CN106808353A - A kind of oil tank automatic cleaning machine people - Google Patents
A kind of oil tank automatic cleaning machine people Download PDFInfo
- Publication number
- CN106808353A CN106808353A CN201710027058.9A CN201710027058A CN106808353A CN 106808353 A CN106808353 A CN 106808353A CN 201710027058 A CN201710027058 A CN 201710027058A CN 106808353 A CN106808353 A CN 106808353A
- Authority
- CN
- China
- Prior art keywords
- base
- pole
- rust cleaning
- oil tank
- motor
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of oil tank automatic cleaning machine people, it is intended to the deficiency that solve big tank surface rust cleaning operation labour intensity, inefficiency, high cost, there is potential safety hazard.The invention includes base, pole, controller, pole one end is hinged on base, pole lockable mechanism is installed with pole link position on base, the pole other end is provided with bearing, the roller driven by motor is installed on bearing, the thrust blade driven by blade motor is installed on the outside of base, base inner side is provided with and drives the rust cleaning bar for rotating by rust cleaning motor, several rust cleaning steel wire lumps that can be buffered are installed on rust cleaning bar, dust catcher is installed on base, base medial surface is provided with the suction port that several are connected with dust catcher, base inside lower end edge connects flexible shroud, several are installed on shroud and abut spring, motor, blade motor, rust cleaning motor electrically connects controller.
Description
Technical field
The present invention relates to a kind of oil tank cleaning equipment, more specifically, it relates to a kind of oil tank automatic cleaning machine people.
Background technology
Oil tank applies quite varied as good storage device in fields such as oil, chemical industry, after oil tank long-time use,
Its outer surface occurs the phenomenon got rusty, if cleared up not in time, corrosion phenomenon easily occurs, so as to reduce the use longevity of oil tank
Life.Current tank surface rust cleaning is general using mode of operation manually, and labour intensity is big, inefficiency, many times
Needing to set up scaffold carries out work high above the ground, and high cost has potential safety hazard.
The content of the invention
Big labour intensity, inefficiency, high cost are operated instant invention overcomes tank surface rust cleaning, there is potential safety hazard
Deficiency, there is provided a kind of oil tank automatic cleaning machine people, it carries out automatic rust-removing operation, greatly reduces labor to tank surface
Fatigue resistance, improves operating efficiency, reduces high cost, it is to avoid potential safety hazard, and suitable for the outer of different radian oil tanks
Wall rust cleaning is cleaned.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：A kind of oil tank automatic cleaning machine people, bag
Base, pole, controller are included, pole one end is hinged on base, pole locking machine is installed on base with pole link position
Structure, the pole other end is provided with bearing, and the roller driven by motor is provided with bearing, is provided with by blade on the outside of base
The thrust blade that motor drives, base inner side is provided with and drives the rust cleaning bar for rotating by rust cleaning motor, if being provided with rust cleaning bar
The dry rust cleaning steel wire lump that can be buffered, is provided with dust catcher on base, base medial surface is provided with several and dust catcher connects
Logical suction port, base inside lower end edge connects flexible shroud, several is provided with shroud and abuts spring, drives electricity
Machine, blade motor, rust cleaning motor electrically connect controller.
During tank surface rust cleaning operation, the angle of inclination of pole is first adjusted according to the radian of oil tank outer wall, by branch lever lock
Locking mechanism carries out locking to pole, then base is erect into placement, and roller is fitted on oil tank outer wall, then starts blade electricity
Machine, blade motor belt motor dynamicthrust blade is rotated, so that air-flow reaction is on base, whole derusting mechanism can be fitted in oil
Without falling down on tank wall.Rust cleaning motor can just be started afterwards, rust cleaning motor drives rust cleaning bar to rotate, so that even
The rust cleaning steel wire lump being connected on rust cleaning bar carries out scraping rust cleaning to oil tank outer surface, and the iron rust and other impurities being scraped are by inhaling
Dirt mouthful is absorbed by dust catcher, prevents from producing larger dust and polluting environment in operating process.And what some were not siphoned away by dust catcher
Iron filings and impurity are fallen under gravity into shroud, prevent from directly falling and injuring operating personnel by a crashing object.The abutting connected on shroud
Spring, it is ensured that shroud can be in close contact with oil tank outer wall.Motor control roller is rotated, so as to drive base up and down
It is mobile, realize the rust cleaning operation to each position.This oil tank automatic cleaning machine people carries out automatic rust-removing behaviour to tank surface
Make, greatly reduce labour intensity, improve operating efficiency, reduce high cost, it is to avoid potential safety hazard, and suitable for not
Eliminated rust with the outer wall of radian oil tank and cleaned.
Preferably, the rust cleaning S-shaped structure of bar, rust cleaning bar centre position connection rotating shaft, rotating shaft and motor output shaft transmission
Connection, rotating shaft may be rotatably mounted on base.The rust cleaning S-shaped structure of bar, rust cleaning bar is stripped off down during rust cleaning is rotated
The iron filings and impurity for coming easily draw close accumulation to centre, are easy to be siphoned away by dust catcher.And be conducive to reducing rust cleaning bar rotation
During the resistance that is subject to, it is ensured that rust cleaning bar swimmingly rotates rust cleaning.
Preferably, pole lockable mechanism includes lock sleeve, retaining spring, it is provided with and is hinged with pole link position on base
Seat, hinged seat is provided with connecting shaft, and strut ends are provided with hinge eyes, and hinge eyes are rotatably socketed in connecting shaft, and lock sleeve can
Slide laterally and be socketed in connecting shaft, retaining spring is arranged between hinged seat and lock sleeve, and hinge eyes outer wall is provided with a circle
External toothing, lock sleeve inwall is provided with the ring gear of a circle and external toothing adaptation, and the ring gear of lock sleeve is socketed in hinge eyes
Anti-rotation locking is realized on external toothing.During pole angular adjustment, first sliding latch set makes ring gear be separated with external toothing, Ran Houzhuan
Dynamic hinge eyes are adjusted to the angle of inclination of pole, after the completion of angular adjustment, lock sleeve are unclamped, in the effect of retaining spring
Under, lock sleeve return, ring gear is connected with external toothing adaptation and realizes locking.The pole lockable mechanism regulation of this structure and locking
It is convenient, locking reliability.
Preferably, connecting shaft is provided with spacing ring, locking is set on spacing ring left side, and hinge eyes are arranged on spacing ring
Right side, connection shaft end is connected with the spacing swivel nut for spacing hinge eyes, is laid on the connecting shaft outer wall on the left of spacing ring
There are some positive stop strips, correspond and be provided with some stopper slots with positive stop strip on lock sleeve inwall, stopper slot can be slided with positive stop strip
Dynamic connection.Hinge eyes are arranged between spacing ring and spacing swivel nut, and connection is reliable, and will not slip away connecting shaft, and positive stop strip is to locking
Set carries out spacing, prevents lock sleeve from rotating.
Preferably, being laid with several on lock sleeve outer wall stirs handle.Stir handle and be easy to sliding latch set.
Preferably, pole includes connecting rod and expansion link, connecting rod is fastenedly connected on base, and expansion link one end can stretch
In connecting rod, expansion link other end connects bearing connects lock-screw to Irish splice between connecting rod and expansion link.Expansion link can
The telescopic moving in connecting rod, so as to adjust the length of pole, to adapt to the use requirement of different radian oil tanks, is conducive to improving
The applicability of derusting mechanism.Fastened by lock-screw between connecting rod and expansion link, easy to connect, reliable lock.
Preferably, rust cleaning steel wire lump is connected to pin rod lower end, corresponds and be provided with some jacks with pin rod on rust cleaning bar,
Pin rod activity is plugged in jack, pin rod upper end connection position-limitting pin, is eliminated rust on pin rod and is socketed between steel wire lump and rust cleaning bar
Buffer spring.Rust cleaning steel wire lump moves up pin rod after being subject to drag effect, prevents pin rod stuck, rust cleaning bar is applicable difference
The rust cleaning operation of the tank surface of radian.
Preferably, abutting lower spring end is connected with spring base, it is rotatably mounted on spring base to have ball, shroud lower edge
It is arranged on ball lower section.Spring base lower end sets ball, reduces rubbing between shroud and oil tank outer wall in base moving process
Wipe resistance.
Compared with prior art, the beneficial effects of the invention are as follows：Oil tank automatic cleaning machine people is carried out certainly to tank surface
Dynamic rust cleaning operation, greatly reduces labour intensity, improves operating efficiency, reduce high cost, it is to avoid potential safety hazard, and
Outer wall rust cleaning suitable for different radian oil tanks is cleaned.
