CN104369788B - Permanent magnetic adsorption wall-climbing robot - Google Patents
Permanent magnetic adsorption wall-climbing robot Download PDFInfo
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- CN104369788B CN104369788B CN201410525205.1A CN201410525205A CN104369788B CN 104369788 B CN104369788 B CN 104369788B CN 201410525205 A CN201410525205 A CN 201410525205A CN 104369788 B CN104369788 B CN 104369788B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a permanent magnetic adsorption wall-climbing robot. The permanent magnetic adsorption wall-climbing robot comprises a base disc, a main motor and a vehicle body; the vehicle body and the main motor are arranged on the base disc; the base disc comprises a first machine base and three wheel modules which are fixed to the circumference above the first machine base and are evenly distributed; three magnets are evenly distributed on the circumference below the first machine base; a hollow shaft is fixed to the center of the first machine base and is sleeved with four deep groove ball bearings; every two deep groove ball bearings are connected with a nylon gear; the main motor is fixed to the hollow shaft through a motor flange; a clutch suction cup portion is fixed to the motor flange; a clutch coil portion is fixed to a bearing plate and is connected with a suspension clamp and a suspension ring bolt. A vehicle body upper cover is arranged above a holder; a bearing is arranged below the holder; a bearing and a bearing ring are arranged at the corresponding positions of the machine base; and a vehicle body is connected to the bearing ring. The needed number of the wheel modules and a driving motor can be selected according to loads; the cost of the motor is saved; and the mechanical transmission efficiency is improved, and the service life of the robot is prolonged.
Description
Technical field
The present invention relates to a kind of robot, more particularly, to a kind of robot based on disk suction type.
Background technology
Currently, pipeline transportation is as the load mode of a kind of efficiency high, low cost, in communication, oil, chemical industry, electric power etc.
Sector application is more and more extensive.During the use of pipeline, because burn into pressure and other external force are damaged, often can not keep away
Cause tube wall that various degrees of breakage occurs with exempting from.Consequently, it is possible to occur damaging once monitoring tube wall, need to give more in time
Change, otherwise can lead to major accident.
In view of the usual operator of most of pipeline environment cannot directly contact, pipeline operations typically adopt machine
People is implementing.Operating type according to pipe robot come point, a class is walking robot, and another kind of is climbing robot.By
In walking robot complex structure, technical difficulty be big and adaptability and stability poor, and the adaptability of climbing robot and stably
Property is stronger, and current priority research areass focus on climbing robot.It can be divided into vac sorb and disk to inhale by adsorption function
Attached, in magnetic suck mode as a example, magnet can be electromagnet or permanent magnet, and electromagnet formula maintains absorption to need to electricity
Magnet provides electric energy, but controls more convenient, and permanent magnet type is not affected by power-off, safe and reliable.
In the prior art, a kind of climbing robot is as magnetic suck function using permanent magnet disk, to detect and to repair
Reason pipeline.This climbing robot is used this disk as driving wheel, more additional two rotating wheels come auxiliary adjustment direction, are climbed
Wall operation.Because disk can rotate freely movable about vertical axises, so as robot can curved surface operation, additionally, this disk structure is also
Comparatively ideal absorption weight ratio can be produced, thus mitigating the overall weight of structure.But the disk of this climbing robot and wall
Angulation is changeless, thus leading to magnetic adsorbability can not change, therefore this climbing robot cannot solve wall suction
Echo the contradiction between mobile operation.In addition, existing climbing robot yet suffers from, and quality is larger, Engineering Orientedization application is also
The problems such as underaction.
