CN105835977A - Crawler-type wall climbing robot - Google Patents
Crawler-type wall climbing robot Download PDFInfo
- Publication number
- CN105835977A CN105835977A CN201610350206.6A CN201610350206A CN105835977A CN 105835977 A CN105835977 A CN 105835977A CN 201610350206 A CN201610350206 A CN 201610350206A CN 105835977 A CN105835977 A CN 105835977A
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- Prior art keywords
- crawler
- magnetic
- frame
- steering wheel
- connecting rod
- Prior art date
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- 230000009194 climbing Effects 0.000 title claims abstract description 23
- 230000008878 coupling Effects 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005347 demagnetization Effects 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 6
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 230000005389 magnetism Effects 0.000 abstract 4
- 238000010586 diagram Methods 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 4
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 4
- 239000003973 paint Substances 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 239000004020 conductor Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a crawler-type wall climbing robot. The crawler-type wall climbing robot comprises a frame, wherein a pair of crawler belt assemblies are symmetrically arranged on both sides of the frame; the bottom of the frame is provided with a steering assembly; the steering assembly comprises a disk-type motor which is rotationally connected to the bottom of the frame; the bottom of the disk-type motor is tightly connected with a telescopic cylinder coaxially; the output end of the telescopic cylinder is tightly connected with an electromagnet; the crawler belt assemblies comprise rubber crawler belts and a plurality of magnetic-adsorption units which are tightly connected with the crawler belts; the magnetic-adsorption units comprise cylindrical permanent magnets, left yokes, right yokes, upper magnetism isolating blocks, lower magnetism isolating blocks and steering engines; the cylindrical permanent magnets are rotationally arranged in a hollow barrel constructed by the left yokes, the right yokes, the upper magnetism isolating blocks and the lower magnetism isolating blocks; one end of the hollow barrel is tightly connected with a back cover plate; the output end of the steering engine is connected with the cylindrical permanent magnets through shaft couplings; the steering engine has two angle states of 0 degree and 90 degrees; when the steering engine is in the 0-degree state, the magnetic-adsorption units are in magnetizing states; when the steering engine is in the 90-degrees state, the magnetic adsorption units are in demagnetizing states.
Description
Technical field
The present invention relates to a kind of crawler-type wall climbing robot, belong to specialized robot technical field.
Background technology
In industries such as nuclear energy, boats and ships, chemical industry, wind-powered electricity generations, it is widely present magnetic conductor metal outer wall.These walls are through long-term
Expose to the weather, saline and alkaline erosion, dust adhere to, gravel friction, and it is existing that or even surface there will be dirt, depainting, corrosion etc.
As.These problems not only affect attractive in appearance, and may jeopardize the safe operation of wall body, it is impossible to meet safely, clearly
Clean industrial management requirement.At present, the work such as the cleaning of above-mentioned wall, rust cleaning, touch-up paint and maintenance mostly uses manually
, there is the problems such as high-risk, poor efficiency, high cost in operating type.Climbing robot be one in specialized robot important
Classification, can be widely applied to the O&M in said circumstances and service work, replaces manual work, improve work efficiency,
Reduce operating cost.Absorption and walking are two big basic functions of climbing robot, suction widely used in current industry
Subsidiary formula formula has magnetic-adsorption and negative-pressure adsorption, conventional walking manner to comprise crawler type, wheeled and sufficient formula.Above-mentioned absorption
Mode and the various combination of walking manner, can form multiple climbing robot design.In view of operating mode is special, should
Climbing robot under aforementioned circumstances, need possess flexibly turn to and appropriateness obstacle climbing ability, the most also needed bigger
Load capacity.And existing most of climbing robot is not the most well positioned to meet duty requirements.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of shoe possessing the ability of flexibly turning to and appropriateness obstacle climbing ability
Belt climbing robot.
For achieving the above object, the present invention is by the following technical solutions: a kind of crawler-type wall climbing robot, its feature exists
In: it includes frame, and the lateral symmetry in described frame is provided with a pair track assembly, sets in the bottom of described frame
It is equipped with steering assembly；Described steering assembly includes being rotatably connected on the disc type electric machine bottom described frame, described disc type electricity
The bottom of machine is coaxially fastenedly connected with telescoping cylinder, and the outfan of described telescoping cylinder is fastenedly connected electric magnet；Described crawler belt group
Part includes the magnetic absorbing unit that rubber belt track and multiple and described crawler belt are fastenedly connected, and described magnetic absorbing unit includes cylinder
Shape permanent magnet, left yoke, right yoke, on every magnetic piece, under every magnetic piece and steering wheel, described cylindrical permanent magnet rotates and sets
Put by described left yoke, right yoke, on every magnetic piece and under in the hollow cylinder that magnetic piece is encircled into, described hollow cylinder
One end is fastenedly connected with back shroud, and the outfan of described steering wheel is connected with described cylindrical permanent magnet by shaft coupling；Institute
State steering wheel and there are 0 ° and 90 ° of two angle states；When described steering wheel is in 0 ° of angle state, described cylinder is forever
The N pole of magnet is positioned at the direction parallel with wall with S pole；When described steering wheel is in 90 ° of states, described cylinder is forever
The N pole of magnet is positioned at the direction vertical with wall with S pole.
Bluetooth communication, described panel and the control being arranged in described frame it is provided with on the panel of described steering wheel
Device processed is connected by bluetooth.
Described steering wheel is arranged in the protecgulum being fastenedly connected with described hollow cylinder, arranges both positive and negative polarity two on described protecgulum
Power supply contact, described power supply contact is connected with the in-line power circuit of described steering wheel, is provided with power supply in described frame
Track, the described power supply contact on each described steering wheel obtains power supply by described power supply rail.
Described track assembly also includes that chain rail, each described magnetic absorbing unit are fastenedly connected the outside at described chain rail；Described
The inner side of rubber belt track is fastenedly connected with each described magnetic absorbing unit；Described chain rail is by drivewheel, driven pulley, regulating wheel
Jointly propping up with pressing sprocket, described drivewheel and driven pulley are all connected with described frame by power transmission shaft, described regulating wheel
It is arranged between described drivewheel and driven pulley and respectively by first connecting rod, second connecting rod and described drivewheel, driven
Wheel connects；Described support is connected with described first connecting rod, second connecting rod by the first expansion link, the second expansion link respectively；
Described pressing sprocket is multiple and interval is rotatably connected on the third connecting rod being positioned at below described regulating wheel, is positioned at described the
The described pressing sprocket of three connecting rod one end is connected by fourth link between described driven pulley, is positioned at described third connecting rod another
The described pressing sprocket of one end is connected with described first connecting rod by the 5th connecting rod.
The front end of described frame is provided with sixdegree-of-freedom simulation.
Photographic head is installed in the front end of described frame.
In described frame, the position near described drivewheel and driven pulley is respectively provided with a NFC sensor, each described
NFC chip all it is embedded with on the panel of steering wheel；Described NFC sensor electrically connects with described controller, will enter certainly
The information real-time Transmission of the magnetic absorbing unit of body investigative range gives described controller, and described controller is near drivewheel
Magnetic absorbing unit that NFC sensor detects is implemented to magnetize controls, detects the NFC sensor of close driven pulley
Magnetic absorbing unit is implemented demagnetization and is controlled.
Due to the fact that and take above technical scheme, it has the advantage that 1, controller of the present invention can be believed by bluetooth
Control number at any time the filling of magnetic absorbing unit, erasing state, coordinate disc type electric machine, telescoping cylinder and the electric magnet bottom frame,
Can realize flexibly turning to of apparatus body, when needs turn to, electric magnet energising is magnetized, and telescoping cylinder extend out to electric magnet
Fitting with wall, then controller carries out demagnetization control to whole magnetic absorbing units, and go to action implemented by disc type electric machine,
After having turned to, telescoping cylinder is retracted, and controller controls each magnetic absorbing unit and recovers to magnetizing or erasing state before turning to,
Then electric magnet power-off demagnetization.2, the present invention uses the multi-link structure track assembly as support frame, can be certainly
Adapt to different curved surface walls, and possess good obstacle climbing ability, be greatly improved the use at industrial circle of this equipment
Scene.3, the present invention configures the flexible mechanical arm of six degree of freedom, it is possible to achieve to the cleaning of wall, eliminates rust, spray paint and examines
Multiple actions such as survey.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the connection diagram of frame of the present invention and track assembly；
Fig. 3 is frame of the present invention and steering assembly, mechanical arm connection diagram；
Fig. 4 is the structural representation of track assembly of the present invention；
Fig. 5 is the structural representation of magnetic absorbing unit of the present invention；
Fig. 6 is the generalized section of Section A-A in Fig. 5；
Fig. 7 is the structural representation after magnetic absorbing unit of the present invention omits protecgulum；
Fig. 8 is the schematic diagram that magnetic absorbing unit of the present invention is in the state of magnetizing；
Fig. 9 is the schematic diagram that magnetic absorbing unit of the present invention is in erasing state.
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, the present invention includes frame 10, is symmetrically arranged with a pair crawler belt in the left and right sides of frame 10
Assembly 20, for realizing present invention absorption on magnetic conductor metal wall and walking；Arrange in the bottom of frame 10
There is steering assembly 40, turn to for realizing present invention entirety on wall；In the front end of frame 10, machinery is installed
Arm 50, for implementing the cleaning of wall, eliminating rust, spray paint and the action such as detection.
As shown in Figure 2, Figure 4 shows, track assembly 20 includes chain rail 21, rubber belt track 22 and magnetic absorbing unit 23, its
In, magnetic absorbing unit 23 is multiple, and interval is fastenedly connected in the outside of chain rail 21；The inner side of rubber belt track 22 is with each
Magnetic absorbing unit 23 is fastenedly connected.Chain rail 21 is by drivewheel 24, driven pulley 25, regulating wheel 26 and pressing sprocket 27
Jointly propping up, wherein, drivewheel 24 and driven pulley 25 are all connected with frame 10 by power transmission shaft, and regulating wheel 26 sets
Put between drivewheel 24 and driven pulley 25 and respectively by connecting rod 28, connecting rod 29 and drivewheel 24, driven pulley 25
Connect.Support 10 is connected with connecting rod 28, connecting rod 29 by expansion link 30, expansion link 31 respectively.Pressing sprocket 27
For multiple, interval is rotatably connected on the connecting rod 32 being positioned at below regulating wheel 26, is positioned at the pressing sprocket of connecting rod 32 one end
It is connected by connecting rod 33 between 27 with driven pulley 25, is positioned at the pressing sprocket 27 of connecting rod 32 other end by connecting rod 34
It is connected with connecting rod 28.The track assembly 20 of the present invention applies multi-link structure, and by expansion link 30,31
It is connected with frame 10, therefore possesses certain deformability, it is possible to adapt to different curved surface walls, and have preferably
Obstacle climbing ability.
As shown in Fig. 5～7, magnetic absorbing unit 23 include cylindrical permanent magnet 231, left yoke 232, right yoke 233,
On every magnetic piece 234 and under every magnetic piece 235, wherein, cylindrical permanent magnet 231 be rotatably arranged in by left yoke 232,
Right yoke 233, on every magnetic piece 234 and under in the hollow cylinder that magnetic piece 235 is encircled into, the fastening of one end of hollow cylinder is even
Being connected to back shroud 236, the other end of hollow cylinder is provided with protecgulum 237, is provided with steering wheel 238, rudder in protecgulum 237
The outfan of machine 238 is connected with cylindrical permanent magnet 231 by shaft coupling 239.Steering wheel 238 has 0 ° and 90 °
Two angle states, when steering wheel 238 is in 0 ° of angle state, the N pole of cylindrical permanent magnet 231 and position, S pole
In horizontal direction (as shown in Figure 8), the magnetic line of force is from N pole, by left yoke 232, wall 60 and right yoke
Ferrum 233 reaches S pole, forms Guan Bi；Now, magnetic absorbing unit 23 is the state of magnetizing, and magnetic absorbing unit 23 is filling
Wall can be produced suction under magnetic state.When steering wheel 238 is in 90 ° of angle states, cylindrical permanent magnet 231
Vertically (as shown in Figure 9), the magnetic line of force is from N pole, respectively by left yoke 232 He for N pole and S pole
Right yoke 233 arrives S pole, forms two closed-loop paths；Now, magnetic absorbing unit 23 is erasing state, the magnetic line of force
Loop gets around wall, and magnetic absorbing unit 23 does not produce suction to wall 60.Can either protect in order to ensure track assembly 20
Hold absorption, again can be according to counter clockwise direction normal rotation, magnetic absorbing unit 23 needs during M position in arriving at Fig. 4
Switch to the state of magnetizing, need to switch to erasing state when arriving at N position.Two angle states of steering wheel 238 by
The control signal that panel 241 sends determines, panel 241 is provided with bluetooth communication, makes panel 241
Can be by Bluetooth signal and the controller (not shown) being arranged in frame 10 transmission signal.In frame 10
The upper position near drivewheel 24 and driven pulley 25 is respectively mounted a NFC sensor, in the control of each steering wheel 238
It is embedded with NFC chip in making sheet 241.Rubber belt track 22 rotate during, when a certain magnetic absorbing unit 23 to
Drivewheel 24 is in time obtaining enough near, and NFC sensor identifies this magnetic absorbing unit by NFC chip, and will identify
Information is sent to controller, and controller assigns control instruction to the panel 241 of steering wheel 238 after receiving identification information,
Steering wheel 238 is made to switch to the state of magnetizing；When a certain magnetic absorbing unit 23 to driven pulley 25 near enough near time, NFC
Sensor identifies this magnetic absorbing unit by NFC chip, and identification information is sent to controller, and controller receives
Assign control instruction to the panel 241 of steering wheel 238 after identification information, make steering wheel 238 switch to erasing state.
As it is shown on figure 3, steering assembly 40 includes the disc type electric machine 41 being rotatably connected on bottom frame 10, disc type electric machine
The bottom of 41 is coaxially fastenedly connected with telescoping cylinder 42, and the outfan of telescoping cylinder 42 is fastenedly connected with electric magnet 43.When this
When invention needs to turn to, electric magnet 43 energising is magnetized, and telescoping cylinder 42 extend out to electric magnet 43 and fits with wall 60,
Whole magnetic absorbing units 23 bottom two track assemblies 20 are switched to erasing state by controller；Then, telescoping cylinder
42 stretch out further, lift whole for frame 10, and the weight of complete machine the most of the present invention is undertaken by electric magnet 43 completely；
Finally, disc type electric machine 41 rotates certain angle, it is achieved turning to of complete machine.After having turned to, telescoping cylinder 42 is retracted,
When fitting with wall bottom two track assemblies 20, controller controls each magnetic absorbing unit 23 and recovers to before turning to
Magnetize or erasing state；Subsequently, by electric magnet 43 power-off demagnetization, further retraction telescoping cylinder 42.So far, complete machine
Complete a go to action.
In above-described embodiment, two power supply contacts 240 of both positive and negative polarity can be set on the protecgulum 237 of magnetic absorbing unit 23,
Power supply contact 240 is connected with the in-line power circuit of steering wheel 238, is provided with power supply rail in frame 10 (in figure not
Illustrate), the power supply contact 240 on each steering wheel 238 obtains power supply by power supply rail.
In above-described embodiment, mechanical arm 50 is sixdegree-of-freedom simulation, can install at the end of sixdegree-of-freedom simulation
Different end effectors, thus complete to clean, eliminate rust, spray paint and the work such as detection.
In above-described embodiment, can install photographic head 70 in the front end of frame 10, photographic head 70 is used for capturing the present invention
The working environment information in front also passes ground control terminal back by the way of being wirelessly transferred in real time.
The present invention only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all to have
Changed, on the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention and
Equivalents, the most should not get rid of outside protection scope of the present invention.
Claims (7)
1. a crawler-type wall climbing robot, it is characterised in that: it includes frame, and the lateral symmetry in described frame sets
It is equipped with a pair track assembly, the bottom of described frame is provided with steering assembly；
Described steering assembly includes being rotatably connected on the disc type electric machine bottom described frame, and the bottom of described disc type electric machine is same
Axle is fastenedly connected with telescoping cylinder, and the outfan of described telescoping cylinder is fastenedly connected electric magnet；
Described track assembly includes the magnetic absorbing unit that rubber belt track and multiple and described crawler belt are fastenedly connected, described magnetic
Coupon unit include cylindrical permanent magnet, left yoke, right yoke, on every magnetic piece, under every magnetic piece and steering wheel, described cylinder
Shape permanent magnet rotating be arranged on by described left yoke, right yoke, on every magnetic piece and under in the hollow cylinder that magnetic piece is encircled into,
One end of described hollow cylinder is fastenedly connected with back shroud, and the outfan of described steering wheel is by shaft coupling with described cylinder forever
Magnet connects；Described steering wheel has 0 ° and 90 ° of two angle states；When described steering wheel is in 0 ° of angle state,
The N pole of described cylindrical permanent magnet is positioned at the direction parallel with wall with S pole；When described steering wheel is in 90 ° of states,
The N pole of described cylindrical permanent magnet is positioned at the direction vertical with wall with S pole.
2. a kind of crawler-type wall climbing robot as claimed in claim 1, it is characterised in that: the panel of described steering wheel
On be provided with bluetooth communication, described panel is connected by bluetooth with the controller being arranged in described frame.
3. crawler-type wall climbing robot as claimed in claim 1 a kind of, it is characterised in that: described steering wheel be arranged on
In the protecgulum that described hollow cylinder is fastenedly connected, arranging two power supply contacts of both positive and negative polarity on described protecgulum, described power supply is touched
Point is connected with the in-line power circuit of described steering wheel, is provided with power supply rail, on each described steering wheel in described frame
Described power supply contact obtains power supply by described power supply rail.
4. a kind of crawler-type wall climbing robot as claimed in claim 2, it is characterised in that: described track assembly also wraps
Including chain rail, each described magnetic absorbing unit is fastenedly connected the outside at described chain rail；The inner side of described rubber belt track and each institute
State magnetic absorbing unit to be fastenedly connected；Described chain rail is propped up jointly by drivewheel, driven pulley, regulating wheel and pressing sprocket, institute
State drivewheel and driven pulley be all connected with described frame by power transmission shaft, described regulating wheel be arranged on described drivewheel and from
It is connected with described drivewheel, driven pulley between driving wheel and respectively by first connecting rod, second connecting rod；Described support is respectively
It is connected with described first connecting rod, second connecting rod by the first expansion link, the second expansion link；Described pressing sprocket be multiple and
Interval is rotatably connected on the third connecting rod being positioned at below described regulating wheel, is positioned at the described pressure of described third connecting rod one end
Being connected by fourth link between sprocket wheel with described driven pulley, the described pressing sprocket being positioned at the described third connecting rod other end leads to
Cross the 5th connecting rod to be connected with described first connecting rod.
5. a kind of crawler-type wall climbing robot as claimed in claim 1, it is characterised in that: in the front end of described frame
It is provided with sixdegree-of-freedom simulation.
