CN106807575A - One kind is multi-functional to climb wall paint-spray robot - Google Patents
One kind is multi-functional to climb wall paint-spray robot Download PDFInfo
- Publication number
- CN106807575A CN106807575A CN201710181014.1A CN201710181014A CN106807575A CN 106807575 A CN106807575 A CN 106807575A CN 201710181014 A CN201710181014 A CN 201710181014A CN 106807575 A CN106807575 A CN 106807575A
- Authority
- CN
- China
- Prior art keywords
- spray
- paint
- rotating cylinder
- spray robot
- wall paint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Abstract
One kind is multi-functional to climb wall paint-spray robot, comprising spray-painting plant and elastic wheel；Described spray-painting plant includes main rotating cylinder, mechanical arm, secondary rotating cylinder, main paint nozzle, telescoping cylinder and secondary paint nozzle；Described elastic wheel includes wheel body, connecting plate, spring connecting rod and support base；Described wall paint-spray robot of climbing is not only able to ensure that its all driving wheel is effectively attached in the irregular scope of operation, its driving force and adhesive force is avoided to be affected, and it effectively can also complete spray painting operation in large area operating mode or complex working condition environment, it is not necessary to carry out artificial touch-up paint again.
Description
【Technical field】
The present invention relates to climb wall paint-spray robot field, wall spray is climbed with multifunctional combination spray painting structure more particularly, to a kind of
Paint robot.
【Background technology】
Known, climbing robot is also called wall-surface mobile robot, and it is a kind of can to climb and complete in vertical wall
The automatic machinery people of related operation, the category of limit operation is belonged to due to vertical walls operation, therefore climbing robot is also referred to as
It is limit operation robot, among these just comprising carrying out spraying operation for the surface to objects such as bulk storage tank or ships
Climb wall paint-spray robot；At present, conventional to climb the paint nozzle that wall paint-spray robot is used, its structure is all to fix shower nozzle
Installed in the mechanical arm front end for climbing wall paint-spray robot, then again by controlling the walking for climbing wall paint-spray robot corresponding to carry out
Spray painting operation；However, being found in long-term practical application, existing wall paint-spray robot of climbing there are following deficiency：1、
Under the operating mode of large area spray painting operation, its not only paint it is relatively inefficient, but also cannot effective guarantee spray painting thickness
And the uniformity, it is possible to must need the artificial touch-up paint could to meet job requirements；2nd, carry out climbing wall spray under complex working condition environment
During paint operation, it cannot effectively be painted to some unconventional curved portions, must again by manually entering to these positions
Row touch-up paint could comprehensively complete spray painting operation；
Additionally, existing, with the rigid body structure of four-wheel drive, i.e., and car climb the body construction that wall paint-spray robot uses be
Four driving wheels of body connection are all, to rigidly fix connection, therefore to climb wall paint-spray robot stabilization on leveling operation face
Walking operation is that there is no problem, but is received when the surfaces such as oil storage tank, large ship carry out spray painting operation once it
The irregular outer surface of holding vessel, ship and the influence of wall paint-spray robot rigid body is climbed, climb wall paint-spray robot four
Driving wheel can produce different adhesive force, so as to easily occur climbing the attachment that certain driving wheel of wall paint-spray robot cannot be stablized
Phenomenon in the scope of operation, and then not only have influence on the driving force for climbing wall paint-spray robot, and its entirety in the scope of operation
Adhesive force, and it is inclined that the route appearance climbed the wall paint-spray robot route advanced in operation and plan is also resulted in when serious
Difference, finally makes to be subjected to corresponding economic loss using side；In sum, wall paint-spray robot is climbed in the application due to existing
Not only unitary function is there are, it is necessary to the situation of artificial touch-up paint relief, and it is also easy to deviation occur, causes expense material of taking a lot of work,
It is relatively costly, therefore it is highly detrimental to promotion and application.
【The content of the invention】
In order in overcoming the shortcomings of background technology, wall paint-spray robot is climbed the invention discloses one kind is multi-functional, described climbs wall
Paint-spray robot is not only able to ensure that driving wheel is effectively attached in the irregular scope of operation, it is to avoid its driving force and adhesive force
It is affected, but also effectively can completes spray painting operation in large area operating mode or complex working condition environment.
