CN106807575B - Multifunctional wall-climbing paint spraying robot - Google Patents
Multifunctional wall-climbing paint spraying robot Download PDFInfo
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- CN106807575B CN106807575B CN201710181014.1A CN201710181014A CN106807575B CN 106807575 B CN106807575 B CN 106807575B CN 201710181014 A CN201710181014 A CN 201710181014A CN 106807575 B CN106807575 B CN 106807575B
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- paint spraying
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
A multifunctional wall-climbing paint spraying robot comprises a paint spraying device and an elastic wheel; the paint spraying device comprises a main rotary cylinder, a mechanical arm, an auxiliary rotary cylinder, a main paint spraying nozzle, a telescopic cylinder and an auxiliary paint spraying nozzle; the elastic wheel comprises a wheel body, a connecting plate, a spring connecting rod and a supporting seat; the wall-climbing paint spraying robot not only can ensure that all driving wheels are effectively attached to an irregular working surface, and avoid the influence of the driving force and the adhesive force, but also can effectively finish paint spraying operation in large-area working conditions or complex working condition environments, and does not need manual paint repair.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of wall-climbing paint spraying robots, in particular to a wall-climbing paint spraying robot with a multifunctional combined paint spraying structure.
[ background of the invention ]
As is known, a wall climbing robot is also called a wall moving robot, which is an automatic robot capable of climbing on a vertical wall and performing related operations, and because the vertical wall operations belong to the category of limit operations, the wall climbing robot is also called a limit operation robot, and includes a wall climbing paint spraying robot for performing painting operations on the surface of an object such as a large-sized storage tank or a ship; at present, a paint spraying nozzle adopted by a conventional wall-climbing paint spraying robot is structurally characterized in that the nozzle is fixedly arranged at the front end of a mechanical arm of the wall-climbing paint spraying robot, and then corresponding paint spraying operation is carried out by controlling the walking of the wall-climbing paint spraying robot; however, in long-term practical application, the existing wall-climbing paint spraying robot has the following defects: 1. under the working condition of large-area paint spraying operation, the paint spraying efficiency is relatively low, the thickness and the uniformity of the paint spraying cannot be effectively guaranteed, and the operation requirement can be met only by manual paint repair; 2. when wall climbing paint spraying operation is carried out under a complex working condition environment, some unconventional curved parts cannot be effectively painted, and the parts can be repaired manually to comprehensively finish the paint spraying operation;
in addition, the vehicle body structure adopted by the existing wall-climbing paint spraying robot is a rigid vehicle body structure driven by four wheels, namely four driving wheels connected with the vehicle body are all rigidly and fixedly connected, so that the stable walking operation of the wall-climbing paint spraying robot on a flat operation surface is not problematic, but once the wall-climbing paint spraying robot performs the paint spraying operation on the surfaces of an oil storage tank, a large ship and the like, the four driving wheels of the wall-climbing paint spraying robot can generate different adhesive forces under the influence of the irregular outer surface of the ship and the rigid vehicle body of the wall-climbing paint spraying robot, so that a phenomenon that a certain driving wheel of the wall-climbing paint spraying robot cannot be stably attached to the operation surface is easily caused, the driving force of the wall-climbing paint spraying robot and the integral adhesive force of the wall-climbing paint spraying robot on the operation surface are influenced, and the deviation between the traveling route of the wall-climbing paint spraying robot and the planned route in the operation can be caused in serious cases, and finally the application party is subjected to corresponding economic loss; in conclusion, the existing wall-climbing paint spraying robot has the problems that the function is single, manual paint repair and relief are needed, deviation is easy to occur, labor and materials are wasted, and the cost is high in application, so that the wall-climbing paint spraying robot is very unfavorable for popularization and application.