6. a kind of crawler-type wall climbing robot as claimed in claim 1, it is characterised in that: in the front end of described frame
Photographic head is installed.
7. a kind of crawler-type wall climbing robot as claimed in claim 4, it is characterised in that: close in described frame
The position of described drivewheel and driven pulley is respectively provided with a NFC sensor, the most embedded on the panel of each described steering wheel
There is NFC chip；Described NFC sensor electrically connects with described controller, will enter the magnetic coupon of self investigative range
The information real-time Transmission of unit gives described controller, the magnetic that the NFC sensor near drivewheel is detected by described controller
Absorbing unit is implemented to magnetize controls, the magnetic absorbing unit enforcement demagnetization control detecting the NFC sensor near driven pulley
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350206.6A CN105835977A (en) | 2016-05-24 | 2016-05-24 | Crawler-type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350206.6A CN105835977A (en) | 2016-05-24 | 2016-05-24 | Crawler-type wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105835977A true CN105835977A (en) | 2016-08-10 |
Family
ID=56594274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610350206.6A Pending CN105835977A (en) | 2016-05-24 | 2016-05-24 | Crawler-type wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105835977A (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828823A (en) * | 2016-12-28 | 2017-06-13 | 浙江海洋大学 | A kind of hull-rust extraction equipment |
| CN106904224A (en) * | 2017-04-20 | 2017-06-30 | 重庆大学 | A kind of hybrid climbing robot device of crawler belt polypody |
| CN107030349A (en) * | 2017-06-07 | 2017-08-11 | 广东海洋大学 | hull welding robot |
| CN107061195A (en) * | 2017-04-26 | 2017-08-18 | 长春财经学院 | Climbing robot and tower cleaning equipment |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107215400A (en) * | 2017-07-14 | 2017-09-29 | 贵州理工学院 | A kind of crawler body, mobile devices |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN109129394A (en) * | 2018-08-08 | 2019-01-04 | 国网辽宁省电力有限公司葫芦岛供电公司 | Climb wall type operation in narrow space robot |
| WO2019024739A1 (en) * | 2017-07-31 | 2019-02-07 | Guangdong Institute Of Intelligent Manufacturing | Tracked wall climbing robot |
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN110282038A (en) * | 2019-06-28 | 2019-09-27 | 兰州理工大学 | Field detection robot |
| CN110723226A (en) * | 2019-10-22 | 2020-01-24 | 北京深醒科技有限公司 | Security protection patrol robot with stable structure |
| CN110948497A (en) * | 2019-10-29 | 2020-04-03 | 河北工业大学 | Boats and ships adhere to biological cleaning robot |
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| CN113118978A (en) * | 2021-05-25 | 2021-07-16 | 上海倍朔环保科技有限公司 | Automatic operation platform for ship coating |
| CN113119142A (en) * | 2021-05-27 | 2021-07-16 | 国电长源广水风电有限公司 | Adsorption wall-climbing robot based on TOFD welding seam detection |
| CN113619703A (en) * | 2021-08-03 | 2021-11-09 | 武汉科技大学 | Crawler-type pipeline outer wall robot of crawling |
| CN114275069A (en) * | 2021-12-29 | 2022-04-05 | 金陵科技学院 | Hybrid magnetic adsorption wall-climbing robot, driving mode and tracking control algorithm |
| CN114715302A (en) * | 2022-04-08 | 2022-07-08 | 北京京能能源技术研究有限责任公司 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
| WO2023006086A1 (en) * | 2021-07-29 | 2023-02-02 | 中建八局第二建设有限公司 | Glue injection robot for curtain wall gaps |
| CN117048730A (en) * | 2023-10-11 | 2023-11-14 | 中国核工业二四建设有限公司 | Crawler-type wall climbing welding robot |
| GB2629391A (en) * | 2023-04-26 | 2024-10-30 | Kingspan Holdings Irl Ltd | A self-propelled robot for inserting fasteners into cladding elements |
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