixing magnetic stripe (5) between the rib of outside yoke 3 and middle yoke (4); Magnetic stripe unit (25) outside face coats the rubber that one deck is used for protecting and increasing friction force.
4. as claimed in claim 1 based on the bionical wall-surface mobile robot of gecko motor body structure form, it is characterized in that a said magnetic stripe unit (25) comprises middle yoke (4), magnetic stripe (5) and plural outside yoke (3); Wherein the thickness of outside yoke (3) is 1/2nd of middle yoke (4), and the magnetic pole of adjacent magnetic stripe (5) is identical.
5. as claimed in claim 1 based on the bionical wall-surface mobile robot of gecko motor body structure form; It is characterized in that said load decentralized institution (27) comprises that load is disperseed axle (28), load dispersion spring (29), load dispersion wheel (30), the load branch falls apart (31) and load is divided extra seat (32); Load is divided extra seat (32) to be sleeved on load and is disperseed on the axle (28) and be fixed in crawler belt to install on the outside plate (13); Load disperses the below suit load of axle (28) to disperse spring (29); Load disperses spring (29) and load to divide extra seat (32) conflict to be connected; The bottom that load is disperseed axle (28) through hinge and load branch fall apart (31) be connected; Load disperse axle (28) can in load is divided extra seat (32), do resilient motion of translation simultaneously the load branch fall apart (31) can rotate around the hinge axle center, for the chain crawler belt disperses load and guarantees that the chain crawler belt fits tightly wall; Load dispersion wheel (30) is installed in the load branch and falls apart and compress the chain crawler belt on (31).
6. as claimed in claim 1 based on the bionical wall-surface mobile robot of gecko motor body structure form, it is characterized in that said anti-overturning devices (58) comprises anti-overturning devices track cover (33), antidumping cross axle bed (34), antidumping stepping motor seat (35), antidumping stepping motor (36), antidumping stock (37), antidumping caster axle (38), antidumping castor spring (39), antidumping castor (40), antidumping quarter butt (41), antidumping center cross (42); Antidumping stepping motor (36) is fixed on the antidumping motor cabinet (35); And antidumping motor cabinet (35) is fixed on the robot cabinet shell; Antidumping center cross (42) is fixed on the motor shaft of antidumping stepping motor (36); Antidumping cross axle bed (34) is connected with antidumping center cross (42), and antidumping cross axle bed (34) can be around the rotational of antidumping center cross (42); Antidumping stock (37) and antidumping quarter butt (41) are fixed in antidumping cross axle bed (34) respectively and go up relative two ends; Anti-overturning devices track cover (33) is fixed on the robot cabinet shell and with antidumping quarter butt (41) and contacts; The scope that anti-overturning devices track cover (33) restriction antidumping cross axle bed (34) rotates; Be socketed in behind antidumping caster axle (38) the suit antidumping castor spring (39) in the terminal mounting hole of antidumping stock (37); It can make to be parallel to the elasticity motion of translation of antidumping stepping motor (36) axis under the restriction of antidumping stock (37), antidumping castor (40) is fixed in antidumping caster axle (38) and goes up and follow antidumping caster axle (38) motion; Anti-overturning devices (58) goes up installs real-time attitude sensor; When the attitude of robot changes; Sensor is given control system with signal; Signal after treatment, control system can be controlled antidumping stepping motor (36) and drive the rotational of antidumping stock (37) around the center cross that topples (42), thus the antidumping stock (37) of controlling this anti-overturning devices in real time is vertical with the horizontal direction maintenance.
7. as claimed in claim 1 based on the bionical wall-surface mobile robot of gecko motor body structure form; It is characterized in that the servo mobile device of said ultrasonic probe comprises ultrasonic flaw detection module, probe holder (43), horizontal leading screw stepping motor nut (44), horizontal stepper motor screw set (45), longitudinal leadscrew stepping motor nut (46), horizontal leading screw stepping motor fixed mount (47), link span (48), vertical stepping motor screw set (49), the ultrasonic mechanical interface (50) of popping one's head in, probe mount pad (51), longitudinal leadscrew stepping motor fixed mount (52), longitudinal leadscrew stepping motor (53) and horizontal leading screw stepping motor (54); Probe mount pad (51) and the ultrasonic mechanical interface of probe (50) all are fixed on the shell of robot head; Longitudinal leadscrew stepping motor fixed mount (52) is fixed on the ultrasonic mechanical interface of probe (50); Longitudinal leadscrew stepping motor (53) is fixed on the longitudinal leadscrew stepping motor fixed mount (52); Longitudinal leadscrew stepping motor nut (46) is installed on the longitudinal leadscrew stepping motor (53); The rotation of longitudinal leadscrew stepping motor (53) converts the motion of translation of longitudinal leadscrew stepping motor nut (46) into; Link span (48) is fixed on the longitudinal leadscrew stepping motor nut (46); Along with longitudinal leadscrew stepping motor nut (46) motion, and link span (48) has connected horizontal leading screw stepping motor fixed mount (47); Laterally leading screw stepping motor (54) is fixed on the horizontal leading screw stepping motor fixed mount (47); Laterally leading screw stepping motor nut (44) is installed on the horizontal leading screw stepping motor (54), the rotation of horizontal leading screw stepping motor (54) is converted into the motion of translation of horizontal leading screw stepping motor nut (44); Probe holder (43) is installed on the horizontal leading screw stepping motor nut (44) and is used to install the ultrasonic flaw detection module; Just can control the motion of ultrasonic flaw detection module through control longitudinal leadscrew stepping motor (53) and horizontal leading screw stepping motor (54); Horizontal stepper motor screw set (45) is fixed in horizontal leading screw stepping motor fixed mount (47); Be used for the motion of limit lateral leading screw stepping motor nut (44); Equally, vertically stepping motor screw set (49) is fixed in longitudinal leadscrew stepping motor fixed mount (52) and goes up the motion with restriction longitudinal leadscrew stepping motor nut (46); Detect the trouble point of tank body when the ultrasonic flaw detection module after, the labelling apparatus that the ultrasonic flaw detection module can start ultrasonic flaw detection module self carries out mark to the trouble point.
CN201110115923A 2011-05-05 2011-05-05 Wall surface mobile robot based on gecko motion organism structural form bionics CN102219033B (en)

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