CN106080823B - A kind of imitative gecko Zu Shipa steel towers robot - Google Patents
A kind of imitative gecko Zu Shipa steel towers robot Download PDFInfo
- Publication number
- CN106080823B CN106080823B CN201610450513.1A CN201610450513A CN106080823B CN 106080823 B CN106080823 B CN 106080823B CN 201610450513 A CN201610450513 A CN 201610450513A CN 106080823 B CN106080823 B CN 106080823B
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- Prior art keywords
- worm
- sucking disc
- pole
- motor
- magnet suction
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- Expired - Fee Related
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 31
- 239000010959 steel Substances 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 124
- 239000000203 mixture Substances 0.000 claims abstract description 6
- 241000237858 Gastropoda Species 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000013011 mating Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 7
- 230000009194 climbing Effects 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 241001212149 Cathetus Species 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 241000894007 species Species 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
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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 robotic technology field, specifically a kind of imitative gecko Zu Shipa steel towers robot, it is provided with electronic screw mandrel and electric permanent-magnet suction disc, it is characterised by that the robot includes pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, the both ends of pole-climbing mechanism are respectively equipped 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 component, motor and electric permanent-magnet suction disc composition, described steering mechanism is by steering motor, worm and gear component and turning-bar composition, with simple in construction, stability is good, motion is flexible, control is easy, load capacity is stronger, there is stronger overturn-preventing ability.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of imitative gecko Zu Shipa steel towers robot, it is applied to
The industries such as electric power, communication, chemical industry.
Background technology
It is well known that vertical climbing robot species is various, 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 a significant limitation, legged type robot by its discontinuous contact characteristic in the process of walking, have compared with
Strong adaptability, for steel tower, bionics principle and electromagnetic principle are made full use of, imitate gecko and climb wall sucked type physiology knot
Structure, grip function of the robot to steel tower is realized using electromagnet absorption steel tower, there is prominent superiority and advance, have
Stronger anti-rollover and overturn-preventing ability.
The legged type robot of existing literature report, its motion-promotion force mainly have the modes such as servomotor, steering wheel, load be present
Ability is poor, and total quality is larger, complicated, and control is difficult, and reaction speed is slow, and stability difference and flexibility deficiency etc. are many
Technical problem, for vertical steel tower structures, due to its framework multi-size, the grip part design for steel tower is more tired
Difficulty, under external force, easily turn on one's side, topple, in addition, electronic screw mandrel is by motor, reduction gearing, screw rod, spiral shell
Mother, guide pin bushing, push rod, slide, spring, shell and turbine, fine motion controlling switch etc. form, and electronic screw mandrel is a kind of new electronic
Executing agency, make 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
It is interior that worm screw is again similar to screw configuration equivalent to wheel and rack, and by any combination of worm and gear, it is possible to achieve treat work
Make the rotary motion and axial movement 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 and off " magnetic force, and sucker is during sticking workpiece is processed, ten
Divide safe and reliable.After with magnetic force sticking workpiece, sucker will indefinitely keep magnetic attraction, few the time required to " on and off "
In 1 second, electric pulse consumed energy was few, and sucker will not produce thermal deformation, and electric permanent-magnet suction disc is without similar common permanent magnetic chuck
The slide unit of magnetic group etc, its structure is steady, firm, precision is high.
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, there is provided one kind is simple in construction, stability is good, motion is clever
Living, control is easily, load capacity is relatively strong, has the imitative gecko Zu Shipa steel towers robot of stronger overturn-preventing ability.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of imitative gecko Zu Shipa steel towers robot, provided with electronic screw mandrel and electric permanent-magnet suction disc, it is characterised in that the machine
People includes pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, and the both ends of pole-climbing mechanism are respectively equipped with sucking disc mechanism, sucker
The lower end of mechanism 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
Worm component, the first motor and electric permanent-magnet suction disc composition, housing are connected with the end of the electronic screw mandrel in pole-climbing mechanism, housing
Inside is provided with worm and gear component, and the turbine in worm and gear component is connected with the first motor, the snail in worm and gear component
Bar stretches out enclosure interior and is hinged with electric permanent-magnet suction disc, the first motor control worm and gear component operational and then the electric permanent magnetism suction of drive
Disk moves up and down, and described steering mechanism is made up of steering motor, the first worm and gear component and turning-bar, turns to driving
The shell of motor and the housing of sucking disc mechanism are hinged, and turn to the output shaft of motor through the first worm and gear component and steering
Bar is connected, and turning-bar is connected with the edge of electric permanent-magnet suction disc, turns to motor and turns through the control of the first worm and gear component
The inclination for moving up and down and then driving electric permanent-magnet suction disc to bar.