Brief description of the drawings
Fig. 1 is top view of the invention；
Fig. 2 is the attachment structure schematic diagram of base of the invention；
Fig. 3 is the attachment structure schematic diagram of rust cleaning steel wire lump of the invention；
Fig. 4 is the structural representation of pole lockable mechanism of the invention；
Fig. 5 is the attachment structure schematic diagram of abutting spring of the invention；
In figure：1st, base, 2, pole, 3, bearing, 4, roller, 5, thrust blade, 6, rust cleaning bar, 7, rust cleaning steel wire lump, 8, dust suction
Device, 9, suction port, 10, shroud, 11, abut spring, 12, stir handle, 13, spring base, 14, ball, 15, connecting rod, 16, stretch
Contracting bar, 17, lock-screw, 18, jack, 19, position-limitting pin, 20, buffer spring, 21, magnet, 22, lock sleeve, 23, positioning
Spring, 24, hinged seat, 25, connecting shaft, 26, hinge eyes, 27, external toothing, 28, ring gear, 29, spacing ring, 30, spacing swivel nut,
31st, positive stop strip, 32, stopper slot.
Specific embodiment
Below by specific embodiment, and with reference to accompanying drawing, technical scheme is further described specifically：
Embodiment：A kind of oil tank automatic cleaning machine people（Referring to accompanying drawing 1 to 5）, including base 1, pole 2, controller, pole one
End is hinged on base, is provided with pole lockable mechanism on base with pole link position, and the pole other end is provided with bearing 3, bottom
Seat structure in the form of annular discs, base edge is uniformly connected with four magnets 21.Strut ends are provided with bearing 3, are provided with bearing
The roller 4 driven by motor, is provided with the thrust blade 5 driven by blade motor on the outside of base, base inner side is installed
Have and the rust cleaning bar 6 for rotating is driven by rust cleaning motor, several rust cleaning steel wire lumps 7 that can be buffered, base are installed on rust cleaning bar
On dust catcher 8 is installed, base medial surface is provided with the suction port 9 that several are connected with dust catcher, base inside lower end edge
The flexible shroud 10 of connection, is provided with several and abuts spring 11 on shroud, abut lower spring end and be connected with spring base 13, bullet
Rotatably mounted on spring abutment to have ball 14, shroud lower edge is arranged on ball lower section.Shroud takes the shape of a bag structure near centre position,
Motor, blade motor, rust cleaning motor electrically connect controller.Rust cleaning bar is provided with two, and eliminate rust the S-shaped structure of bar, and two remove
Linked together in the middle of rust bar, two rust cleaning bar Central Symmetries are set, rust cleaning bar centre position connection rotating shaft 12, rotating shaft is defeated with motor
Shaft is connected, and rotating shaft may be rotatably mounted on base.Pole lockable mechanism includes lock sleeve 22, retaining spring 23, base
Upper and pole link position is provided with hinged seat 24, and hinged seat is provided with connecting shaft 25, and strut ends are provided with hinge eyes 26, hinge eyes
Rotatably it is socketed in connecting shaft, lock sleeve can slide laterally and be socketed in connecting shaft, retaining spring is arranged on hinged seat and lock
Between only covering, hinge eyes outer wall is provided with a circle external toothing 27, and lock sleeve inwall is provided with the internal tooth of a circle and external toothing adaptation
Circle 28, the ring gear of lock sleeve is socketed on the external toothing of hinge eyes realizes anti-rotation locking.Connecting shaft is provided with spacing ring 29, lock
Spacing ring left side is only set on, hinge eyes are arranged on spacing ring right side, and connection shaft end is connected with for spacing hinge eyes
Spacing swivel nut 30, is laid with some positive stop strips 31 on the connecting shaft outer wall on the left of spacing ring, on lock sleeve inwall and spacing
Bar one-to-one corresponding is provided with some stopper slots 32, stopper slot and positive stop strip slidable connection.It is laid with lock sleeve outer wall some
It is individual to stir handle 12.Pole includes connecting rod 15 and expansion link 16, and connecting rod is fastenedly connected on base, and expansion link one end can stretch
In connecting rod, expansion link other end connects bearing connects lock-screw 17 to Irish splice between connecting rod and expansion link.Rust cleaning steel
Pompon is connected to the lower end of pin rod 22, corresponds and is provided with some jacks 18 with pin rod on rust cleaning bar, and pin rod activity is plugged on jack
Interior, connection position-limitting pin 19 in pin rod upper end to eliminate rust on pin rod and be socketed with buffer spring 20 between steel wire lump and rust cleaning bar.