[ summary of the invention ]
In order to overcome the defects in the background art, the invention discloses a multifunctional wall-climbing paint spraying robot which not only can ensure that a driving wheel is effectively attached to an irregular working surface and avoid the influence of the driving force and the adhesive force, but also can effectively finish paint spraying operation in a large-area working condition or a complex working condition environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multifunctional wall-climbing paint spraying robot comprises a paint spraying device and elastic wheels; the paint spraying device comprises a main rotary cylinder, a mechanical arm, an auxiliary rotary cylinder, a main paint spraying nozzle, a telescopic cylinder and a transverse paint spraying device; the main rotating cylinder comprises a fixed disc positioned at the lower part and a rotating disc hinged at the upper part of the fixed disc, the fixed disc is correspondingly fixed on the upper surface of the wall-climbing paint spraying robot body, and the upper surface of the rotating disc is correspondingly hinged with the bottom end of the mechanical arm; the top end of the mechanical arm is fixedly connected with an auxiliary rotary cylinder, and the end of a rotary shaft of the auxiliary rotary cylinder is fixedly connected with a main paint spraying nozzle; one end of the telescopic cylinder is correspondingly hinged with the side wall of the rotating disc of the main rotating cylinder, and the other end of the telescopic cylinder is correspondingly hinged with the middle part of the lower side of the arm body of the mechanical arm; the transverse paint spraying device is arranged on the upper surface of the wall-climbing paint spraying robot body and is correspondingly positioned on one side of the main rotating cylinder fixing disc, and the transverse paint spraying device is used for driving the auxiliary paint spraying nozzle to correspondingly move back and forth along the transverse direction of the body;
the elastic wheel comprises a wheel body, a connecting plate, a spring connecting rod and a supporting seat; the middle part of the outer side surface of the wheel end cover of the wheel body is fixedly connected with one end of a connecting plate, and the other end of the connecting plate is correspondingly hinged with the vehicle body through a pin shaft; the middle part of the connecting plate is hinged with the end part of one side of the spring connecting rod through a shaft, the rod body of the other side of the spring connecting rod is provided with an annular groove, a spring A, the bottom end of the supporting seat and a spring B are sequentially and movably sleeved in the annular groove, and the diameters of the spring A and the spring B are larger than the aperture of a through hole at the bottom end of the supporting seat; the top end of the supporting seat is fixedly connected with the vehicle body correspondingly.
Furthermore, the transverse paint spraying device comprises a sliding seat, a sliding rod, a protective cover and an auxiliary paint spraying nozzle; the slide be fixed in the upper portion face of climbing wall paint spraying robot automobile body, sliding connection has the slide bar in the slide, the one end tip of this slide bar with install vice spray nozzle fixed connection that sprays paint of protection casing.
Further, the transverse paint spraying device comprises a telescopic arm, a protective cover and an auxiliary paint spraying nozzle; the base of the telescopic arm is fixed on the upper surface of the vehicle body of the wall-climbing paint spraying robot, and the end of the telescopic arm is fixedly connected with an auxiliary paint spraying nozzle provided with a protective cover.
Furthermore, the auxiliary rotary cylinder is fixed at the top end of the mechanical arm in a transverse or longitudinal mode, and the end of the rotary shaft of the auxiliary rotary cylinder is correspondingly and fixedly connected with the main paint spraying nozzle.
Furthermore, the mechanical arm is of a telescopic structure.
Furthermore, the main rotary cylinder, the auxiliary rotary cylinder, the telescopic cylinder, the main paint spraying nozzle, the auxiliary paint spraying nozzle and the transverse paint spraying device are provided with an automatic operation mode or a remote control operation mode.