Content of the invention
For the permanent magnetic suck climbing robot of the prior art drawbacks described above existing in design, the present invention provides
A kind of new adsorbed wall-climbing robot
According to one aspect of the present invention, there is provided a kind of permanent magnetic suck climbing robot, including chassis, mair motor and car
Body, car body and mair motor are installed on chassis, and wherein said chassis includes the first support and is fixed on circle on the first support
All and equally distributed three wheel modules, below the first support, even circumferential is distributed three Magnet, and Magnet is arranged on disk flange
In Magnet hub, disk flange is connected on the first support by disk post, is fixed with hollow axle at the center of the first support, empty
Four deep groove ball bearings are cased with heart axle, each two ball bearing connects one and is spaced between nylon gear and ball bearing with the second axle
Hold gear fixed position, gear wherein above connects shaft coupling, and shaft coupling is connected with motor shaft by rotating shaft flange；Described master
Motor is fixed on hollow axle by motor flange, and in the bottom of the first support setting motor cover in order to cover motor, in electricity
Machine flange is provided below clutch shaft bearing and keeps off in order to withstand following bearing；Described permanent magnetic suck climbing robot also includes main electricity
Machine clutch, has clutch suction cup portion and clutch coil part, and described clutch suction cup portion is fixed on motor flange
On, described clutch coil part is fixed on bearing plate and connects suspension clamp and lifting bolt, and described bearing plate is fixed with bolt
On retainer, it is provided with above retainer, on car body, below lid and retainer, bearing, support position corresponding with retainer is set
Put setting bearing and bearer ring, described car body is connected on bearer ring.
An embodiment wherein, described permanent magnetic suck climbing robot also includes wheel steering motor, is installed on holding
The link position of frame and motor cabinet, reductor shaft connects bevel gear and engages the bevel gear of another vertical direction, its bonded
Bearing righting in steering spindle and with being arranged on retainer, steering spindle lower end is arranged at the bearing group being fixed on the first support
In part and in the bonded spur gear in its underpart, when wheel need to turn to, power is delivered in steering spindle by bevel gear, directly
Gear engages the gear wheel on hollow axle and transfers power to described wheel module thus realizing wheel steering.
An embodiment wherein, described permanent magnetic suck climbing robot also includes car body steer motor, is installed on first
Support and the link position of motor cabinet, reductor shaft connects gear in order to engage the flexible rack on car body, when car body need to turn to,
Power is delivered to flexible rack by gear and turns to thus realizing car body.
An embodiment wherein, described permanent magnetic suck climbing robot also includes metal grating, fixes even with motor shaft
Connecing, receiving the positional information of metal grating thus detecting that car body rotates by photoelectric sensor.
An embodiment wherein, the wheel of wheel module bottom connects bevel gear, and the wheel center of wheel connects wheel shaft, wheel shaft
On be provided with bearing and bearing rib, wheel shaft two ends are separately positioned on bearing block and wheel carrier, bearing block connect wheel carrier, outside wheel carrier
It is fastened on the bearing on the first support, the upper lid of wheel carrier top fifth wheel module, press from both sides between the upper lid of wheel carrier and wheel module
Hold gear, in wheel module, the portion of covering connects hollow bearing gear, is provided with thrust bearing inside and outside it, be fixed on hollow bearing gear
On thrust bearing above the second support is set, the bearing block that the second support is fastened on the first support is so that entirely take turns mould
The position of block is balanced fixation, and the second support passes through support and retainer connects, and has an axle, axle top at the center of wheel module
Setting gear hub and gear, the bonded gear in axle bottom simultaneously engages the gear taking turns another axle top in module, and axle bottom is even
The gear connecing is engaged with the gear on wheel, and the gear on wheel is provided with dust cap.
An embodiment wherein, the outfan of reductor connects described mair motor clutch, when described mair motor clutch
When device is in released state, mair motor exports power the gear wheel being delivered on hollow axle, by gear wheel and wheel module
The gear engagement at end, power is delivered to the gear being fixedly connected on wheel, realizes advance or the retrogressing of car body；When described mair motor
When clutch is in engagement state, wheel drive motor is made robot remain static by locked.
An embodiment wherein, car body is provided with wireless camera, in order to the working condition of monitor in real time robot.
An embodiment wherein, described mair motor is DC brushless motor.
Using the permanent magnetic suck climbing robot of the present invention, at least there is advantages below：
1) wheel module adopts planet layout designs, according to the wheel module number required for load selection and can drive electricity
Machine, this structure can save motor cost, makes the maximum motor-driven gear uniform force of driving torque, improves machine driving effect
Rate and service life.Additionally, the direction of wheel module is equally using planet layout, so that all wheel modules is promptly turned to simultaneously,
Improve the operating flexibility of robot；
2) wheel module adopts closed design, can effectively prevent the impact that dust iron filings are likely to result in machine driving.Pin
The shell customized to Magnet both can avoid excessive iron filings to be adsorbed, and may also function as protecting the effect of Magnet；
3) adopt non-contacting suction type, it is to avoid the abrasion to wall for the rigid contact of high intensity, also can be by letter
Single operation adjusts absorption affinity size, adapts to tank skin and load capacity and the obstacle climbing ability of different-thickness.
