CN106428281A - Magnetic-absorption wall-climbing robot - Google Patents

Magnetic-absorption wall-climbing robot Download PDF

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Publication number
CN106428281A
CN106428281A CN201611052172.9A CN201611052172A CN106428281A CN 106428281 A CN106428281 A CN 106428281A CN 201611052172 A CN201611052172 A CN 201611052172A CN 106428281 A CN106428281 A CN 106428281A
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China
Prior art keywords
magnetic
climbing robot
belt
wheel
drive wheel
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Granted
Application number
CN201611052172.9A
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Chinese (zh)
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CN106428281B (en
Inventor
孙双福
虞宪富
梁鲁鲁
余旦琼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Jia Lan Marine Electronics Co Ltd
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Zhejiang Jia Lan Marine Electronics Co Ltd
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Priority to CN201611052172.9A priority Critical patent/CN106428281B/en
Publication of CN106428281A publication Critical patent/CN106428281A/en
Application granted granted Critical
Publication of CN106428281B publication Critical patent/CN106428281B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources

Abstract

The invention discloses a magnetic-absorption wall-climbing robot. The universality and adaptability of the magnetic-absorption wall-climbing robot are increased to meet various work requirements. The magnetic-absorption wall-climbing robot comprises a bottom rack. A front shaft is fixed on the bottom rack. A drive wheel component which can achieve independent speed regulating is mounted on each of the two ends of the front shaft. A first magnetic absorption unit is arranged in each drive wheel component. A guide wheel component is mounted in the middle of the rear of the bottom rack, and a second magnetic absorption unit is arranged in the guide wheel component. Each drive wheel component is provided with a roller wheel and has at least two contact parts with a working plane. The magnetic-absorption wall-climbing robot has the advantages that the robot is good in comprehensive performance, turning is achieved by the speed difference of the left drive wheel component and the right drive wheel component, and high operability is achieved; the first magnetic absorption unit is arranged in each drive wheel component, a second magnetic absorption unit is arranged in the guide wheel component, and the first magnetic absorption units and the second magnetic absorption unit are combined to guarantee good absorption performance; in addition, each drive wheel component is provided with a roller wheel, has at least two contact parts with the working plane and is similar to a track, and good obstacle climbing ability is achieved.