Worm and gear component in sucking disc mechanism of the present invention is by drive link, turbine, turbine rod, fixes sleeve and spiral shell
Set composition, turbine is located at enclosure interior, and one end of drive link is connected with the first motor, and the other end is through gear and enclosure interior
Turbine is meshed, and with being connected in the middle part of turbine, turbine rod lower end is stretched out enclosure interior and matched with swivel nut through screw thread for turbine rod upper end
Close and connect and be socketed by fixes sleeve, the upper end of fixes sleeve in the middle part of housing lower end with being connected, the set of the inside of fixes sleeve
Body wall is provided with the slideway with fixes sleeve diameter parallel, and slideway is fixedly connected through sliding block with swivel nut realizes swivel nut in fixes sleeve
Interior slides up and down, and lower end and the electric permanent-magnet suction disc of swivel nut are hinged.
Pole-climbing mechanism of the present invention is provided with two electronic screw mandrels, and electronic screw mandrel symmetrically connects, left and right ends it is 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 operating efficiency, ensure climbing efficiency.
Motor in pole-climbing mechanism of the present invention, sucking disc mechanism and steering mechanism is linear electric motors, is greatly carried
Load capacity, stability and the flexibility of Gao Liao robots.
Housing in the sucking disc mechanism at pole-climbing mechanism of the present invention both ends pushes away with the electronic screw mandrel in pole-climbing mechanism
Rod end is hinged through bearing pin, sucking disc mechanism is swung in pole-climbing mechanism, prevents the tower bar heeling condition on steel tower
The disk body skew middle part absorption of electric permanent-magnet suction disc in lower sucking disc mechanism, causes to adsorb hypodynamic phenomenon.
Turbine rod upper and lower part inside fixes sleeve of the present invention be respectively provided with prevent swivel nut move up and
The block moved down, prevent turbine rod from rotating excessive swivel nut and moving up excessive damage swivel nut service life, preventing from moving down excessive causes spiral shell
Set abjection, influences using effect.
The advantages and positive effects of the present invention are：
1st, the pole-climbing mechanism designed by the present invention is simple in construction, and robot weight can be greatly reduced, and improves robot
Load capacity.
2nd, 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.
3rd, the adsorption tool of the sucking disc mechanism of gecko-emulated robot of the invention is electric permanent-magnet suction disc, can firm grip hold iron
Tower structures, prevent from toppling.
4th, the linear electric motors that the motor in the pole-climbing mechanism in the present invention, sucking disc mechanism and rotating mechanism uses, reflection speed
Degree is fast, operates flexibility and reliability, and load capacity is strong.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Fig. 1 front view.
Fig. 3 is Fig. 1 top view.
Fig. 4 is sucking disc mechanism structural representation in the present invention.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in drawings, a kind of imitative gecko Zu Shipa steel towers robot, provided with electronic screw mandrel 1 and electric permanent-magnet suction disc 4, it is special
Sign is that the robot includes pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, the both ends of pole-climbing mechanism and is respectively equipped with
Sucking disc mechanism, the lower end of sucking disc mechanism are provided with steering mechanism, and described pole-climbing mechanism is made up of electronic screw mandrel 1, described sucker
Mechanism is made up of housing 2, worm and gear component, the first motor 3 and electric permanent-magnet suction disc 4, housing 2 and the electronic silk in pole-climbing mechanism
The end of bar 1 is connected, and the inside of housing 2 is provided with worm and gear component, and the turbine in worm and gear component is connected with the first motor 3
Connect, the worm screw in worm and gear component stretches out enclosure interior and is hinged with electric permanent-magnet suction disc 4, the first motor 3 control worm and gear
Component operational so drive electric permanent-magnet suction disc 4 move up and down, described steering mechanism is by steering motor 5, the first worm gear snail
Bar assembly and turning-bar 6 form, and the housing 2 of the shell and sucking disc mechanism that turn to motor 5 is hinged, and turns to motor 5
Output shaft be connected through the first worm and gear component with turning-bar 6, turning-bar 6 is connected with the edge of electric permanent-magnet suction disc 4, turn
The inclination for moving up and down and then driving electric permanent-magnet suction disc 4 of turning-bar 6 is controlled through the first worm and gear component to motor 5,
Worm and gear component in described sucking disc mechanism is made up of drive link 7, turbine 8, turbine rod 9, fixes sleeve 10 and swivel nut 11,
Turbine 8 is located inside housing 2, and one end of drive link 7 is connected with the first motor 3, and the other end is through the whirlpool inside gear and housing 2
Wheel 8 is meshed, and the upper end of turbine rod 9 is connected with the middle part of turbine 8, and the inside of housing 2 is stretched out with swivel nut 11 through screw thread in the lower end of turbine rod 9
In mating connection and be socketed by fixes sleeve 10, the upper end of fixes sleeve 10 in the middle part of the lower end of housing 2 with being connected, fixes sleeve 10
The set body wall of inside be provided with slideway 12 with the diameter parallel of fixes sleeve 10, slideway 12 is fixedly connected through sliding block with swivel nut 11
The sliding up and down in fixes sleeve 10 of swivel nut 11 is realized, lower end and the electric permanent-magnet suction disc 4 of swivel nut 11 are hinged, described pole-climbing
Mechanism is provided with two electronic screw mandrels 1, and electronic screw mandrel 1 symmetrically connects, the push rod in the electronic screw mandrel 1 of left and right ends respectively with sucker
Housing 2 in mechanism is connected, and two electronic screw mandrels 1 increase the effective length of the single climbing of pole-climbing mechanism, reduce work
Efficiency, ensure climbing efficiency, the motor in described pole-climbing mechanism, sucking disc mechanism and steering mechanism is linear electric motors, greatly
The load capacity, stability and flexibility that improve robot, housing 2 and pole-climbing in the sucking disc mechanism at pole-climbing mechanism both ends
The push rod end of electronic screw mandrel 1 in mechanism is hinged through bearing pin, sucking disc mechanism is swung in pole-climbing mechanism, prevents
The disk body skew middle part absorption of electric permanent-magnet suction disc 4 under tower bar heeling condition on steel tower in sucking disc mechanism, causes to adsorb
Hypodynamic phenomenon, the upper and lower part of turbine rod 9 inside described fixes sleeve 10, which is respectively provided with, to prevent on swivel nut 11
The block 13 for moving and moving down, prevent turbine rod 9 from rotating excessive swivel nut 11 and moving up the excessive damage service life of swivel nut 11, prevent from moving down
It is excessive to cause swivel nut 11 to be deviate from, influence using effect.