For achieving the above object, the present invention is adopted the following technical scheme that：
One kind is multi-functional to climb wall paint-spray robot, and described wall paint-spray robot of climbing includes spray-painting plant and elastic wheel；It is described
Spray-painting plant include main rotating cylinder, mechanical arm, secondary rotating cylinder, main paint nozzle, telescoping cylinder and horizontal spray-painting plant；Described
Main rotating cylinder includes the fixed disk positioned at bottom and the rotating disk for being hinged on fixed disk top, and fixed disk correspondence is fixed on climbs wall
The upper side of paint-spray robot car body, the upper side correspondence of the rotating disk is hinged with the bottom of mechanical arm；Described mechanical arm
Top is fixedly connected secondary rotating cylinder, and the rotation shaft end head of secondary rotating cylinder is fixedly connected with main paint nozzle；Described telescoping cylinder
One end is corresponding with the rotating disk side wall of main rotating cylinder to be hinged, and the other end is hinged with middle side part is corresponding under the arm body of mechanical arm；It is described
Horizontal spray-painting plant be installed on the upper side for climbing wall paint-spray robot car body, and correspondence is positioned at the one of main rotating cylinder fixed disk
Side, the horizontal spray-painting plant is used to drive secondary paint nozzle correspondence to move back and forth operation along the horizontal direction of car body；
Described elastic wheel includes wheel body, connecting plate, spring connecting rod and support base；The road wheel end of the wheel body
Outer side of lid Middle face is fixedly connected with one end of connecting plate, and the other end of connecting plate is hinged by the way that bearing pin is corresponding with car body；It is described
The middle part of connecting plate is hinged by axle with a side end of spring connecting rod, and the opposite side shaft of the spring connecting rod is provided with annular
Groove, pivot bush unit spring A, the bottom of support base and spring B successively in annular groove groove, and spring A and spring B with diameter greater than
The aperture of support base bottom through hole；The top of described support base is corresponding with car body to be fixedly connected.
Further, described horizontal spray-painting plant includes slide, slide bar, protective cover and secondary paint nozzle；Described slide
The upper side for climbing wall paint-spray robot car body is fixed on, slide bar is slidably connected in slide, one end end and the installation of the slide bar
The secondary paint nozzle for having protective cover is fixedly connected.
Further, described horizontal spray-painting plant includes telescopic arm, protective cover and secondary paint nozzle；Described telescopic arm
Base is fixed on the upper side for climbing wall paint-spray robot car body, and the termination of telescopic arm is consolidated with the secondary paint nozzle for being provided with protective cover
Fixed connection.
Further, described secondary rotating cylinder is fixed on the top end of mechanical arm, secondary rotating cylinder in laterally or longitudinally mode
Rotation shaft end head corresponding with main paint nozzle be fixedly connected.
Further, described mechanical arm is Collapsible structure.
Further, described main rotating cylinder, secondary rotating cylinder, telescoping cylinder, main paint nozzle, secondary paint nozzle and laterally spray painting
Device is provided with automated job pattern or shakes control work pattern.
Further, described connecting plate is in the small water-drop-shaped in the big one end in one end or Pear-Shaped structure.
Due to using technical scheme as described above, the present invention to have the advantages that：
Multi-functional wall paint-spray robot of climbing of the present invention is easily fabricated, is easy to use；Because described climbs wall paint sprayer
People is provided with 360 degree of main paint nozzles of rotation operation and can be capable of the secondary paint nozzle of transverse shifting operation, that is, employ
The structure that major-minor paint nozzle is combined, therefore described wall paint-spray robot of climbing is not only able to enter by main paint nozzle
The multivariant spray painting operation of row, but also the spray painting operation of single-degree-of-freedom can be carried out by secondary paint nozzle, meanwhile, main jet
Paint shower nozzle and secondary paint nozzle can also operation simultaneously according to demand, this not only ensured climb wall paint-spray robot can be effective
Meet job requirements in large area operating mode or complex working condition environment, but also need not reuse and manually carry out touch-up paint operation；
Additionally, described wall paint-spray robot of climbing also is linked together wheel with car body by way of flexible connection, it is this
Connected mode makes each driving moment be provided with respective elastic floating interval, so as to not advised when wall paint-spray robot is climbed
When outer surface then carries out spray painting operation, each of which driving wheel can be using respective elastic floating interval come effective guarantee
Adhesive force is unaffected, and then also effectively avoids and climb the overall driving force of wall paint-spray robot and be affected, and finally reaches
To making the driving four-wheel for climbing wall paint-spray robot to be effectively attached to the purpose in the irregular scope of operation；
In sum, because described wall paint-spray robot of climbing not only is adapted under more complicated operating mode, and large area spray painting
Spray painting operation is smoothly carried out under working condition, the corresponding mesh for improving operating efficiency on the basis of work quality is ensured is reached
, and it can also ensure that its overall driving force, adhesive force are not fully exerted in the irregular scope of operation during operation, so that
Application side is effectively reduced because the economic risk to be born operation is slipped up, therefore described wall paint-spray robot of climbing are fitted very much
In popularization and application.
【Brief description of the drawings】
Fig. 1 is schematic diagram of the invention；
Fig. 2 is the schematic diagram of the elastic wheel.
In figure：1st, main rotating cylinder；2nd, car body；3rd, mechanical arm；4th, secondary rotating cylinder；5th, main paint nozzle；6th, telescoping cylinder；7th, it is secondary
Paint nozzle；8th, slide；9th, slide bar；10th, protective cover；11st, wheel body；12nd, wheel end cap；13rd, connecting plate；14th, bearing pin；
15th, axle；16th, spring connecting rod；17th, spring A；18th, support base；19th, spring B.
【Specific embodiment】
The present invention can be explained in more detail by the following examples, the open purpose of the present invention is intended to protect the scope of the invention
All interior changes and improvements, the invention is not limited in the following examples：
Multi-functional with reference to described in accompanying drawing 1 climbs wall paint-spray robot, comprising spray-painting plant and elastic wheel；Described spray-painting plant
Comprising main rotating cylinder 1, mechanical arm 3, secondary rotating cylinder 4, main paint nozzle 5, telescoping cylinder 6 and horizontal spray-painting plant；Described main rotation
Turn cylinder 1 comprising the fixed disk positioned at bottom and be hinged on the rotating disk on fixed disk top, fixed disk correspondence is fixed on climbs wall spray
The upper side of robot car body 2 is painted, the upper side correspondence of the rotating disk is hinged with the bottom of mechanical arm 3, i.e., main rotating cylinder 1 is acted
When, its rotating disk can driving mechanical arm 3 carry out 360 degree of the rotation in left and right；The top of described mechanical arm 3 is fixedly connected secondary rotation
Turn cylinder 4, the rotation shaft end head of secondary rotating cylinder 4 is fixedly connected with main paint nozzle 5, i.e., secondary rotating cylinder 4 is fixed on the top of mechanical arm 3
End, and main paint nozzle 5 is then fixedly connected with the rotation shaft end head of secondary rotating cylinder 4, so as to drive secondary rotating cylinder 4 in mechanical arm 3
When mobile, main paint nozzle 5 can carry out 360 degree of rotation in the case where the rotation of the rotary shaft of secondary rotating cylinder 4 drives；
The rotating disk side wall correspondence of one end angle Zhi Yuzhu rotating cylinder 1 of described telescoping cylinder 6 is hinged, the other end angle of telescoping cylinder 6
Branch is hinged with middle side part is corresponding under the arm body of mechanical arm 3, i.e., mechanical arm 3 can be carried out up and down under the flexible drive of telescoping cylinder 6