During tank surface rust cleaning operation, the angle of inclination of pole is first adjusted according to the radian of oil tank outer wall, by branch lever lock
Locking mechanism carries out locking to pole, then base is erect into placement, and roller is fitted on oil tank outer wall, then starts blade electricity
Machine, blade motor belt motor dynamicthrust blade is rotated, so that air-flow reaction is on base, whole derusting mechanism can be fitted in oil
Without falling down on tank wall.Rust cleaning motor can just be started afterwards, rust cleaning motor drives rust cleaning bar to rotate, so that even
The rust cleaning steel wire lump being connected on rust cleaning bar carries out scraping rust cleaning to oil tank outer surface, and the iron rust and other impurities being scraped are by inhaling
Dirt mouthful is absorbed by dust catcher, prevents from producing larger dust and polluting environment in operating process.And what some were not siphoned away by dust catcher
Iron filings and impurity are fallen under gravity into shroud, prevent from directly falling and injuring operating personnel by a crashing object.The abutting connected on shroud
Spring, it is ensured that shroud can be in close contact with oil tank outer wall.Motor control roller is rotated, so as to drive base up and down
It is mobile, realize the rust cleaning operation to each position.This oil tank automatic cleaning machine people carries out automatic rust-removing behaviour to tank surface
Make, greatly reduce labour intensity, improve operating efficiency, reduce high cost, it is to avoid potential safety hazard, and suitable for not
Eliminated rust with the outer wall of radian oil tank and cleaned.
Embodiment described above is a kind of preferably scheme of the invention, not makees any formal to the present invention
Limitation, also has other variants and remodeling on the premise of without departing from the technical scheme described in claim.
Claims (8)
1. a kind of oil tank automatic cleaning machine people, it is characterized in that, including base, pole, controller, pole one end is hinged on base
On, pole lockable mechanism is installed on base with pole link position, the pole other end is provided with bearing, is provided with by driving on bearing
The roller that dynamic motor drives, is provided with the thrust blade driven by blade motor on the outside of base, base inner side is provided with by removing
Rust motor drives the rust cleaning bar for rotating, and several rust cleaning steel wire lumps that can be buffered are provided with rust cleaning bar, is provided with base
Dust catcher, base medial surface is provided with the suction port that several are connected with dust catcher, and the connection of base inside lower end edge is flexible
Shroud, be provided with shroud several abut spring, motor, blade motor, rust cleaning motor electrically connect controller.
2. a kind of oil tank automatic cleaning machine people according to claim 1, it is characterized in that, eliminate rust the S-shaped structure of bar, rust cleaning
Bar centre position connection rotating shaft, rotating shaft is connected with motor output shaft, and rotating shaft may be rotatably mounted on base.
3. a kind of oil tank automatic cleaning machine people according to claim 1, it is characterized in that, pole lockable mechanism includes locking
Set, retaining spring, hinged seat is provided with base with pole link position, and hinged seat is provided with connecting shaft, and strut ends are provided with hinge
Ring is connect, hinge eyes are rotatably socketed in connecting shaft, lock sleeve can slide laterally and be socketed in connecting shaft, and retaining spring is arranged on
Between hinged seat and lock sleeve, hinge eyes outer wall is provided with a circle external toothing, and lock sleeve inwall is provided with a circle and external toothing is suitable
The ring gear matched somebody with somebody, the ring gear of lock sleeve is socketed on the external toothing of hinge eyes realizes anti-rotation locking.
4. a kind of oil tank automatic cleaning machine people according to claim 3, it is characterized in that, connecting shaft is provided with spacing ring,
Locking is set on spacing ring left side, and hinge eyes are arranged on spacing ring right side, and connection shaft end is connected with for spacing hinge eyes
Spacing swivel nut, some positive stop strips are laid with the connecting shaft outer wall on the left of spacing ring, on lock sleeve inwall and positive stop strip
One-to-one corresponding is provided with some stopper slots, stopper slot and positive stop strip slidable connection.
5. a kind of oil tank automatic cleaning machine people according to claim 3, it is characterized in that, it is laid with lock sleeve outer wall
Several stir handle.
6. a kind of oil tank automatic cleaning machine people according to claim 1 to 5 any one, it is characterized in that, pole includes
Connecting rod and expansion link, connecting rod are fastenedly connected on base, and expansion link one end is scalable to be plugged in connecting rod, and expansion link is another
One end connects bearing, connects lock-screw between connecting rod and expansion link.
7. a kind of oil tank automatic cleaning machine people according to claim 1 to 5 any one, it is characterized in that, eliminate rust steel wire
Ball is connected to pin rod lower end, corresponds and is provided with some jacks with pin rod on rust cleaning bar, and pin rod activity is plugged in jack, pin rod
Upper end connects position-limitting pin, to be eliminated rust on pin rod and be socketed with buffer spring between steel wire lump and rust cleaning bar.