In the use of the present invention, this is imitated into gecko Zu Shipa steel towers robot is placed in steel tower lower end, then by the robot
Two electronic push rods of screw mandrel 1 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 of control electric permanent-magnet suction disc 4, and the electric permanent-magnet suction disc 4 at Liang Ge pole-climbings mechanism both ends is adsorbed in iron
On tower, when needing to move up, the power supply in electric permanent-magnet suction disc 4 in the sucking disc mechanism of top is disconnected first, opens top sucking disc mechanism
Swivel nut 11 in the power supply and then contraction sucking disc mechanism of cathetus motor 3, swivel nut 11 are moved up and then driven on electric permanent-magnet suction disc 4
Move, then open the power supply of the electronic cathetus motor of screw mandrel 1 in top in pole-climbing mechanism, the electronic screw mandrel 1 in top promote push rod and then
The sucking disc mechanism reach of top is promoted, and then drives the reach of electric permanent-magnet suction disc 4, then opens the electricity of the electronic screw mandrel 1 in lower section again
Source, the push rod of electronic screw mandrel 1 are released, so drive push rod upper end two electronic screw mandrels 1 and top sucking disc mechanism again before
Move, then open the power supply of the linear electric motors 3 in the sucking disc mechanism of top, linear electric motors 3 move down with movable snail sleeve 11, and then drive electricity forever
Magnetic-disc 4 is moved down, and electric permanent-magnet suction disc 4 opens the electric permanent-magnet suction disc 4 power supply when contacting steel tower is adsorbed, then is disconnected lower section and inhaled
The power supply of electric permanent-magnet suction disc 4 in disc mechanism disconnects absorption, opens the power supply of the linear electric motors 3 in the sucking disc mechanism of lower section, swivel nut
11 move up in the presence of motor, and then drive electric permanent-magnet suction disc 4 to move up, and then open the electronic silk in lower section in pole-climbing mechanism again
The power supply of linear electric motors in bar 1, in the presence of push rod pulling force, lower section sucking disc mechanism moves up, and then drives electric permanent-magnet suction disc 4
Move up, then open the power supply of the linear electric motors of the electronic screw mandrel 1 in top, the push rod of the electronic screw mandrel 1 in top is to the electronic He of screw mandrel 1
The electronic screw mandrel 1 in lower section and lower section sucking disc mechanism are pulled, and the electric permanent-magnet suction disc 4 in the sucking disc mechanism of lower section is carried out on again
Move, then open the power supply of the linear electric motors 3 in the sucking disc mechanism of lower section, swivel nut 11 moves down in the presence of linear electric motors 3, drives
Electric permanent-magnet suction disc 4 is moved down, and when electric permanent-magnet suction disc 4 contacts steel tower, the power supply for opening electric permanent-magnet suction disc 4 is adsorbed, herein mistake
Cheng Zhongji completes the motion of a cycle, is moved successively according to this cycle, and then the steel tower of climbing for completing the robot works,
In this process, steering mechanism opens the power supply of the linear electric motors in steering mechanism, turned according to the iron part gradient on steel tower
Turning-bar 6 into mechanism is moved up or moved down the inclination for the electric permanent-magnet suction disc 4 realized in sucking disc mechanism, and then meets steel tower
The gradient of upper iron, the adsorption capacity of the device is increased, prevent slope from causing absorption dynamics not enough machine of electric permanent-magnet suction disc 4
Device people comes off, and prevents from causing potential safety hazard, electronic screw mandrel 1, electric permanent-magnet suction disc 4, worm and gear component and straight line in the present invention
The structure of each building block of motor and their interconnected relationships between robot device's miscellaneous part and existing skill
Art is identical, and this is not repeated.
Of the invention to be made up of due to the robot pole-climbing mechanism, sucking disc mechanism and steering mechanism, top is inhaled by pole-climbing mechanism
Disc mechanism moves upwards through thrust, then will move the sucking disc mechanism of bottom upwards through pulling force, in pole-climbing mechanism
Two symmetrical electronic screw mandrels 1 can increase the amplitude of robot single movement, the absorbed portion in sucking disc mechanism is using electricity
Permanent magnetic chuck 4, can firm grip hold steel tower structures, prevent from toppling, in sucking disc mechanism through linear electric motors work band movable snail sleeve 11
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
Build thing structure, flexible avoiding barrier, the worm and gear component in sucking disc mechanism uses the form that swivel nut 11 moves up and down, increase
Integrally-built stability, meanwhile, swivel nut 11 moves up and down in fixes sleeve 10, ensure that the moving direction of swivel nut 11
Accuracy, steering mechanism provides the contact surface of maximum for the absorption of electric permanent-magnet suction disc 4, it is integrally-built steady to increase the robot
Qualitative, the push rod of the electronic screw mandrel 1 in pole-climbing mechanism and the housing 2 of sucking disc mechanism are hinged through bearing pin, the swivel nut of sucking disc mechanism
11 lower ends and the back channel bearing pin of electric permanent-magnet suction disc 4 are hinged, in the shell and sucking disc mechanism of the linear electric motors of steering mechanism
Housing 2 or fixes sleeve 10 are hinged, the be hinged flexibility increased in the robot kinematics of three parts, Jin Erzeng
The big robot prevents robot from coming off in the course of the work to the grasping force of steel tower, has that simple in construction, stability is good, fortune
Dynamic flexible, control is easily, load capacity is relatively strong, has the advantages that stronger overturn-preventing ability.
Claims (5)
- A kind of 1. imitative gecko Zu Shipa steel towers robot, provided with electronic screw mandrel and electric permanent-magnet suction disc, it is characterised in that the robot Including pole-climbing mechanism, two sucking disc mechanisms and Liang Ge steering mechanism, the both ends of pole-climbing mechanism are respectively equipped 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, the first motor and electric permanent-magnet suction disc composition, housing is connected with the end of the electronic screw mandrel in pole-climbing mechanism, in housing Portion is provided with worm and gear component, and the turbine in worm and gear component is connected with the first motor, the worm screw in worm and gear component Stretch out enclosure interior to be hinged with electric permanent-magnet suction disc, the first motor control worm and gear component operational and then drive electric permanent-magnet suction disc Move up and down, described steering mechanism is made up of steering motor, the first worm and gear component and turning-bar, turns to driving electricity The shell of machine and the housing of sucking disc mechanism are hinged, and turn to the output shaft of motor through the first worm and gear component and turning-bar It is connected, turning-bar is connected with the edge of electric permanent-magnet suction disc, turns to motor and controls steering through the first worm and gear component The inclination for moving up and down and then driving electric permanent-magnet suction disc of bar, worm and gear component in described sucking disc mechanism by drive link, Turbine, turbine rod, fixes sleeve and swivel nut composition, turbine are located at enclosure interior, and one end of drive link is connected with the first motor, The other end is meshed through gear with the turbine of enclosure interior, and with being connected in the middle part of turbine, turbine rod lower end is stretched out for turbine rod upper end Enclosure interior is in mating connection through screw thread with swivel nut and is socketed by fixes sleeve, upper end and the phase in the middle part of housing lower end of fixes sleeve Connection, the set body wall of the inside of fixes sleeve are provided with the slideway with fixes sleeve diameter parallel, and slideway is consolidated through sliding block and swivel nut Swivel nut sliding up and down in fixes sleeve is realized in fixed connection, and lower end and the electric permanent-magnet suction disc of swivel nut are hinged.
- A kind of 2. imitative gecko Zu Shipa steel towers robot according to claim 1, it is characterised in that described pole-climbing mechanism Provided with two electronic screw mandrels, electronic screw mandrel symmetrically connects, the push rod in the electronic screw mandrel of left and right ends respectively with sucking disc mechanism Housing be connected.
- A kind of 3. imitative gecko Zu Shipa steel towers robot according to claim 1, it is characterised in that described pole-climbing mechanism, Motor in sucking disc mechanism and steering mechanism is linear electric motors.
- A kind of 4. imitative gecko Zu Shipa steel towers robot according to claim 1, it is characterised in that described pole-climbing mechanism The push rod end of housing and the electronic screw mandrel in pole-climbing mechanism in the sucking disc mechanism at both ends is hinged through bearing pin.
- A kind of 5. imitative gecko Zu Shipa steel towers robot according to claim 1, it is characterised in that described fixes sleeve Internal turbine rod upper and lower part is respectively provided with the block for preventing swivel nut from moving up and move down.
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 CN106080823A (en) | 2016-11-09 |
| CN106080823B true CN106080823B (en) | 2018-03-23 |
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| 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 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN112224297B (en) * | 2020-10-15 | 2021-11-05 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201062059Y (en) * | 2007-07-13 | 2008-05-21 | 于复生 | Pneumatic wall-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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2172390A1 (en) * | 2008-10-06 | 2010-04-07 | Niederberger Engineering AG | Mobile climbing robot and service system with climbing robot |
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2016
- 2016-06-22 CN CN201610450513.1A patent/CN106080823B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201062059Y (en) * | 2007-07-13 | 2008-05-21 | 于复生 | Pneumatic wall-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 |
| 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 |
| 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 |
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| CN106080823A (en) | 2016-11-09 |
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