90 degree of action of rising and falling, and then ensure that mechanical arm 3 can simultaneously drive secondary rotation under the drive of main rotating cylinder 1 and telescoping cylinder 6
Turning cylinder 4 and main paint nozzle 5 carries out corresponding left and right, upper and lower movement, because main paint nozzle 5 can be in secondary rotating cylinder 4
360 degree of rotations are carried out under drive, therefore has effectively ensured that main paint nozzle 5 can be by control machinery arm 3, telescoping cylinder 6
Multivariant spray painting action is realized with the action of secondary rotating cylinder 4, i.e., main paint nozzle 5 can be comprehensive in complex working condition
Completion to the spray painting operation in complex job face；As needed, can be by the cylinder body of secondary rotating cylinder 4 in the way of laterally or longitudinally
It is fixed on the top end of mechanical arm 3, and the rotation shaft end head of secondary rotating cylinder 4 corresponding with main paint nozzle 5 is fixedly connected on one
Rise, i.e., main paint nozzle 5 can carry out 360 degree of rotation in the case where the rotary shaft of secondary rotating cylinder 4 drives in direction laterally or longitudinally
Turn, so as to complete the purpose of comprehensive spray painting operation；
Described horizontal spray-painting plant is installed on the upper side for climbing wall paint-spray robot car body 2, and correspondence is solid positioned at main rotating cylinder 1
The side of price fixing, i.e., horizontal spray-painting plant will not be acted when driving secondary paint nozzle 7 to act with the main paint nozzle 5 of drive
Mechanical arm 3 interacts, which ensure that main paint nozzle 5 and secondary paint nozzle 7 being capable of individually operations or simultaneously operation；
Because the horizontal spray-painting plant can drive the correspondence of secondary paint nozzle 7 to move back and forth operation along the horizontal direction of car body 2, this is caused
Secondary paint nozzle 7 can realize the spray painting action of the single-degree-of-freedom of transverse shifting, therefore either secondary paint nozzle 7 is individually made
Industry, or itself and the coordinating operation of main paint nozzle 5, can effectively meet the job requirements under large area operating mode；According to need
Will, described horizontal spray-painting plant includes slide 8, slide bar 9, protective cover 10 and secondary paint nozzle 7, and the slide 8 is fixed on climbs wall
The upper side of paint-spray robot car body 2, slidably connects slide bar 9 in the slide 8, one end end of the slide bar 9 be provided with it is anti-
The secondary paint nozzle 7 of shield 10 is fixedly connected, i.e., by that can drive secondary paint nozzle 7 along the slide bar 9 of the smooth sliding of slide 8
Carry out uniform spray painting operation；Or, using the horizontal spray-painting plant comprising telescopic arm, protective cover 10 and secondary paint nozzle 7, should
The base of telescopic arm is fixed on the upper side for climbing wall paint-spray robot car body 2, the termination of telescopic arm with protective cover 10 is installed
Secondary paint nozzle 7 is fixedly connected, i.e., secondary paint nozzle 7 can uniformly be sprayed in the case where the expanding-contracting action of telescopic arm stabilization drives
Paint operation；
For ease of performing operation, described main rotating cylinder 1, secondary rotating cylinder 4, telescoping cylinder 6, main paint nozzle 5, secondary paint nozzle 7
Be equipped with automated job pattern with horizontal spray-painting plant or shake control work pattern, i.e., will according to different work condition environments and operation
Ask, described climbs the spray painting operation that wall paint-spray robot can complete to automate by prior programming, or by artificial
Remotely shake control to complete spray painting operation, this is greatly improved described climbs operability and spirit of the arm paint-spray robot in operation
Degree living；Additionally, to adapt to the requirement in different spaces operation, can be reached with this using the mechanical arm 3 of Collapsible structure
Adjustable far and near purpose；For ease of take out paint spray painting, can be by respective line by major and minor paint nozzle and corresponding paint vehicle
Case is connected together, and as needed, the paint vehicle case can be fixed on the car body 2 for climbing wall paint-spray robot, it is also possible to according to reality
Border needs to be placed in corresponding Active workings；
Described elastic wheel includes wheel body 11, connecting plate 13, spring connecting rod 16 and support base 18；The wheel body
In 11 the lateral surface of wheel end cap 12 middle part be fixedly connected with one end of connecting plate 13, as needed, can by correspondingly around
With connecting plate 13 be fixed together wheel end cap 12 by 12 center of wheel end cap, one week multiple screw of arrangement；The connection
