CN105460092B - 利用超声波测距仪定位的水冷壁爬壁机器人 - Google Patents
利用超声波测距仪定位的水冷壁爬壁机器人 Download PDFInfo
- Publication number
- CN105460092B CN105460092B CN201510962683.3A CN201510962683A CN105460092B CN 105460092 B CN105460092 B CN 105460092B CN 201510962683 A CN201510962683 A CN 201510962683A CN 105460092 B CN105460092 B CN 105460092B
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- CN
- China
- Prior art keywords
- timing belt
- wheel
- fixed
- vibration damping
- damping sheet
- 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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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510962683.3A CN105460092B (zh) | 2015-12-18 | 2015-12-18 | 利用超声波测距仪定位的水冷壁爬壁机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510962683.3A CN105460092B (zh) | 2015-12-18 | 2015-12-18 | 利用超声波测距仪定位的水冷壁爬壁机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105460092A CN105460092A (zh) | 2016-04-06 |
CN105460092B true CN105460092B (zh) | 2017-07-21 |
Family
ID=55598363
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510962683.3A Active CN105460092B (zh) | 2015-12-18 | 2015-12-18 | 利用超声波测距仪定位的水冷壁爬壁机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN105460092B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106609894B (zh) * | 2017-03-10 | 2018-07-31 | 中南大学 | 一种电厂锅炉管道检测机器人 |
CN113441501B (zh) * | 2021-07-07 | 2022-05-27 | 梧州科润润滑科技有限公司 | 一种智能化储料罐检测清洁机器人 |
CN113581305B (zh) * | 2021-08-13 | 2023-04-28 | 西南石油大学 | 一种角钢塔架自动检测机器人 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101070081A (zh) * | 2007-05-28 | 2007-11-14 | 徐州必和科技有限公司 | 电厂锅炉水冷壁爬壁机器人 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1650116A1 (en) * | 2004-10-22 | 2006-04-26 | Sin Andamios Almansa, Sl | Tracked type robot with magnetic soles |
CN100346939C (zh) * | 2005-09-09 | 2007-11-07 | 清华大学 | 一种具有曲面自适应能力的磁吸附爬壁机器人 |
CN101863292B (zh) * | 2010-05-20 | 2011-12-14 | 常州华通焊丝有限公司 | 履带式永磁爬行机 |
CN201721535U (zh) * | 2010-07-13 | 2011-01-26 | 张化玲 | 多驱动仿生机器人 |
EP2726256B1 (en) * | 2011-06-29 | 2015-07-29 | Bluebotics SA | Mobile robot |
CN102556196A (zh) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | 一种磁吸附式爬壁机器人 |
CN102745278B (zh) * | 2012-08-01 | 2014-07-02 | 浙江大学 | 带自锁装置的永磁吸附爬壁机器人 |
CN103009373B (zh) * | 2012-12-13 | 2014-11-26 | 浙江大学 | 具有曲面自适应吸附的磁轮式爬壁机器人 |
CN104477264B (zh) * | 2014-11-27 | 2016-11-23 | 浙江理工大学 | 一种可变平行四边形履带式管内移动作业机器人 |
CN205203164U (zh) * | 2015-12-18 | 2016-05-04 | 哈尔滨科能熔敷科技有限公司 | 利用超声波测距仪定位的水冷壁爬壁机器人 |
-
2015
- 2015-12-18 CN CN201510962683.3A patent/CN105460092B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101070081A (zh) * | 2007-05-28 | 2007-11-14 | 徐州必和科技有限公司 | 电厂锅炉水冷壁爬壁机器人 |
Non-Patent Citations (1)
Title |
---|
沈为民,潘佩霖,王炎.多功能水冷壁排管爬壁机器人的研制.《南京航空航天大学学报》.2000,第32卷(第4期),410-415. * |
Also Published As
Publication number | Publication date |
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CN105460092A (zh) | 2016-04-06 |
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GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co., Ltd Address before: 150040 Heilongjiang province Harbin city Xiangfang province music pine square Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Water wall climbing robot based on ultrasonic range finder Effective date of registration: 20201228 Granted publication date: 20170721 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211124 Granted publication date: 20170721 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |