CN106080823A - A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot - Google Patents
A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot Download PDFInfo
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- CN106080823A CN106080823A CN201610450513.1A CN201610450513A CN106080823A CN 106080823 A CN106080823 A CN 106080823A CN 201610450513 A CN201610450513 A CN 201610450513A CN 106080823 A CN106080823 A CN 106080823A
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- worm
- sucking disc
- pole
- robot
- steel tower
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention relates to robotics, specifically a kind of imitative Gekko Swinhonis Zu Shipa steel tower robot, it is provided with electronic screw mandrel and electric permanent-magnet suction disc, it is characterised by that this robot includes pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, pole-climbing mechanism is respectively arranged at two ends with sucking disc mechanism, the lower end of sucking disc mechanism is provided with steering mechanism, described pole-climbing mechanism is made up of electronic screw mandrel, described sucking disc mechanism is by housing, worm and gear assembly, motor and electric permanent-magnet suction disc composition, described steering mechanism is by turning to driving motor, worm and gear assembly and turning-bar composition, there is simple in construction, good stability, motion is flexibly, control easily, load capacity is stronger, there is the advantages such as stronger overturn-preventing ability.
Description
Technical field
The present invention relates to robotics, specifically a kind of imitative Gekko Swinhonis Zu Shipa steel tower robot, it is applied to
The industries such as electric power, communication, chemical industry.
Background technology
It is known that vertical climbing robot is of a great variety, according to the walking manner of robot, robot can be divided into wheel
Formula robot, caterpillar type robot and legged type robot.For structures, wheeled robot and crawler frames such as climbing steel towers
The move mode of people has significant limitation, and legged type robot relies on its discontinuous contact characteristic in the process of walking, has relatively
Strong adaptability, for steel tower, makes full use of bionics principle and electromagnetic principle, imitates Gekko Swinhonis and climbs wall sucked type physiology knot
Structure, uses electric magnet absorption steel tower to realize the robot grip function to steel tower, has prominent superiority and advance, have
Stronger anti-rollover and overturn-preventing ability.
The legged type robot of existing document report, its motion-promotion force mainly has the mode such as servomotor, steering wheel, there is load
Ability is poor, and relatively greatly, structure is complicated for total quality, controls difficulty, and response speed is slow, and poor stability and motility deficiency etc. are many
Technical problem, for vertical steel tower structures, due to its framework multi-size, the grip part for steel tower designs the most tired
Difficulty, under external force, is susceptible to rollover, topples, it addition, electronic screw mandrel is by driving motor, reduction gearing, screw rod, spiral shell
Mother, guide pin bushing, push rod, slide, spring, shell and turbine, fine motion control the composition such as switch, and electronic screw mandrel is a kind of novel electronic
Actuator, makees back and forth movement in certain limit stroke.
Worm-and-wheel gear is commonly used to transmit the motion between two alternating axis and power, worm gear and worm screw plane therebetween
Inside being equivalent to wheel and rack, worm screw is similar to screw configuration again, and by the combination in any of worm and gear, it is possible to achieve treat work
Make rotary motion and the axially-movable of object.
Electric permanent-magnet suction disc is applied to the lathe sticking workpiece such as milling machine, drilling machine, planer, boring machine, automatically controlled in electric permanent-magnet suction disc
Permanent magnetic chuck is the novel magnetic sucker with electric pulse " on an off " magnetic force, sucker during sticking workpiece is processed, ten
Divide safe and reliable.With after magnetic force sticking workpiece, sucker will keep magnetic attraction indefinitely, and " on an off " required time is few
In 1 second, electric pulse consumed energy was few, and sucker will not produce thermal deformation, and electric permanent-magnet suction disc is not similar to common permanent magnetic chuck
The slide unit of magnetic group etc, its structure is steady, firm, precision is high.
Summary of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, it is provided that a kind of simple in construction, good stability, motion spirit
Live, control easily, load capacity is relatively strong, have the imitative Gekko Swinhonis Zu Shipa steel tower robot of stronger overturn-preventing ability.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot, is provided with electronic screw mandrel and electric permanent-magnet suction disc, it is characterised in that this robot bag
Including pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, pole-climbing mechanism is respectively arranged at two ends with sucking disc mechanism, sucking disc mechanism
Lower end be provided with steering mechanism, described pole-climbing mechanism is made up of electronic screw mandrel, and described sucking disc mechanism is by housing, worm and gear
Assembly, motor and electric permanent-magnet suction disc composition, housing is connected with the end of the electronic screw mandrel in pole-climbing mechanism, and enclosure interior is provided with
Worm and gear assembly, the turbine in worm and gear assembly is connected with external motor, and the worm screw in worm and gear assembly stretches out shell
Internal portion is hinged with electricity permanent magnetic disc, and motor controls worm and gear component operational and then drives electric permanent-magnet suction disc to move up and down,
Described steering mechanism, by turning to driving motor, worm and gear assembly and turning-bar to form, turns to shell and the suction driving motor
The housing of disc mechanism is hinged, turn to drive motor output shaft be connected with turning-bar through worm and gear assembly, turning-bar and
The edge of electric permanent-magnet suction disc is connected, and turns to and drives motor to control moving up and down and then driving of turning-bar through worm and gear assembly
The inclination of electric permanent-magnet suction disc.
Worm and gear assembly in sucking disc mechanism of the present invention is by drive link, turbine, turbine rod, fixing sleeve and spiral shell
Set composition, turbine is positioned at enclosure interior, and one end of drive link is connected with external motor, and the other end is through gear and enclosure interior
Turbine is meshed, and turbine rod upper end is connected with in the middle part of turbine, and turbine rod lower end is stretched out enclosure interior and matched through screw thread with swivel nut
Closing and connect and connect by fixed cover jacket casing, the upper end of fixing sleeve is connected in the middle part of housing lower end, the set of the inside of fixing sleeve
Body wall is provided with the slideway parallel with fixing sleeve axis, and slideway is fixed to be connected with swivel nut through slide block and realized swivel nut at fixing sleeve
Interior slides up and down, and the lower end of swivel nut is hinged with electric permanent-magnet suction disc.
Pole-climbing mechanism of the present invention is provided with two electronic screw mandrels, and electronic screw mandrel symmetry connects, two ends, left and right electronic
Push rod in screw mandrel is connected with the housing in sucking disc mechanism respectively, and two electronic screw mandrels increase the single climbing of pole-climbing mechanism
Effective length, reduce work efficiency, it is ensured that climbing efficiency.
Motor in pole-climbing mechanism of the present invention, sucking disc mechanism and rotating mechanism is linear electric motors, carries greatly
The load capacity of Gao Liao robot, stability and motility.
Housing in the sucking disc mechanism at pole-climbing mechanism of the present invention two ends pushes away with the electronic screw mandrel in pole-climbing mechanism
Rod end is hinged through bearing pin, makes sucking disc mechanism can swing in pole-climbing mechanism, prevents the tower bar heeling condition on steel tower
The disk body skew middle part absorption of the electric permanent-magnet suction disc in lower sucking disc mechanism, causes the hypodynamic phenomenon of absorption.
The turbine rod upper and lower of fixing sleeve inner of the present invention be respectively provided with prevention swivel nut on move and
The block moved down, prevents from turbine rod from rotating on excessive swivel nut moving past big damaging swivel nut service life, prevents from moving down and excessive causes spiral shell
Set abjection, affects using effect.
Advantages of the present invention and good effect be:
1, the pole-climbing mechanism simple in construction designed by the present invention, it is possible to robot weight is greatly reduced, improves the negative of robot
Loading capability.
2, the electric permanent-magnet suction disc in the sucking disc mechanism in the present invention can move up and down, and can well adapt to steel tower structures knot
Structure, flexible avoiding barrier.
3, the adsorption tool of the sucking disc mechanism of the gecko-emulated robot of the present invention is electric permanent-magnet suction disc, firm grip can hold ferrum
Tower structures, prevent from toppling.
4, the linear electric motors that the motor in pole-climbing mechanism, sucking disc mechanism and the rotating mechanism in the present invention uses, reflection speed
Degree is fast, and flexible operation is reliable, and load capacity is strong.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is sucking disc mechanism structural representation in the present invention.
Detailed description of the invention
The present invention is further described below in conjunction with the accompanying drawings:
As shown in drawings, a kind of imitative Gekko Swinhonis Zu Shipa steel tower robot, it is provided with electronic screw mandrel 1 and electric permanent-magnet suction disc 4, its feature exists
Including pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism in this robot, pole-climbing mechanism is respectively arranged at two ends with sucker
Mechanism, the lower end of sucking disc mechanism is provided with steering mechanism, and described pole-climbing mechanism is made up of electronic screw mandrel 1, described sucking disc mechanism
It is made up of housing 2, worm and gear assembly, motor 3 and electric permanent-magnet suction disc 4, the end of the electronic screw mandrel 1 in housing 2 and pole-climbing mechanism
Portion is connected, and housing 2 is internal is provided with worm and gear assembly, and the turbine in worm and gear assembly is connected with external motor 3, worm gear
Worm screw in worm component stretch out enclosure interior with electricity permanent magnetic disc 4 be hinged, motor 3 control worm and gear component operational and then
Driving electric permanent-magnet suction disc 4 to move up and down, described steering mechanism is by turning to driving motor 5, worm and gear assembly and turning-bar 6 groups
Become, turn to and drive the shell of motor 5 to be hinged with the housing 2 of sucking disc mechanism, turn to the output shaft driving motor 5 through worm and gear
Assembly is connected with turning-bar 6, and turning-bar 6 is connected with the edge of electric permanent-magnet suction disc 4, turns to driving motor 5 through worm and gear
Assembly controls the inclination moving up and down and then driving electric permanent-magnet suction disc 4 of turning-bar 6, the described worm and gear in sucking disc mechanism
Assembly is made up of drive link 7, turbine 8, turbine rod 9, fixing sleeve 10 and swivel nut 11, and it is internal that turbine 8 is positioned at housing 2, drive link 7
One end be connected with external motor 3, the other end is meshed with the turbine 8 within housing 2 through gear, turbine rod 9 upper end and whirlpool
Being connected in the middle part of wheel 8, it is internal in mating connection through screw thread with swivel nut 11 and by fixing sleeve 10 that housing 2 is stretched out in turbine rod 9 lower end
Socket, the upper end of fixing sleeve 10 is connected in the middle part of housing 2 lower end, and the set body wall of the inside of fixing sleeve 10 is provided with solid
Determining the slideway 12 that sleeve 10 axis is parallel, slideway 12 is fixed to be connected with swivel nut 11 through slide block and is realized swivel nut 11 in fixing sleeve 10
Slide up and down, the lower end of swivel nut 11 is hinged with electric permanent-magnet suction disc 4, and described pole-climbing mechanism is provided with two electronic screw mandrels 1, electricity
Movable wire bar 1 is symmetrical to be connected, and the push rod in the electronic screw mandrel 1 at two ends, left and right is connected with the housing 2 in sucking disc mechanism respectively, two
Electronic screw mandrel 1 increases the effective length of the single climbing of pole-climbing mechanism, reduces work efficiency, it is ensured that climbing efficiency, described
Motor in pole-climbing mechanism, sucking disc mechanism and rotating mechanism is linear electric motors, greatly improve robot load capacity,
The push rod end of stability and motility, the housing 2 in the sucking disc mechanism at pole-climbing mechanism two ends and the electronic screw mandrel 1 in pole-climbing mechanism
It is hinged through bearing pin, makes sucking disc mechanism can swing in pole-climbing mechanism, prevent from inhaling under the tower bar heeling condition on steel tower
The disk body skew middle part absorption of the electric permanent-magnet suction disc 4 in disc mechanism, causes the hypodynamic phenomenon of absorption, described fixed cover
Cylinder turbine rod 9 upper and lower within 10 is respectively provided with and stops the block 13 moving and moving down on swivel nut 11, prevents turbine
Bar 9 rotates to move past on excessive swivel nut 11 and big damages swivel nut 11 service life, prevents from moving down and excessive causes swivel nut 11 to be deviate from, and impact makes
Use effect.
This imitative Gekko Swinhonis Zu Shipa steel tower robot in use, is placed in steel tower lower end, then by this robot by the present invention
Two electronic screw mandrel 1 push rods in middle pole-climbing mechanism are all reduced to minimum stroke, and the swivel nut 11 in two sucking disc mechanisms is all elongated to
Range, then opens the power supply controlling electricity permanent magnetic disc 4, and the electric permanent magnetic disc 4 at Liang Ge pole-climbing mechanism two ends adsorbs at ferrum
On tower, when moving on needs, first disconnect above the power supply in electric permanent-magnet suction disc 4 in sucking disc mechanism, open top sucking disc mechanism
Swivel nut 11 in the power supply of cathetus motor 3 and then contraction sucking disc mechanism, swivel nut 11 is moved into and drives on electric permanent-magnet suction disc 4
Move, then open in pole-climbing mechanism the power supply of the electronic screw mandrel 1 cathetus motor in top, the electronic screw mandrel in top 1 promote push rod and then
Sucking disc mechanism reach above promotion, and then drive the reach of electric permanent-magnet suction disc 4, open the electricity of the electronic screw mandrel 1 in lower section the most again
Source, the push rod of electronic screw mandrel 1 is released, and then before driving the sucking disc mechanism of two electronic screw mandrels 1 of push rod upper end and top again
Moving, then open the power supply of linear electric motors 3 in the sucking disc mechanism of top, linear electric motors 3 band movable snail sleeve 11 moves down, and then band galvanic electricity is forever
Magnetic-disc 4 moves down, and electric permanent-magnet suction disc 4 is opened the power supply of this electric permanent-magnet suction disc 4 and adsorbed when contacting steel tower, then inhales below disconnection
The power supply of the electric permanent-magnet suction disc 4 in disc mechanism disconnects absorption, opens the power supply of linear electric motors 3 in the sucking disc mechanism of lower section, swivel nut
11 under the effect of motor on move, and then drive and move on electric permanent-magnet suction disc 4, open the electronic silk in the lower section in pole-climbing mechanism the most again
The power supply of the linear electric motors in bar 1, under the effect of push rod pulling force, lower section sucking disc mechanism moves, and then drives electric permanent-magnet suction disc 4
Upper shifting, then opens the power supply of the linear electric motors of the electronic screw mandrel 1 in top, and the push rod of the electronic screw mandrel in top 1 is to this electronic screw mandrel 1 He
The electronic screw mandrel 1 in lower section and lower section sucking disc mechanism pull, and carry out again going up by the electric permanent-magnet suction disc 4 in the sucking disc mechanism of lower section
Moving, then open the power supply of linear electric motors 3 in the sucking disc mechanism of lower section, swivel nut 11 moves down under the effect of linear electric motors 3, drives
Electric permanent-magnet suction disc 4 moves down, and when electric permanent-magnet suction disc 4 contacts steel tower, the power supply opening electric permanent-magnet suction disc 4 adsorbs, in this mistake
Cheng Zhongji completes the motion in a cycle, moves according to this cycle successively, and then the steel tower of climbing completing this robot works,
In this process, steering mechanism, according to the iron local gradient on steel tower, opens the power supply of linear electric motors in steering mechanism, turns
Turning-bar 6 in mechanism carries out upper shifting or moves down the inclination of the electric permanent-magnet suction disc 4 realized in sucking disc mechanism, and then meets steel tower
The gradient of upper iron, increases the absorbability of this device, prevents slope from causing absorption dynamics this machine not of electric permanent-magnet suction disc 4
Device people come off, and prevents from causing potential safety hazard, electronic screw mandrel 1, electric permanent-magnet suction disc 4, worm and gear assembly and the straight line in the present invention
Interconnected relationship between the structure of each building block of motor and they and this robot device's miscellaneous part and existing skill
Art is identical, and this does not repeats.
Due to the fact that this robot is made up of pole-climbing mechanism, sucking disc mechanism and steering mechanism, top is inhaled by pole-climbing mechanism
Disc mechanism upwards moves through thrust, then will upwards be moved through pulling force by the sucking disc mechanism of bottom, in pole-climbing mechanism
Two symmetrical electronic screw mandrels 1 can increase the amplitude that this robot single moves, absorbed portion in sucking disc mechanism uses electricity
Permanent magnetic chuck 4, firm grip can hold steel tower structures, prevent from toppling, through linear electric motors work strip movable snail sleeve 11 in sucking disc mechanism
Move up and down, and then drive electric permanent-magnet suction disc 4 to move up and down, steel tower structure can be well adapted to during movement
Building thing structure, flexible avoiding barrier, the worm and gear assembly in sucking disc mechanism uses the form that swivel nut 11 moves up and down, and increases
Integrally-built stability, meanwhile, swivel nut 11 moves up and down in fixing sleeve 10, it is ensured that swivel nut 11 moving direction
Accuracy, absorption that steering mechanism is electric permanent-magnet suction disc 4 provides maximum contact surface, increases this robot integrally-built surely
Qualitative, the push rod of the electronic screw mandrel 1 in pole-climbing mechanism is hinged through bearing pin with the housing 2 of sucking disc mechanism, the swivel nut of sucking disc mechanism
11 lower ends are hinged with the back channel bearing pin of electric permanent-magnet suction disc 4, in the shell of the linear electric motors of steering mechanism and sucking disc mechanism
Housing 2 or fixing sleeve 10 are hinged, the hinged motility increased in this robot kinematics of three parts, Jin Erzeng
This robot big grasping force to steel tower in the course of the work, prevents robot from coming off, has simple in construction, good stability, fortune
Dynamic flexibly, control easily, load capacity is relatively strong, have the advantages such as stronger overturn-preventing ability.
Claims (6)
1. an imitative Gekko Swinhonis Zu Shipa steel tower robot, is provided with electronic screw mandrel and electric permanent-magnet suction disc, it is characterised in that this robot
Including pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, pole-climbing mechanism is respectively arranged at two ends with sucking disc mechanism, sucker machine
The lower end of structure is provided with steering mechanism, and described pole-climbing mechanism is made up of electronic screw mandrel, and described sucking disc mechanism is by housing, worm gear snail
Bar assembly, motor and electric permanent-magnet suction disc composition, housing is connected with the end of the electronic screw mandrel in pole-climbing mechanism, and enclosure interior sets
Having worm and gear assembly, the turbine in worm and gear assembly to be connected with external motor, the worm screw in worm and gear assembly stretches out
Enclosure interior is hinged with electricity permanent magnetic disc, and motor controls to move down on worm and gear component operational and then drive electric permanent-magnet suction disc
Dynamic, described steering mechanism by turning to driving motor, worm and gear assembly and turning-bar to form, turn to the shell driving motor with
The housing of sucking disc mechanism is hinged, and turns to the output shaft driving motor to be connected with turning-bar through worm and gear assembly, turning-bar
It is connected with the edge of electric permanent-magnet suction disc, turns to and drive motor to control moving up and down and then carrying of turning-bar through worm and gear assembly
The inclination of galvanic electricity permanent magnetic chuck.
One the most according to claim 1 imitates Gekko Swinhonis Zu Shipa steel tower robot, it is characterised in that described sucking disc mechanism
In worm and gear assembly be made up of drive link, turbine, turbine rod, fixing sleeve and swivel nut, turbine is positioned at enclosure interior, transmission
One end of bar is connected with external motor, and the other end is meshed with the turbine of enclosure interior through gear, turbine rod upper end and turbine
Middle part is connected, and it is in mating connection through screw thread with swivel nut and connect by fixed cover jacket casing that enclosure interior is stretched out in turbine rod lower end, fixes
The upper end of sleeve is connected in the middle part of housing lower end, and the set body wall of the inside of fixing sleeve is provided with to fix sleeve axis parallel
Slideway, slideway fixes to be connected with swivel nut through slide block and realizes swivel nut sliding up and down in fixing sleeve, the lower end of swivel nut and electricity
Permanent magnetic chuck is hinged.
One the most according to claim 1 imitates Gekko Swinhonis Zu Shipa steel tower robot, it is characterised in that described pole-climbing mechanism
Being provided with two electronic screw mandrels, electronic screw mandrel symmetry connects, the push rod in the electronic screw mandrel at two ends, left and right respectively with in sucking disc mechanism
Housing be connected.
One the most according to claim 1 imitates Gekko Swinhonis Zu Shipa steel tower robot, it is characterised in that described pole-climbing mechanism,
Motor in sucking disc mechanism and rotating mechanism is linear electric motors.
One the most according to claim 1 imitates Gekko Swinhonis Zu Shipa steel tower robot, it is characterised in that described pole-climbing mechanism
Housing in the sucking disc mechanism at two ends is hinged through bearing pin with the push rod end of the electronic screw mandrel in pole-climbing mechanism.
One the most according to claim 2 imitates Gekko Swinhonis Zu Shipa steel tower robot, it is characterised in that described fixing sleeve
Internal turbine rod upper and lower is respectively provided with and stops the block moving and moving down on swivel nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610450513.1A CN106080823B (en) | 2016-06-22 | 2016-06-22 | A kind of imitative gecko Zu Shipa steel towers robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610450513.1A CN106080823B (en) | 2016-06-22 | 2016-06-22 | A kind of imitative gecko Zu Shipa steel towers robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106080823A true CN106080823A (en) | 2016-11-09 |
| CN106080823B CN106080823B (en) | 2018-03-23 |
Family
ID=57238559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610450513.1A Expired - Fee Related CN106080823B (en) | 2016-06-22 | 2016-06-22 | A kind of imitative gecko Zu Shipa steel towers robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106080823B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127656A (en) * | 2018-02-09 | 2018-06-08 | 张智林 | Climbing robot |
| CN108382480A (en) * | 2018-04-25 | 2018-08-10 | 贵州电网有限责任公司 | A kind of power steel pipe tower climbing robot |
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN110630973A (en) * | 2018-06-01 | 2019-12-31 | 株式会社小糸制作所 | Vehicle lamp |
| CN111573482A (en) * | 2020-05-26 | 2020-08-25 | 田志群 | Prevent to rock high building protection device for construction that stability is high |
| CN112224297A (en) * | 2020-10-15 | 2021-01-15 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
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| CN201062059Y (en) * | 2007-07-13 | 2008-05-21 | 于复生 | Pneumatic wall-climbing robot |
| US20110180333A1 (en) * | 2008-10-06 | 2011-07-28 | Anton Niederberger | Mobile climbing robot and service system having a climbing robot |
| CN103723207A (en) * | 2013-12-31 | 2014-04-16 | 徐州工业职业技术学院 | Biped adsorption type wall-climbing robot |
| CN105539624A (en) * | 2015-12-30 | 2016-05-04 | 广东出入境检验检疫局检验检疫技术中心 | Metal surface climbing and detecting robot |
| CN105644645A (en) * | 2015-12-29 | 2016-06-08 | 燕山大学 | Dual-drive rotating and swinging type wall-climbing robot provided with permanent magnetic chucks |
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| CN201062059Y (en) * | 2007-07-13 | 2008-05-21 | 于复生 | Pneumatic wall-climbing robot |
| US20110180333A1 (en) * | 2008-10-06 | 2011-07-28 | Anton Niederberger | Mobile climbing robot and service system having a climbing robot |
| CN103723207A (en) * | 2013-12-31 | 2014-04-16 | 徐州工业职业技术学院 | Biped adsorption type wall-climbing robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127656A (en) * | 2018-02-09 | 2018-06-08 | 张智林 | Climbing robot |
| CN108127656B (en) * | 2018-02-09 | 2024-02-06 | 张智林 | Wall climbing robot |
| CN108382480A (en) * | 2018-04-25 | 2018-08-10 | 贵州电网有限责任公司 | A kind of power steel pipe tower climbing robot |
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN108482505B (en) * | 2018-05-31 | 2023-09-29 | 浙江大学 | Wall climbing robot motion mechanism suitable for curved surface |
| CN110630973A (en) * | 2018-06-01 | 2019-12-31 | 株式会社小糸制作所 | Vehicle lamp |
| CN111573482A (en) * | 2020-05-26 | 2020-08-25 | 田志群 | Prevent to rock high building protection device for construction that stability is high |
| CN112224297A (en) * | 2020-10-15 | 2021-01-15 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
| CN112224297B (en) * | 2020-10-15 | 2021-11-05 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106080823B (en) | 2018-03-23 |
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