CN105437237B - 一种大型储料罐内壁检测机器人 - Google Patents
一种大型储料罐内壁检测机器人 Download PDFInfo
- Publication number
- CN105437237B CN105437237B CN201510841077.6A CN201510841077A CN105437237B CN 105437237 B CN105437237 B CN 105437237B CN 201510841077 A CN201510841077 A CN 201510841077A CN 105437237 B CN105437237 B CN 105437237B
- Authority
- CN
- China
- Prior art keywords
- spray
- coating liquor
- spray coating
- vehicle frame
- spray assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 238000005507 spraying Methods 0.000 claims abstract description 106
- 239000007921 spray Substances 0.000 claims abstract description 77
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 40
- 239000010959 steel Substances 0.000 claims abstract description 40
- 238000005286 illumination Methods 0.000 claims abstract description 8
- 239000000839 emulsion Substances 0.000 claims description 28
- 239000004816 latex Substances 0.000 claims description 20
- 229920000126 latex Polymers 0.000 claims description 20
- 239000007788 liquid Substances 0.000 claims description 14
- 229910001369 Brass Inorganic materials 0.000 claims description 9
- 239000010951 brass Substances 0.000 claims description 9
- 229920001971 elastomer Polymers 0.000 claims description 8
- 238000002955 isolation Methods 0.000 claims description 8
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 4
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 4
- 239000011230 binding agent Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 230000008961 swelling Effects 0.000 claims description 3
- 230000001934 delay Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 12
- 238000010521 absorption reaction Methods 0.000 abstract description 6
- 230000003628 erosive effect Effects 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 11
- 239000011248 coating agent Substances 0.000 description 7
- 238000000576 coating method Methods 0.000 description 7
- 239000000696 magnetic material Substances 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
- 210000000481 breast Anatomy 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000000873 masking effect Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000009469 supplementation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Nozzles (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510841077.6A CN105437237B (zh) | 2015-11-28 | 2015-11-28 | 一种大型储料罐内壁检测机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510841077.6A CN105437237B (zh) | 2015-11-28 | 2015-11-28 | 一种大型储料罐内壁检测机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105437237A CN105437237A (zh) | 2016-03-30 |
CN105437237B true CN105437237B (zh) | 2017-09-29 |
Family
ID=55548106
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510841077.6A Active CN105437237B (zh) | 2015-11-28 | 2015-11-28 | 一种大型储料罐内壁检测机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105437237B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105966485A (zh) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | 一种轮式磁吸附爬壁机器人 |
CN106335040A (zh) * | 2016-09-29 | 2017-01-18 | 广东石油化工学院 | 一种油罐维护专用爬壁机器人 |
CN106428282B (zh) * | 2016-11-30 | 2019-02-22 | 西南大学 | 一种喷漆/胶的爬墙小车 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3014739B2 (ja) * | 1990-10-29 | 2000-02-28 | 茂男 広瀬 | 走行体の離脱方法 |
JP3372434B2 (ja) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | 壁面吸着式移動装置 |
CN103100508A (zh) * | 2011-11-15 | 2013-05-15 | 上海图博可特石油管道涂层有限公司 | 石油开采用钢管的粉末内喷涂装置 |
CN203266627U (zh) * | 2013-05-02 | 2013-11-06 | 青岛欧晟达海装实验有限公司 | 表面维护机器人 |
CN203618480U (zh) * | 2013-11-06 | 2014-06-04 | 孙宏志 | 给树干喷涂白色液体的机器 |
CN104152039A (zh) * | 2014-07-22 | 2014-11-19 | 中国热带农业科学院农产品加工研究所 | 一种果蔬喷涂剂及使用该喷涂剂给果蔬套袋的方法 |
CN204477709U (zh) * | 2015-01-14 | 2015-07-15 | 浙江海洋学院 | 一种管道检测机器人 |
CN105020537B (zh) * | 2015-07-05 | 2017-08-25 | 北京工业大学 | 管道无损检测机器人 |
-
2015
- 2015-11-28 CN CN201510841077.6A patent/CN105437237B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN105437237A (zh) | 2016-03-30 |
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Legal Events
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Du Xiaowei Inventor before: Mei Wei |
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CB03 | Change of inventor or designer information | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20170417 Address after: 713300 Linping Shaanxi Town, the new village group Applicant after: Du Xiaowei Address before: 214400 Jiangsu city of Wuxi province Jiangyin City East Ring Road No. 9 E501 Applicant before: Jiangsu Fenglei Culture Media Co., Ltd. |
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TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20170727 Address after: 510640 Guangdong City, Tianhe District Province, No. five, road, public education building, unit 371-1, unit 2401 Applicant after: Guangdong Gaohang Intellectual Property Operation Co., Ltd. Address before: 713300 Linping Shaanxi Town, the new village group Applicant before: Du Xiaowei |
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TA01 | Transfer of patent application right | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Lifeng Inventor after: Li Jianjun Inventor after: Zong Xiao Inventor after: Gao Qiang Inventor after: Wang Dayong Inventor after: Wu Hao Inventor after: Li Suwang Inventor before: Du Xiaowei |
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TA01 | Transfer of patent application right |
Effective date of registration: 20170828 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Harbin special robot Co., Ltd. Address before: 510640 Guangdong City, Tianhe District Province, No. five, road, public education building, unit 371-1, unit 2401 Applicant before: Guangdong Gaohang Intellectual Property Operation Co., Ltd. |
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Effective date of registration: 20200512 Address after: 100012 room 704, unit 3, floor 6, building 1, yard 11, Shuangying Road, Chaoyang District, Beijing Patentee after: Beijing Kean Zhibo Technology Development Co., Ltd Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee before: HIT SPECIAL ROBOT Co.,Ltd. |
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Effective date of registration: 20210518 Address after: No. 158, Shunjiang West Road, Cao'e street, Shangyu District, Shaoxing City, Zhejiang Province Patentee after: Zhejiang Hagong Digital Technology Co.,Ltd. Address before: 100012 704, unit 3, 6th floor, building 1, yard 11, Shuangying Road, Chaoyang District, Beijing Patentee before: Beijing Kean Zhibo Technology Development Co.,Ltd. |
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