The other end of plate 13 is hinged by the way that bearing pin 14 is corresponding with car body 2, i.e., connecting plate 13 can be with bearing pin 14 for the center of circle is rotated；Root
According to needs, connecting plate 13 can be set to the small water-drop-shaped in the big one end in one end or Pear-Shaped structure, its big end corresponds to and wheel
End cap 12 is connected, and small end correspondence is connected with car body 2；The middle part of the connecting plate 13 is by axle 15 and the side of spring connecting rod 16
End is hinged, i.e. connecting plate 13 in action, can Timing Belt move the corresponding actions of spring connecting rod 16；
The opposite side shaft of the spring connecting rod 16 is provided with annular groove, in annular groove groove successively pivot bush unit spring A 17,
The bottom of support base 18 and spring B 19, and spring A 17 and spring B 19 the hole with diameter greater than the bottom through hole of support base 18
Footpath, the top of the support base 18 is corresponding with car body 2 to be fixedly connected, that is, ensure that the energy of spring connecting rod 16 that connected plate 13 drives
It is enough smoothly to be moved left and right under the position-limiting action of support base 18, because spring A 17 and the correspondence of spring B 19 are distributed in support base
18 left and right, and support base 18 is fixed on car body 2, therefore when wheel body 11 is advanced in the irregular scope of operation, meeting
Corresponding drive connecting plate 13 carries out a certain amount of rotary motion centered on bearing pin 14, and drives the phase of spring connecting rod 16 simultaneously
The carrying out answered is moved left and right, and now, the corresponding conflict power between spring A 17 or spring B 19 and support base 18 can just be played
The effect of the amount of moving left and right of control spring connecting rod 16, so as to reach the rotation amount of control wheel body 11 and connecting plate 13, protects
Barrier wheel body 11 can carry out left and right or the up and down purpose of resilient movement with respect to car body 2；In practical application, being climbed due to described
Each driving wheel of wall paint-spray robot can using respective elastic floating interval come effective guarantee its overall driving force and
Its adhesive force is unaffected, therefore it can reach the mesh for ensuring that all driving wheels are all effectively attached in the irregular scope of operation
's.
Part not in the detailed description of the invention is prior art, therefore the present invention is not described in detail.
Claims (7)
1. one kind is multi-functional climbs wall paint-spray robot, it is characterized in that：Described wall paint-spray robot of climbing includes spray-painting plant and bullet
Property wheel；Described spray-painting plant includes main rotating cylinder (1), mechanical arm (3), secondary rotating cylinder (4), main paint nozzle (5), flexible
Cylinder (6) and horizontal spray-painting plant；Described main rotating cylinder (1) is comprising the fixed disk positioned at bottom and is hinged on fixed disk top
Rotating disk, fixed disk correspondence is fixed on the upper side of climbing wall paint-spray robot car body (2), the upper side correspondence of the rotating disk with
The bottom of mechanical arm (3) is hinged；The top of described mechanical arm (3) is fixedly connected secondary rotating cylinder (4), the rotation of secondary rotating cylinder (4)
Rotating shaft end head is fixedly connected with main paint nozzle (5)；One end of described telescoping cylinder (6) and the rotating disk side of main rotating cylinder (1)
Wall correspondence is hinged, and the other end is hinged with middle side part is corresponding under the arm body of mechanical arm (3)；Described horizontal spray-painting plant is installed on climbs
The upper side of wall paint-spray robot car body (2), and correspondence, positioned at the side of main rotating cylinder (1), the horizontal spray-painting plant is used for band
Dynamic pair paint nozzle (7) moves operation along the horizontal direction of car body (2)；
Described elastic wheel includes wheel body (11), connecting plate (13), spring connecting rod (16) and support base (18)；It is described
Wheel body (11) wheel end cap (12) lateral surface middle part be fixedly connected with one end of connecting plate (13), connecting plate (13) it is another
One end is hinged by the way that bearing pin (14) is corresponding with car body (2)；The middle part of the connecting plate (13) is by axle (15) and spring connecting rod
(16) a side end is hinged, and the opposite side shaft of the spring connecting rod (16) is provided with annular groove, is lived successively in annular groove groove
Dynamic socket spring A (17), the bottom through hole of support base (18) and spring B (19), and spring A (17) and spring B (19) diameter
More than the aperture of support base (18) bottom through hole；The top of described support base (18) is corresponding with car body (2) to be fixedly connected.