Furthermore, the connecting plate is of a drop-shaped or gourd-shaped structure with one large end and one small end.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the multifunctional wall-climbing paint spraying robot is easy to manufacture and convenient to use; the wall-climbing paint spraying robot is provided with the main paint spraying nozzle capable of rotating 360 degrees and the auxiliary paint spraying nozzle capable of moving transversely, namely a structure that the main paint spraying nozzle and the auxiliary paint spraying nozzle are combined together is adopted, so that the wall-climbing paint spraying robot can not only perform multi-degree-of-freedom paint spraying operation through the main paint spraying nozzle, but also perform single-degree-of-freedom paint spraying operation through the auxiliary paint spraying nozzle, and simultaneously, the main paint spraying nozzle and the auxiliary paint spraying nozzle can also simultaneously operate according to requirements, so that the wall-climbing paint spraying robot is ensured to effectively meet the operation requirements in large-area working conditions or complex working condition environments, and the paint repairing operation of a user is not required;
in addition, the wall-climbing paint spraying robot also connects the wheels with the vehicle body in a flexible connection mode, and the connection mode enables each driving wheel to have respective elastic floating intervals, so that when the wall-climbing paint spraying robot performs paint spraying operation on an irregular outer surface, each driving wheel can effectively ensure that the adhesive force is not influenced by the respective elastic floating intervals, further effectively avoid the influence on the overall driving force of the wall-climbing paint spraying robot, and finally achieve the purpose that four driving wheels of the wall-climbing paint spraying robot can be effectively attached to the irregular operation surface;
in conclusion, the wall-climbing paint spraying robot is suitable for smoothly spraying paint under complex working conditions and large-area paint spraying working conditions, so that the aim of correspondingly improving the working efficiency on the basis of ensuring the working quality is fulfilled, the overall driving force and the adhesive force of the wall-climbing paint spraying robot can be fully exerted during operation on an irregular working surface, the economic risk born by an application party due to operation errors is effectively reduced, and the wall-climbing paint spraying robot is very suitable for popularization and application.
[ description of the drawings ]
FIG. 1 is a schematic view of the present invention;
fig. 2 is a schematic view of the resilient wheel.
In the figure: 1. a main rotating cylinder; 2. a vehicle body; 3. a mechanical arm; 4. a secondary rotary cylinder; 5. a main paint spray nozzle; 6. a telescopic cylinder; 7. an auxiliary spray nozzle; 8. a slide base; 9. a slide bar; 10. a protective cover; 11. a wheel body; 12. a wheel end cover; 13. a connecting plate; 14. a pin shaft; 15. a shaft; 16. a spring connecting rod; 17. a spring A; 18. a supporting seat; 19. and a spring B.
[ detailed description ] embodiments
The present invention will be explained in more detail by the following examples, which are intended to disclose all changes and modifications within the scope of the present invention, and which are not limited to the following examples:
the multifunctional wall-climbing paint spraying robot described in conjunction with the attached figure 1 comprises a paint spraying device and an elastic wheel; the paint spraying device comprises a main rotary cylinder 1, a mechanical arm 3, an auxiliary rotary cylinder 4, a main paint spraying nozzle 5, a telescopic cylinder 6 and a transverse paint spraying device; the main rotating cylinder 1 comprises a fixed disc positioned at the lower part and a rotating disc hinged at the upper part of the fixed disc, the fixed disc is correspondingly fixed on the upper surface of the wall-climbing paint spraying robot body 2, the upper surface of the rotating disc is correspondingly hinged with the bottom end of the mechanical arm 3, namely, when the main rotating cylinder 1 acts, the rotating disc can drive the mechanical arm 3 to rotate left and right for 360 degrees; the top end of the mechanical arm 3 is fixedly connected with an auxiliary rotary cylinder 4, the end of a rotary shaft of the auxiliary rotary cylinder 4 is fixedly connected with a main paint spraying nozzle 5, namely, the auxiliary rotary cylinder 4 is fixed at the top end of the mechanical arm 3, and the main paint spraying nozzle 5 is fixedly connected with the end of the rotary shaft of the auxiliary rotary cylinder 4, so that when the mechanical arm 3 drives the auxiliary rotary cylinder 4 to move, the main paint spraying nozzle 5 can rotate for 360 degrees under the driving of the rotation of the rotary shaft of the auxiliary rotary cylinder 4;