Description

Magnetic adsorption wall climbing robot
Technical field
The present invention relates to robotics are and in particular to arrive a kind of magnetic adsorption wall climbing robot.
Background technology
Magnetic adsorption wall climbing robot belongs to specialized robot, is used under severe, dangerous, limiting condition, in magnetic conduction wall On carry out such as detect, maintenance, welding or polishing etc. operations specific.Magnetic adsorption wall climbing robot is in nuclear industry, petrochemical industry work at present Industry, building industry, fire department, shipbuilding industry etc. are widely used in the production and construction based on steel construction.
Magnetic adsorption wall climbing robot needs in engineer applied to solve absorption, driving, steering, obstacle detouring, adapts to little curvature song Face, workpiece load or even a series of problems, such as automatically control, at present, people be mostly for a certain item of the problems referred to above or certain A little items are made to optimize to climbing robot, to adapting to specific operation, specific work post, lack a kind of versatility at this stage and fit The stronger magnetic adsorption wall climbing robot carrier of answering property.
Content of the invention
In order to improve versatility and the adaptability of magnetic adsorption wall climbing robot, it is suitable for various work requirements, the present invention carries Supply that a kind of absorption affinity is big, obstacle climbing ability strong, the magnetic adsorption wall climbing robot of flexible operation.
The technical solution used in the present invention is as follows:
A kind of magnetic adsorption wall climbing robot, including underframe, described underframe is fixed with front axle, and described front axle two ends are each to install one group Can each speed regulation drive wheel assemblies, set a magnetic absorbing unit in described drive wheel assemblies, install in the middle of described underframe rear portion There are guide wheel assemblies, in described guide wheel assemblies, set No. two magnetic absorbing units;Described drive wheel assemblies set cylinder wheel, flat with work Face keeps at least two contact sites.
The two ends of described front axle are provided with flexible element, and described drive wheel assemblies are arranged on flexible element.
Described around property part be elastic shaft or flexible coupling.
Described guide wheel assemblies include the wheel carrier being rotatably mounted on underframe, and wheel carrier sets a rotating shaft, described No. two magnetic Absorbing unit is arranged on the middle part of a rotating shaft, and the both sides of described No. two magnetic absorbing units are provided with directive wheel, two described guiding Wheel can separate rotate.
Described No. two magnetic absorbing units include No. two permanent magnets, and described No. two permanent magnets are annular magnet, described annular magnetic The outside of iron sets guard circle.
Described drive wheel assemblies include frame, and described frame rear and front end is respectively equipped with No. two rotating shafts, No. three rotating shafts, described No. two rotating shaft two ends are provided with driving wheel, No. three rotating shafts set a belt wheel, two ends set No. two belt wheels, on described central rack equipped with Motor, sets a belt between the output shaft of described motor and a belt wheel, described No. two set No. two between belt wheel and driving wheel Belt;Described frame sets installation axle, and described installation axle and front axle are detachably installed.
Described No. two belts are the whole piece wide belt covering all driving wheels, and described frame, motor are arranged in No. two skins The inner side of band.
A described magnetic absorbing unit is arranged in No. two rotating shafts, between being provided between a magnetic absorbing unit and No. two rotating shafts Gap, a described magnetic absorbing unit includes a permanent magnet in centre position, and two end faces of a described permanent magnet are magnetic pole, Two magnetic pole end faces of a described permanent magnet are close to be provided with the yoke of annular, and the external diameter of described yoke is more than a permanent magnet External diameter.
Described driving wheel, belt wheel, No. two belt wheels are gear, and a described belt and No. two belts correspond to synchronization Band;Described No. two belts include the Timing Belt part engaging both sides with driving wheel, and centre corresponds to a magnetic absorbing unit Flat belt part.