Compared with prior art, the present invention can be according to the wheel module number required for load selection and motor, section
Power saver cost.Additionally, the present invention also can make the maximum motor-driven gear stress of driving torque equal by planet layout designs
Even, improve machinery driving efficiency and service life.Furthermore, the main material of robot adopts aluminium alloy, intensity high, corrosion-resistant and
Quality is little, and cooperation wireless controller is controlled operating, and overall operation is flexibly, conveniently.
Brief description
Reader is after the specific embodiment having read the present invention referring to the drawings, it will more clearly understand the present invention's
Various aspects.Wherein,
Fig. 1 is shown according to the front view of the permanent magnetic suck climbing robot of an embodiment of the present invention；
Fig. 2 illustrates the wheel group installation diagram of the permanent magnetic suck climbing robot of Fig. 1；
Fig. 3 illustrates another view of the wheel group of the permanent magnetic suck climbing robot of Fig. 2；
Fig. 4 illustrates the wheel function structure chart of the permanent magnetic suck climbing robot of Fig. 1；And
Fig. 5 illustrates the Magnet installation diagram of the permanent magnetic suck climbing robot of Fig. 1.
Specific embodiment
In order that techniques disclosed in this application content is more detailed and complete, can refer to the following of accompanying drawing and the present invention
Various specific embodiments, in accompanying drawing, identical labelling represents same or analogous assembly.However, those skilled in the art should
Understand, embodiment provided hereinafter is not used for limiting the scope that the present invention is covered.Additionally, accompanying drawing is used only for illustrating
Property it is illustrated, and drawn not according to its life size.
With reference to the accompanying drawings, the specific embodiment of the present invention is described in detail.
Fig. 1 is shown according to the front view of the permanent magnetic suck climbing robot of an embodiment of the present invention.Fig. 2 illustrates Fig. 1's
The wheel group installation diagram of permanent magnetic suck climbing robot.Fig. 3 illustrates that the another of wheel group of the permanent magnetic suck climbing robot of Fig. 2 regards
Figure.Fig. 4 illustrates the wheel function structure chart of the permanent magnetic suck climbing robot of Fig. 1.Fig. 5 illustrates the permanent magnetic suck wall-climbing device of Fig. 1
The Magnet installation diagram of people.
With reference to Fig. 1～Fig. 5, the permanent magnetic suck climbing robot of the present invention includes chassis, mair motor and car body, car body and master
Motor is installed on chassis.And, this permanent magnetic suck climbing robot also includes mair motor clutch, has clutch sucker
Part and clutch coil part, to control power to transmit by the separation of mair motor clutch with engaging.For example, reductor 2
Outfan connect mair motor clutch, when mair motor clutch is in released state, mair motor output power is simultaneously delivered to
Gear wheel on hollow axle 15, is engaged with the gear of wheel module upper end by gear wheel, power is delivered to and is fixedly connected on wheel
Gear, realize advance or the retrogressing of car body；When mair motor clutch is in engagement state, motor is made at robot by locked
In resting state.
Specifically, chassis includes the first support 7 and is fixed on circumference and equally distributed three wheels on the first support 7
Module, the first support 7 lower section even circumferential is distributed three Magnet 47.Magnet 47 is arranged in disk flange 45 and Magnet hub 48,
Disk flange 45 is connected on the first support 7 by disk post 49, is fixed with hollow axle 15 at the center of the first support 7.Hollow
Four deep groove ball bearings 17 are cased with axle 15, each two ball bearing 17 connects interval between a nylon gear 13 and ball bearing 17
With second bearing gear 18 simultaneously fixed position, gear wherein above connects shaft coupling 12, and shaft coupling 12 passes through rotating shaft flange and electricity
Arbor connects.Mair motor is fixed on hollow axle 15 by motor flange 14, and arranges motor cover 46 in the bottom of the first support 7
In order to cover motor, clutch shaft bearing gear 16 is provided below in order to withstand following bearing in motor flange 14.Clutch sucker
Part is fixed on motor flange 14, and clutch coil part is fixed on bearing plate and connects suspension clamp and lifting bolt, load-bearing
Plate is bolted together on retainer 22.It is provided with lid and retainer 22 lower section setting bearing on car body 23 above retainer 22.