an angle support at one end of the telescopic cylinder 6 is correspondingly hinged with the side wall of the rotating disc of the main rotating cylinder 1, and an angle support at the other end of the telescopic cylinder 6 is correspondingly hinged with the middle part of the lower side of the arm body of the mechanical arm 3, namely the mechanical arm 3 can be driven by the telescopic cylinder 6 to move up and down by 90 degrees, so that the mechanical arm 3 can simultaneously drive the auxiliary rotating cylinder 4 and the main paint spraying nozzle 5 to move left and right and up and down correspondingly under the drive of the main rotating cylinder 1 and the telescopic cylinder 6, and the main paint spraying nozzle 5 can be driven by the auxiliary rotating cylinder 4 to rotate by 360 degrees, so that the main paint spraying nozzle 5 can effectively ensure that the paint spraying action with multiple degrees of freedom can be realized by controlling the actions of the mechanical arm 3, the telescopic cylinder 6 and the auxiliary rotating cylinder 4, namely the main paint spraying nozzle 5 can comprehensively finish the paint spraying operation on a complex operation surface in a complex working condition; according to the requirement, the cylinder body of the auxiliary rotary cylinder 4 can be fixed at the top end of the mechanical arm 3 in a transverse or longitudinal mode, and the end of the rotary shaft of the auxiliary rotary cylinder 4 is correspondingly and fixedly connected with the main paint spraying nozzle 5, namely, the main paint spraying nozzle 5 can rotate 360 degrees in the transverse or longitudinal direction under the driving of the rotary shaft of the auxiliary rotary cylinder 4, so that the aim of all-dimensional paint spraying operation is fulfilled;
the transverse paint spraying device is arranged on the upper surface of the wall-climbing paint spraying robot body 2 and is correspondingly positioned on one side of the fixed disc of the main rotary cylinder 1, namely, the transverse paint spraying device cannot influence the mechanical arm 3 driving the main paint spraying nozzle 5 to act when driving the auxiliary paint spraying nozzle 7 to act, so that the main paint spraying nozzle 5 and the auxiliary paint spraying nozzle 7 can respectively operate independently or simultaneously; the transverse paint spraying device can drive the auxiliary paint spraying nozzle 7 to move back and forth correspondingly along the transverse direction of the vehicle body 2, so that the auxiliary paint spraying nozzle 7 can realize the paint spraying action with single degree of freedom of transverse movement, and the operation requirement under the large-area working condition can be effectively met no matter the auxiliary paint spraying nozzle 7 works independently or works in cooperation with the main paint spraying nozzle 5; according to the requirement, the transverse paint spraying device comprises a sliding seat 8, a sliding rod 9, a protective cover 10 and an auxiliary paint spraying nozzle 7, wherein the sliding seat 8 is fixed on the upper surface of the wall-climbing paint spraying robot body 2, the sliding rod 9 is connected in the sliding seat 8 in a sliding way, one end part of the sliding rod 9 is fixedly connected with the auxiliary paint spraying nozzle 7 provided with the protective cover 10, namely, the sliding rod 9 which can slide along the sliding seat 8 stably drives the auxiliary paint spraying nozzle 7 to perform uniform paint spraying operation; or, a transverse paint spraying device comprising a telescopic arm, a protective cover 10 and an auxiliary paint spraying nozzle 7 is adopted, a base of the telescopic arm is fixed on the upper surface of the wall-climbing paint spraying robot body 2, the end head of the telescopic arm is fixedly connected with the auxiliary paint spraying nozzle 7 provided with the protective cover 10, namely, the auxiliary paint spraying nozzle 7 can perform uniform paint spraying operation under the driving of stable telescopic action of the telescopic arm;