2. it is according to claim 1 it is multi-functional climb wall paint-spray robot, it is characterized in that：Described horizontal spray-painting plant is included
Slide (8), slide bar (9), protective cover (10) and secondary paint nozzle (7)；Described slide (8) is fixed on climbs wall paint-spray robot car
The upper side of body (2), slidably connects slide bar (9) in slide (8), one end end of the slide bar (9) with protective cover is installed
(10) secondary paint nozzle (7) is fixedly connected.
3. it is according to claim 1 it is multi-functional climb wall paint-spray robot, it is characterized in that：Described horizontal spray-painting plant is included
Telescopic arm, protective cover (10) and secondary paint nozzle (7)；The base of described telescopic arm is fixed on climbs wall paint-spray robot car body
(2) upper side, the termination of telescopic arm is fixedly connected with the secondary paint nozzle (7) for being provided with protective cover (10).
4. it is according to claim 1 it is multi-functional climb wall paint-spray robot, it is characterized in that：Described secondary rotating cylinder (4) is with horizontal stroke
To or longitudinal mode be fixed on the top end of mechanical arm (3), rotation shaft end head and main paint nozzle (5) of secondary rotating cylinder (4)
Correspondence is fixedly connected.
5. it is according to claim 1 it is multi-functional climb wall paint-spray robot, it is characterized in that：Described mechanical arm (3) is can to stretch
Shrinking structure.
6. it is according to claim 1 it is multi-functional climb wall paint-spray robot, it is characterized in that：Described main rotating cylinder (1), secondary rotation
Turn cylinder (4), telescoping cylinder (6), main paint nozzle (5), secondary paint nozzle (7) and horizontal spray-painting plant and be provided with automated job pattern
Or shake control work pattern.
7. it is according to claim 1 it is multi-functional climb wall paint-spray robot, it is characterized in that：Described connecting plate (13) is in one end
The big small water-drop-shaped in one end or Pear-Shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181014.1A CN106807575B (en) | 2017-03-24 | 2017-03-24 | Multifunctional wall-climbing paint spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181014.1A CN106807575B (en) | 2017-03-24 | 2017-03-24 | Multifunctional wall-climbing paint spraying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106807575A true CN106807575A (en) | 2017-06-09 |
| CN106807575B CN106807575B (en) | 2023-03-17 |
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ID=59115383
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710181014.1A Active CN106807575B (en) | 2017-03-24 | 2017-03-24 | Multifunctional wall-climbing paint spraying robot |
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| Country | Link |
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| CN (1) | CN106807575B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201800009729A1 (en) | 2018-10-24 | 2020-04-24 | Pierangelo Vercellino | MOBILE SPRAYING TOOL |
| CN114770534A (en) * | 2022-04-14 | 2022-07-22 | 江苏科技大学 | Novel multipurpose electromagnetic induction wall-climbing robot |
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| CN105235763A (en) * | 2015-10-16 | 2016-01-13 | 燕山大学 | Parallel-connected wall-climbing robot comprising six variable branches |
| CN106345645A (en) * | 2016-11-15 | 2017-01-25 | 大连理工大学 | Wall-climbing air-free robot which works on the planking of the ship and the operational method of the wall-climbing air-free robot |
| CN106514610A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot with sliding rail-type mechanical arm |
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| JPH06226163A (en) * | 1993-02-08 | 1994-08-16 | Fujita Corp | Spraying robot |
| CN203919049U (en) * | 2014-05-08 | 2014-11-05 | 昆明理工大学 | A kind of novel pneumatic manipulator |
| CN204355187U (en) * | 2014-12-23 | 2015-05-27 | 上海新松机器人自动化有限公司 | Curved surface adaptive safety precaution climbing robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT201800009729A1 (en) | 2018-10-24 | 2020-04-24 | Pierangelo Vercellino | MOBILE SPRAYING TOOL |
| CN114770534A (en) * | 2022-04-14 | 2022-07-22 | 江苏科技大学 | Novel multipurpose electromagnetic induction wall-climbing robot |
| CN114770534B (en) * | 2022-04-14 | 2023-10-27 | 江苏科技大学 | Novel multipurpose electromagnetic induction wall climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106807575B (en) | 2023-03-17 |
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