Setting bearing and bearer ring on support position corresponding with retainer 22, car body 23 is connected on bearer ring.
According to a specific embodiment, this permanent magnetic suck climbing robot also includes wheel steering motor 24, is installed on holding
Frame 22 and the link position of motor cabinet 3, reductor shaft connects bevel gear 25 and engages the bevel gear of another vertical direction, and it is bonded
It is connected in steering spindle 8 and the bearing righting with being arranged on retainer 22, steering spindle 8 lower end is arranged at and is fixed on the first support 7
On bearing assembly 10 in and in the bonded spur gear 9 in its underpart, when wheel need to turn to, power is passed by bevel gear 25
It is delivered in steering spindle 8, spur gear 9 engages the gear wheel on hollow axle 15 and transfers power to described wheel module thus realizing car
Rotate to.
According to a specific embodiment, this permanent magnetic suck climbing robot also includes car body steer motor 1, is installed on the first machine
Seat 7 and the link position of motor cabinet 3, reductor shaft connects gear 4 in order to engage the flexible rack 5 on car body 23, when car body need to turn
Xiang Shi, power is delivered to flexible rack 5 by gear 4 and turns to thus realizing car body.
Additionally, the wheel 36 of wheel module bottom connects bevel gear 33, the wheel center of wheel 36 connects wheel shaft 38, on wheel shaft 38
It is provided with bearing and bearing rib, wheel shaft 38 two ends are separately positioned on bearing block 32 and wheel carrier 39, bearing block 32 connects wheel carrier 39,
Wheel carrier external connection is fixed on the bearing on the first support 7, the upper lid 41 of wheel carrier top fifth wheel module, wheel carrier and wheel module
Gear 40 is clamped, upper lid 41 top of wheel module connects hollow bearing gear 44, is provided with thrust axis inside and outside it between upper lid 41
Hold, be fixed on and above the thrust bearing on hollow bearing gear 44, second support 20 is set, the second support 20 is fastened on first
Bearing block 21 on support 7 makes the position of whole wheel module be balanced fixation, and the second support 20 passes through support 19 and keeps
Frame 22 connects, and has an axle 26, axle 26 top setting gear hub 27 and gear 28, the bonded tooth in axle 26 bottom at the center of wheel module
Wheel 43 simultaneously engages the gear 29 taking turns another axle 31 top in module, the gear on gear 30 and wheel that axle 26 bottom connects
33 engagements, the gear on wheel is provided with dust cap 34.
Additionally, metallic grid is connected with reductor shaft, by photoelectric sensor receive metal grating positional information from
And detect that car body rotates.The control system of robot adopts dead reckoning, in conjunction with onboard wireless photographic head, and passes through photoelectric transfer
The operating position of sensor monitor in real time robot and picture, freely easily control the operation of robot using wireless controller.
Using the permanent magnetic suck climbing robot of the present invention, at least there is advantages below：
1) wheel module adopts planet layout designs, according to the wheel module number required for load selection and can drive electricity
Machine, this structure can save motor cost, makes the maximum motor-driven gear uniform force of driving torque, improves machine driving effect
Rate and service life.Additionally, the direction of wheel module is equally using planet layout, so that all wheel modules is promptly turned to simultaneously,
Improve the operating flexibility of robot；
2) wheel module adopts closed design, can effectively prevent the impact that dust iron filings are likely to result in machine driving.Pin
The shell customized to Magnet both can avoid excessive iron filings to be adsorbed, and may also function as protecting the effect of Magnet；
3) adopt non-contacting suction type, it is to avoid the abrasion to wall for the rigid contact of high intensity, also can be by letter
Single operation adjusts absorption affinity size, adapts to tank skin and load capacity and the obstacle climbing ability of different-thickness.
Compared with prior art, the present invention can be according to the wheel module number required for load selection and motor, section
Power saver cost.Additionally, the present invention also can make the maximum motor-driven gear stress of driving torque equal by planet layout designs
Even, improve machinery driving efficiency and service life.Furthermore, the main material of robot adopts aluminium alloy, intensity high, corrosion-resistant and
Quality is little, and cooperation wireless controller is controlled operating, and overall operation is flexibly, conveniently.