in order to facilitate the operation, the main rotary cylinder 1, the auxiliary rotary cylinder 4, the telescopic cylinder 6, the main paint spraying nozzle 5, the auxiliary paint spraying nozzle 7 and the transverse paint spraying device are all provided with an automatic operation mode or a remote control operation mode, namely according to different working conditions and operation requirements, the wall climbing paint spraying robot can complete automatic paint spraying operation through a preset program or complete paint spraying operation through manual remote control, so that the operability and flexibility of the arm climbing paint spraying robot during operation are greatly improved; in addition, in order to meet the requirements of operation in different spaces, the mechanical arm 3 with a telescopic structure can be adopted, so that the purpose of adjusting the distance is achieved; in order to facilitate paint pumping and spraying, the main paint spraying nozzle and the auxiliary paint spraying nozzle can be communicated with the corresponding paint boxes through corresponding pipelines, and the paint boxes can be fixed on the vehicle body 2 of the wall-climbing paint spraying robot and can also be placed in corresponding operation sites according to actual requirements;
the elastic wheel comprises a wheel body 11, a connecting plate 13, a spring connecting rod 16 and a supporting seat 18; the middle part of the outer side surface of a wheel end cover 12 in the wheel body 11 is fixedly connected with one end of a connecting plate 13, and the wheel end cover 12 and the connecting plate 13 can be fixedly connected together through a plurality of screws which are correspondingly arranged around the center of the wheel end cover 12 in a circle according to requirements; the other end of the connecting plate 13 is correspondingly hinged with the vehicle body 2 through a pin shaft 14, namely, the connecting plate 13 can rotate by taking the pin shaft 14 as a circle center; according to requirements, the connecting plate 13 can be set to be of a water drop or gourd-shaped structure with a large end and a small end, the large end is correspondingly connected with the wheel end cover 12, and the small end is correspondingly connected with the vehicle body 2; the middle part of the connecting plate 13 is hinged with one side end part of the spring connecting rod 16 through a shaft 15, namely the connecting plate 13 can synchronously drive the spring connecting rod 16 to correspondingly move when moving;
the other side rod body of the spring connecting rod 16 is provided with an annular groove, a spring A17, the bottom end of a supporting seat 18 and a spring B19 are sequentially movably sleeved in the annular groove, the diameters of the spring A17 and the spring B19 are larger than the aperture of a through hole at the bottom end of the supporting seat 18, and the top end of the supporting seat 18 is correspondingly and fixedly connected with the vehicle body 2, so that the spring connecting rod 16 driven by a connecting plate 13 can be ensured to stably move left and right under the limiting action of the supporting seat 18; in practical application, each driving wheel of the wall-climbing paint spraying robot can effectively ensure that the whole driving force and the adhesive force of the driving wheel are not influenced by the elastic floating interval of the driving wheel, so that the aim of ensuring that all the driving wheels are effectively adhered to an irregular working surface can be fulfilled.
The present invention is not described in detail in the prior art, and therefore, the present invention is not described in detail.
Claims (5)
1. The utility model provides a multi-functional wall climbing paint spraying robot which characterized by: the wall-climbing paint spraying robot comprises a paint spraying device and an elastic wheel; the paint spraying device comprises a main rotary cylinder (1), a mechanical arm (3), an auxiliary rotary cylinder (4), a main paint spraying nozzle (5), a telescopic cylinder (6) and a transverse paint spraying device; the main rotating cylinder (1) comprises a fixed disk positioned at the lower part and a rotating disk hinged at the upper part of the fixed disk, the fixed disk is correspondingly fixed on the upper surface of the wall-climbing paint spraying robot body (2), and the upper surface of the rotating disk is correspondingly hinged with the bottom end of the mechanical arm (3); the top end of the mechanical arm (3) is fixedly connected with an auxiliary rotary cylinder (4), and the end of a rotary shaft of the auxiliary rotary cylinder (4) is fixedly connected with a main paint spraying nozzle (5); one end of the telescopic cylinder (6) is correspondingly hinged with the side wall of the rotating disc of the main rotating cylinder (1), and the other end of the telescopic cylinder is correspondingly hinged with the middle part of the lower side of the arm body of the mechanical arm (3); the transverse paint spraying device is arranged on the upper surface of the wall-climbing paint spraying robot body (2) and is correspondingly positioned on one side of the main rotating cylinder (1), and the transverse paint spraying device is used for driving the auxiliary paint spraying nozzle (7) to move along the transverse direction of the body (2) for operation;