Described motor is stepper motor or servomotor, and is furnished with harmonic speed reducer.
The invention has the beneficial effects as follows:
The present invention has preferable combination property, using the structure of front-wheel drive, trailing wheel guiding, by left and right sidesing driving wheel assembly Speed difference come to realize turn to, strong operability;It is respectively equipped with a magnetic absorbing unit and two in drive wheel assemblies and guide wheel assemblies Number magnetic absorbing unit, the two combination can ensure good absorption property;In addition drive wheel assemblies set cylinder wheel, protect with working face Hold at least two contact sites, similar with crawler belt, there is good obstacle climbing ability.
Brief description
Fig. 1 is the top view of the embodiment of the present invention.
Fig. 2 is the front view of the embodiment of the present invention.
Fig. 3 is the top view of drive wheel assemblies in the embodiment of the present invention.
Fig. 4 is the front view of drive wheel assemblies in the embodiment of the present invention.
Fig. 5 is the schematic diagram of guide wheel assemblies in the embodiment of the present invention.
Fig. 6 is the enlarged drawing at A in the embodiment of the present invention.
Underframe 1, front axle 2,3, magnetic absorbing unit 4 of drive wheel assemblies, 5, No. two magnetic absorbing units 6 of guide wheel assemblies, Flexible element 7,8, rotating shaft 9 of wheel carrier, 10, No. two permanent magnets 11 of directive wheel, guard circle 12,13, No. two rotating shafts of frame 14, three Rotating shaft 15, driving wheel 17, No. two belt wheels 18 of 16, belt wheel, motor 20, No. two belts 21 of 19, belt, installation axle 22, Number permanent magnet 23, yoke 24, Timing Belt part 25, a flat belt part 26.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
In embodiment, as shown in Figure 1 and Figure 2, a kind of magnetic adsorption wall climbing robot, including underframe 1, fixing on described underframe 1 Have front axle 2, described front axle 2 two ends are each install one group can each speed regulation drive wheel assemblies 3, set one in described drive wheel assemblies 3 Number magnetic absorbing unit 4, is provided with guide wheel assemblies 5, sets No. two magnetic in described guide wheel assemblies 5 in the middle of described underframe 1 rear portion Coupon unit 6;Described drive wheel assemblies 4 set cylinder wheel, keep at least two contact sites with working face.The present embodiment has preferably Combination property, using front-wheel drive, trailing wheel guiding structure, by the speed difference of left and right sidesing driving wheel assembly 3 realize turn to, Strong operability;It is respectively equipped with a magnetic absorbing unit 4 and No. two magnetic absorbing units 6 in drive wheel assemblies 3 and guide wheel assemblies 5, The two combination can ensure good absorption property;In addition drive wheel assemblies 4 set cylinder wheel, keep at least two to connect with working face Contact portion, similar with crawler belt, there is good obstacle climbing ability.The present embodiment, can basis on its underframe 1 used as a kind of robot carrier Demand installs different work packages, such as welding, detection device etc., for realizing different functions.
In embodiment, as shown in figure 1, the two ends of described front axle 2 are provided with flexible element 7, described drive wheel assemblies 4 are arranged on scratches On property part 7;Described around property part 7 be elastic shaft or flexible coupling.The present embodiment make two groups of drive wheel assemblies 3 around property part 7 Can shape at a certain angle, to strengthen the adaptability to curved surface for the robot, change different flexible elements 7, the adaptation energy to curved surface Power also changes therewith.
In embodiment, as shown in figure 5, described guide wheel assemblies 5 include the wheel carrier 8 being rotatably mounted on underframe 1, wheel carrier 8 On set a rotating shaft 9, described No. two magnetic absorbing units 6 are arranged on the middle part of a rotating shaft 9, described No. two magnetic absorbing units 6 Both sides are provided with directive wheel 10, and two described directive wheels 10 can separate rotate.Two directive wheels 10 of the present embodiment are mutually only Vertical, when turning to, two directive wheel 10 rotating speeds are different, it is to avoid directive wheel 10 and skid or sliding friction, increase stablizing of operation Property.
In embodiment, as shown in figure 5, described No. two magnetic absorbing units 6 include No. two permanent magnets 11, described No. two permanent magnets 11 is annular magnet, and the outside of described annular magnet sets guard circle 12.The guard circle 12 of the present embodiment is arranged on No. two permanent magnets Outside 11, protection, dust-proof effect can be played.
In embodiment, as shown in Figure 3, Figure 4, described drive wheel assemblies 4 include frame 13, and described frame 13 rear and front end is divided It is not provided with 14, No. three rotating shafts 15 of No. two rotating shafts, described No. two rotating shaft 14 two ends are provided with driving wheel 16, No. three rotating shafts 15 set No. one Belt wheel 17, two ends set No. two belt wheels 18, described frame 13 middle part upper equipped with motor 19, the output shaft of described motor 19 and No. one carry Set a belt 20 between wheel 17, between described No. two belt wheels 18 and driving wheel 16, set No. two belts 21;Described frame 13 sets peace Dress axle 22, described installation axle 22 and front axle 2 are detachably installed.The present embodiment structure, motor 19 is arranged on the inside of frame 13, makes The more compact structure of whole module, performance is more stable.
In embodiment, as shown in Figure 3, Figure 4, described No. two belts 21 are the whole piece wide belt covering all driving wheels 16, Described frame 13, motor 19 are arranged in the inner side of No. two belts 21.No. two belts 21 of the present embodiment can not only play transmission, The effect driving is moreover it is possible to play protection internal mechanism, dust-proof effect.
In embodiment, as shown in figure 3, a described magnetic absorbing unit 4 is arranged in No. two rotating shafts 14, a magnetic coupon It is provided with gap, a described magnetic absorbing unit 4 includes a permanent magnet 23 in centre position, institute between unit 4 and No. two rotating shafts 14 Two end faces stating a permanent magnet 23 are magnetic pole, and two magnetic pole end faces of a described permanent magnet 23 are close to be provided with annular Yoke 24, the external diameter of described yoke 24 is more than the external diameter of a permanent magnet 23.A number magnetic absorbing unit 4 of the present embodiment is by centre A permanent magnet 23 and the yoke 24 of both sides combine, because the external diameter of yoke 24 is more than the external diameter of a permanent magnet 23, The distance of yoke 13 and work adsorption plane is closer to the magnetic line of force of a permanent magnet 23 can enter work absorption by the yoke 24 of side Face, then returns to a permanent magnet 23 by opposite side yoke 24 and forms loop, significantly increase a permanent magnet 23 and work Make the absorption affinity of adsorption plane.
In embodiment, as shown in figure 3, described driving wheel 17, No. two belt wheels 18 of 16, belt wheel are gear, described No. one Belt 20 and No. two belts 21 correspond to Timing Belt;Described No. two belts 21 include the Timing Belt portion engaged both sides with driving wheel 16 Divide 25, and the flat belt part 26 of a middle corresponding magnetic absorbing unit 4.No. two belts 18 in the present embodiment are special Compound belt, is made up of the Timing Belt part 25 and middle flat belt part 26 of both sides, this structure makes a magnetic coupon Gap between unit 4 and No. two belts 21 is less, improves magnetic adsorbability as far as possible.
In embodiment, described motor 4 is stepper motor or servomotor, and is furnished with harmonic speed reducer.In the present embodiment, electricity The output shaft of machine 4 and 17, No. two belt wheels 18 of a belt wheel constitute two grades of V belt translation deceleration devices together with driving wheel 16, but its Speed reducing ratio, slewing range are all limited, and harmonic speed reducer has the characteristics that speed reducing ratio is big, high precision, small volume, with two grades of V belt translation Deceleration device combines, and constitutes complete reducing gear;In addition stepper motor or servomotor are easy to accurate speed governing, also allow for reality The steering of existing robot.
Obviously, the above embodiment of the present invention is intended to be merely illustrative of the present example, and not to the present invention Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description The change of other multi-forms or variation.There is no need to poor example is given to all of embodiment.And these belong to this The obvious change that the connotation of invention is amplified out or variation still fall within protection scope of the present invention.

Claims (10)

1. a kind of magnetic adsorption wall climbing robot it is characterised in that:Including underframe(1), described underframe(1)On be fixed with front axle(2), Described front axle(2)Two ends are each install one group can each speed regulation drive wheel assemblies(3), described drive wheel assemblies(3)Inside set No. one Magnetic absorbing unit(4), described underframe(1)Guide wheel assemblies are installed in the middle of rear portion(5), described guide wheel assemblies(5)Inside set two Number magnetic absorbing unit(6);Described drive wheel assemblies(4)If cylinder wheel, keep at least two contact sites with working face.
2. magnetic adsorption wall climbing robot according to claim 1 it is characterised in that:Described front axle(2)Two ends be provided with and scratch Property part(7), described drive wheel assemblies(4)It is arranged on flexible element(7)On.
3. magnetic adsorption wall climbing robot according to claim 2 it is characterised in that:Described around property part(7)For elastic shaft or Flexible coupling.
4. magnetic adsorption wall climbing robot according to claim 1 it is characterised in that:Described guide wheel assemblies(5)Including rotation Turn and be arranged on underframe(1)On wheel carrier(8), wheel carrier(8)On set a rotating shaft(9), described No. two magnetic absorbing units(6)It is arranged on A number rotating shaft(9)Middle part, described No. two magnetic absorbing units(6)Both sides be provided with directive wheel(10), two described directive wheels (10)Can separate rotate.
5. magnetic adsorption wall climbing robot according to claim 4 it is characterised in that:Described No. two magnetic absorbing units(6)Bag Include No. two permanent magnets(11), described No. two permanent magnets(11)For annular magnet, the outside of described annular magnet sets guard circle(12).
6. magnetic adsorption wall climbing robot according to claim 1 it is characterised in that:Described drive wheel assemblies(4)Including machine Frame(13), described frame(13)Rear and front end is respectively equipped with No. two rotating shafts(14), No. three rotating shafts(15), described No. two rotating shafts(14) Two ends are provided with driving wheel(16), No. three rotating shafts(15)On set a belt wheel(17), two ends set No. two belt wheels(18), described frame (13)Equipped with motor on middle part(19), described motor(19)Output shaft and a belt wheel(17)Between set a belt(20), Described No. two belt wheels(18)With driving wheel(16)Between set No. two belts(21);Described frame(13)If installation axle(22), described Installation axle(22)With front axle(2)Detachable installation.
7. magnetic adsorption wall climbing robot according to claim 6 it is characterised in that:Described No. two belts(21)For covering institute There is driving wheel(16)Whole piece wide belt, with driving wheel(16)Constitute cylinder wheel, described frame together(13), motor(19)Uniformly Put in No. two belts(21)Inner side.
8. magnetic adsorption wall climbing robot according to claim 6 it is characterised in that:A described magnetic absorbing unit(4)Peace It is contained in No. two rotating shafts(14)On, a magnetic absorbing unit(4)With No. two rotating shafts(14)Between be provided with gap, a described magnetic suck Unit(4)A permanent magnet including centre position(23), a described permanent magnet(23)Two end faces be magnetic pole, described one Number permanent magnet(23)Two magnetic pole end faces be close to be provided with the yoke of annular(24), described yoke(24)External diameter be more than No. one Permanent magnet(23)External diameter.
9. magnetic adsorption wall climbing robot according to claim 6 it is characterised in that:Described driving wheel(16), a belt wheel (17), No. two belt wheels(18)For gear, a described belt(20)With No. two belts(21)Correspond to Timing Belt;Described No. two skins Band(21)Including both sides and driving wheel(16)The Timing Belt part of engagement(25), and a middle corresponding magnetic absorbing unit(4) Flat belt part(26).
10. magnetic adsorption wall climbing robot according to claim 6 it is characterised in that:Described motor(4)For stepper motor or Servomotor, and it is furnished with harmonic speed reducer.
CN201611052172.9A 2016-11-25 2016-11-25 Magnetic adsorption wall climbing robot Active CN106428281B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107031748A (en) * 2017-04-25 2017-08-11 中科新松有限公司 The universal drive module and its general driving unit of a kind of climbing robot
CN107200104A (en) * 2017-05-31 2017-09-26 中科新松有限公司 A kind of hull surface cleans climbing robot
US11305817B2 (en) * 2017-12-30 2022-04-19 Shenyang Institute Of Automation, Chinese Academy Of Sciences Soft ground crawling robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1673016A (en) * 2005-04-05 2005-09-28 北京航空航天大学 Portable reconfigurable crawler robot
KR20110063927A (en) * 2009-12-07 2011-06-15 대우조선해양 주식회사 Wall adhesive moving apparatus using the permanent magnetic
CN102673673A (en) * 2012-06-07 2012-09-19 中国东方电气集团有限公司 Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot
CN202541667U (en) * 2012-02-21 2012-11-21 舟山市质量技术监督检测研究院 Wall-climbing vehicle
CN204567834U (en) * 2015-04-08 2015-08-19 南通理工学院 Novel triangle crawler-type wall climbing robot
CN206202480U (en) * 2016-11-25 2017-05-31 浙江嘉蓝海洋电子有限公司 Magnetic adsorption wall climbing robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1673016A (en) * 2005-04-05 2005-09-28 北京航空航天大学 Portable reconfigurable crawler robot
KR20110063927A (en) * 2009-12-07 2011-06-15 대우조선해양 주식회사 Wall adhesive moving apparatus using the permanent magnetic
CN202541667U (en) * 2012-02-21 2012-11-21 舟山市质量技术监督检测研究院 Wall-climbing vehicle
CN102673673A (en) * 2012-06-07 2012-09-19 中国东方电气集团有限公司 Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot
CN204567834U (en) * 2015-04-08 2015-08-19 南通理工学院 Novel triangle crawler-type wall climbing robot
CN206202480U (en) * 2016-11-25 2017-05-31 浙江嘉蓝海洋电子有限公司 Magnetic adsorption wall climbing robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107031748A (en) * 2017-04-25 2017-08-11 中科新松有限公司 The universal drive module and its general driving unit of a kind of climbing robot
CN107200104A (en) * 2017-05-31 2017-09-26 中科新松有限公司 A kind of hull surface cleans climbing robot
CN107200104B (en) * 2017-05-31 2019-09-17 中科新松有限公司 A kind of hull surface cleaning climbing robot
US11305817B2 (en) * 2017-12-30 2022-04-19 Shenyang Institute Of Automation, Chinese Academy Of Sciences Soft ground crawling robot

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