Above, describe the specific embodiment of the present invention with reference to the accompanying drawings.But, those skilled in the art
It is understood that in the case of without departing from the spirit and scope of the present invention, the specific embodiment of the present invention can also be made each
Plant change and replace.These changes and replacement all fall in claims of the present invention limited range.
Claims (8)
1. a kind of permanent magnetic suck climbing robot, including chassis, mair motor and car body, described car body and described mair motor are respectively mounted
On chassis it is characterised in that
Described chassis includes the first support (7) and is fixed on the upper circumference of the first support (7) and equally distributed three wheel modules,
Below first support (7), even circumferential is distributed three Magnet (47), and Magnet (47) is arranged on disk flange (45) and Magnet hub
(48), in, disk flange (45) is connected on the first support (7) by disk post (49), fixes at the center of the first support (7)
There is hollow axle (15), hollow axle (15) is cased with four deep groove ball bearings (17), each two ball bearing (17) connects a nylon
It is spaced with second bearing gear (18) between gear (13) and ball bearing (17) and fixed position, gear wherein above connects shaft coupling
Device (12), shaft coupling (12) is connected with motor shaft by rotating shaft flange；
Described mair motor is fixed on hollow axle (15) by motor flange (14), and arranges electricity in the bottom of the first support (7)
Cover (46), in order to cover motor, is provided below clutch shaft bearing gear (16) in order to withstand following axle in motor flange (14)
Hold；
Wherein, described permanent magnetic suck climbing robot also includes mair motor clutch, has clutch suction cup portion and clutch
Coiler part, described clutch suction cup portion is fixed on motor flange (14), and described clutch coil part is fixed on load-bearing
On plate and connect suspension clamp and lifting bolt, described bearing plate is bolted together on retainer (22), and retainer sets above (22)
It is equipped with and below the upper lid of car body (23) and retainer (22), bearing is set, support position corresponding with retainer (22) arranges bearing
And bearer ring, described car body (23) is connected on bearer ring.
2. permanent magnetic suck climbing robot according to claim 1 is it is characterised in that described permanent magnetic suck climbing robot
Also include wheel steering motor (24), be installed on the link position of retainer (22) and motor cabinet (3), reductor shaft connects cone tooth
Wheel (25) simultaneously engages the bevel gear of another vertical direction, and it is bonded upper and with being arranged on retainer (22) in steering spindle (8)
Bearing righting, steering spindle (8) lower end is arranged in the bearing assembly (10) being fixed on the first support (7) and in its underpart key
Connect a spur gear (9), when wheel need to turn to, power is delivered in steering spindle (8) by bevel gear (25), spur gear
(9) engage the gear wheel on hollow axle (15) and transfer power to described wheel module thus realizing wheel steering.
3. permanent magnetic suck climbing robot according to claim 1 is it is characterised in that described permanent magnetic suck climbing robot
Also include car body steer motor (1), be installed on the link position of the first support (7) and motor cabinet (3), reductor shaft connects gear
(4) in order to engage the flexible rack (5) on car body (23), when car body need to turn to, power is delivered to flexible rack by gear (4)
(5) turn to thus realizing car body.
4. permanent magnetic suck climbing robot according to claim 3 is it is characterised in that described permanent magnetic suck climbing robot
Also including metal grating (6), be fixedly connected with motor shaft, receiving the positional information of metal grating thus examining by photoelectric sensor
Measuring car body rotates.
5. permanent magnetic suck climbing robot according to claim 1 is it is characterised in that the wheel (36) of wheel module bottom connects
Connect bevel gear (33), the wheel center of wheel (36) connects wheel shaft (38), and wheel shaft is provided with bearing and bearing rib, wheel shaft on (38)
(38) two ends are separately positioned on bearing block (32) and wheel carrier (39), and bearing block (32) connects wheel carrier (39), wheel carrier external connection
It is fixed on the bearing on the first support (7), the upper lid (41) of wheel carrier top fifth wheel module, wheel carrier and the upper lid (41) taking turns module
Between clamping gear (40), wheel module upper lid (41) top connect hollow bearing gear (44), be provided with thrust axis inside and outside it
Hold, be fixed on and above the thrust bearing on hollow bearing gear (44), the second support (20) is set, the second support (20) is connected
Bearing block (21) on the first support (7) makes the position of whole wheel module be balanced fixation, and the second support (20) passes through
Support (19) and retainer (22) connect, and have an axle (26) at the center of wheel module, axle (26) top setting gear hub (27) and
Gear (28), the gear (29) taking turns another axle (31) top in module is simultaneously engaged in the bonded gear in axle (26) bottom (43),
The gear (30) that axle (26) bottom connects is engaged with the gear (33) on wheel, and the gear on wheel is provided with dust cap (34).
6. permanent magnetic suck climbing robot according to claim 1 is it is characterised in that the outfan of reductor (2) connects
Described mair motor clutch, when described mair motor clutch is in released state, mair motor output power is simultaneously delivered to hollow
Gear wheel on axle (15), is engaged with the gear of wheel module upper end by gear wheel, power is delivered to and is fixedly connected on wheel
Gear, realizes advance or the retrogressing of car body；When described mair motor clutch is in engagement state, wheel drive motor is made by locked
Robot remains static.
7. permanent magnetic suck climbing robot according to claim 1 is it is characterised in that car body (23) is provided with wireless camera
Head, in order to the working condition of monitor in real time robot.
8. permanent magnetic suck climbing robot according to claim 1 is it is characterised in that described mair motor is brush DC electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410525205.1A CN104369788B (en) | 2014-10-08 | 2014-10-08 | Permanent magnetic adsorption wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410525205.1A CN104369788B (en) | 2014-10-08 | 2014-10-08 | Permanent magnetic adsorption wall-climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104369788A CN104369788A (en) | 2015-02-25 |
| CN104369788B true CN104369788B (en) | 2017-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410525205.1A Active CN104369788B (en) | 2014-10-08 | 2014-10-08 | Permanent magnetic adsorption wall-climbing robot |
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| CN (1) | CN104369788B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347514B (en) * | 2015-10-22 | 2018-10-30 | 哈尔滨龙海特机器人科技有限公司 | Magnet-wheel for permanent magnetic suck climbing robot |
| CN106240665A (en) * | 2016-08-17 | 2016-12-21 | 哈尔滨歌瑞得莱机器人制造有限公司 | The three huge steel pipes of magnet-wheel are creeped job platform |
| CN106882285B (en) * | 2017-03-24 | 2023-03-17 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot chassis with follow-up universal wheels |
| CN107264664B (en) * | 2017-08-01 | 2023-04-07 | 河北工业大学 | Driving integrated magnetic adsorption wheel type device |
| CN108127656B (en) * | 2018-02-09 | 2024-02-06 | 张智林 | Wall climbing robot |
| CN110086275B (en) * | 2019-04-22 | 2024-02-23 | 上海海洋大学 | Magnetic adsorption driving wheel structure with controllable adsorption force |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0268275A (en) * | 1988-09-02 | 1990-03-07 | Nippon Kansen Kogyo Kk | Wall creeping device |
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN101565063B (en) * | 2009-05-21 | 2010-08-11 | 上海交通大学 | Permanent magnetic adsorption wheel-type wall-climbing robot |
| KR20110067070A (en) * | 2009-12-13 | 2011-06-21 | 신윤항 | Sticking robot on large ship's external-wall |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN101947776B (en) * | 2010-09-22 | 2011-08-31 | 上海交通大学 | Wheel type barrier-crossing wall-climbing robot |
| CN103373406B (en) * | 2012-04-27 | 2016-05-18 | 顿向明 | A kind of climbing robot |
| CN102673672B (en) * | 2012-06-07 | 2013-12-25 | 中国东方电气集团有限公司 | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot |
| CN103303383B (en) * | 2013-06-05 | 2015-10-28 | 西安电子科技大学 | A kind of sliding type multicup wall-lcimbing robot |
| CN204223014U (en) * | 2014-10-08 | 2015-03-25 | 顿向明 | A kind of permanent magnetic suck climbing robot |
-
2014
- 2014-10-08 CN CN201410525205.1A patent/CN104369788B/en active Active
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| CN104369788A (en) | 2015-02-25 |
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