the elastic wheel comprises a wheel body (11), a connecting plate (13), a spring connecting rod (16) and a supporting seat (18); the middle part of the outer side surface of a wheel end cover (12) of the wheel body (11) is fixedly connected with one end of a connecting plate (13), and the other end of the connecting plate (13) is correspondingly hinged with the vehicle body (2) through a pin shaft (14); the middle part of the connecting plate (13) is hinged with the end part of one side of the spring connecting rod (16) through a shaft (15), the rod body of the other side of the spring connecting rod (16) is provided with an annular groove, a spring A (17), a bottom through hole of a supporting seat (18) and a spring B (19) are sequentially and movably sleeved in the annular groove, and the diameters of the spring A (17) and the spring B (19) are larger than the aperture of the bottom through hole of the supporting seat (18); the top end of the supporting seat (18) is correspondingly and fixedly connected with the vehicle body (2);
the mechanical arm (3) is of a telescopic structure; the connecting plate (13) is of a water drop shape or a gourd-shaped structure with a large end and a small end.
2. The multi-functional wall-climbing paint spraying robot of claim 1, wherein: the transverse paint spraying device comprises a sliding seat (8), a sliding rod (9), a protective cover (10) and an auxiliary paint spraying nozzle (7); slide (8) be fixed in the upper portion face of climbing wall painting robot automobile body (2), sliding connection has slide bar (9) in slide (8), the one end tip of this slide bar (9) and vice shower nozzle (7) fixed connection that spray paint of installing protection casing (10).
3. The multifunctional wall-climbing paint spraying robot of claim 1, wherein: the transverse paint spraying device comprises a telescopic arm, a protective cover (10) and an auxiliary paint spraying nozzle (7); the base of the telescopic arm is fixed on the upper surface of the wall-climbing paint spraying robot body (2), and the end of the telescopic arm is fixedly connected with an auxiliary paint spraying nozzle (7) provided with a protective cover (10).
4. The multi-functional wall-climbing paint spraying robot of claim 1, wherein: the auxiliary rotating cylinder (4) is fixed at the top end of the mechanical arm (3) in a transverse or longitudinal mode, and the end of a rotating shaft of the auxiliary rotating cylinder (4) is correspondingly and fixedly connected with the main paint spraying nozzle (5).
5. The multi-functional wall-climbing paint spraying robot of claim 1, wherein: the main rotary cylinder (1), the auxiliary rotary cylinder (4), the telescopic cylinder (6), the main paint spraying nozzle (5), the auxiliary paint spraying nozzle (7) and the transverse paint spraying device are provided with an automatic operation mode or a remote control operation mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710181014.1A CN106807575B (en) | 2017-03-24 | 2017-03-24 | Multifunctional wall-climbing paint spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181014.1A CN106807575B (en) | 2017-03-24 | 2017-03-24 | Multifunctional wall-climbing paint spraying robot |
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| CN106807575A CN106807575A (en) | 2017-06-09 |
| CN106807575B true CN106807575B (en) | 2023-03-17 |
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| CN201710181014.1A Active CN106807575B (en) | 2017-03-24 | 2017-03-24 | Multifunctional wall-climbing paint spraying robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201800009729A1 (en) | 2018-10-24 | 2020-04-24 | Pierangelo Vercellino | MOBILE SPRAYING TOOL |
| CN114770534B (en) * | 2022-04-14 | 2023-10-27 | 江苏科技大学 | Novel multipurpose electromagnetic induction wall climbing robot |
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| JPH06226163A (en) * | 1993-02-08 | 1994-08-16 | Fujita Corp | Spraying 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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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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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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