8. a kind of oil tank automatic cleaning machine people according to claim 1 to 5 any one, it is characterized in that, abut spring
Lower end is connected with spring base, and rotatably mounted on spring base to have ball, shroud lower edge is arranged on ball lower section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710027058.9A CN106808353B (en) | 2017-01-15 | 2017-01-15 | A kind of oil tank automatic cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710027058.9A CN106808353B (en) | 2017-01-15 | 2017-01-15 | A kind of oil tank automatic cleaning machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106808353A true CN106808353A (en) | 2017-06-09 |
| CN106808353B CN106808353B (en) | 2019-01-22 |
Family
ID=59110857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710027058.9A Expired - Fee Related CN106808353B (en) | 2017-01-15 | 2017-01-15 | A kind of oil tank automatic cleaning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106808353B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975485A (en) * | 2020-08-27 | 2020-11-24 | 陈菲儿 | Steel pipe inner wall rust cleaning device |
| CN113580158A (en) * | 2021-08-01 | 2021-11-02 | 雷博智能机器人(浙江绍兴)有限责任公司 | Oil tank robot with rust cleaning, dust absorption and obstacle avoidance functions |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0382085A1 (en) * | 1989-02-10 | 1990-08-16 | Technolizenz Establishment | Device comprising an exhaust for spraying surfaces |
| JP2000302071A (en) * | 1999-04-19 | 2000-10-31 | Jiyakusutoron Kk | Self-propelled working vehicle |
| CN101317744A (en) * | 2008-07-18 | 2008-12-10 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
| EP2046180A1 (en) * | 2006-07-20 | 2009-04-15 | BSH Bosch und Siemens Hausgeräte GmbH | Cleaning apparatus for a preferably planar surface |
| CN104414595A (en) * | 2013-09-04 | 2015-03-18 | 黄力华 | Novel automatic external wall cleaner |
| CN105035283A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Water jetting washing device and ship wall rust removing wall-climbing robot |
| CN105216889A (en) * | 2015-10-16 | 2016-01-06 | 新疆新能钢结构有限责任公司 | Climbing robot |
| CN105433881A (en) * | 2015-12-31 | 2016-03-30 | 慕国良 | Multifunctional robot for high-altitude outer wall |
| JP2016101887A (en) * | 2014-11-28 | 2016-06-02 | シャープ株式会社 | Travel device |
| CN105816108A (en) * | 2016-05-25 | 2016-08-03 | 江苏工程职业技术学院 | Wall climbing and cleaning robot |
-
2017
- 2017-01-15 CN CN201710027058.9A patent/CN106808353B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0382085A1 (en) * | 1989-02-10 | 1990-08-16 | Technolizenz Establishment | Device comprising an exhaust for spraying surfaces |
| JP2000302071A (en) * | 1999-04-19 | 2000-10-31 | Jiyakusutoron Kk | Self-propelled working vehicle |
| EP2046180A1 (en) * | 2006-07-20 | 2009-04-15 | BSH Bosch und Siemens Hausgeräte GmbH | Cleaning apparatus for a preferably planar surface |
| CN101317744A (en) * | 2008-07-18 | 2008-12-10 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
| CN104414595A (en) * | 2013-09-04 | 2015-03-18 | 黄力华 | Novel automatic external wall cleaner |
| JP2016101887A (en) * | 2014-11-28 | 2016-06-02 | シャープ株式会社 | Travel device |
| CN105035283A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Water jetting washing device and ship wall rust removing wall-climbing robot |
| CN105216889A (en) * | 2015-10-16 | 2016-01-06 | 新疆新能钢结构有限责任公司 | Climbing robot |
| CN105433881A (en) * | 2015-12-31 | 2016-03-30 | 慕国良 | Multifunctional robot for high-altitude outer wall |
| CN105816108A (en) * | 2016-05-25 | 2016-08-03 | 江苏工程职业技术学院 | Wall climbing and cleaning robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975485A (en) * | 2020-08-27 | 2020-11-24 | 陈菲儿 | Steel pipe inner wall rust cleaning device |
| CN113580158A (en) * | 2021-08-01 | 2021-11-02 | 雷博智能机器人(浙江绍兴)有限责任公司 | Oil tank robot with rust cleaning, dust absorption and obstacle avoidance functions |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106808353B (en) | 2019-01-22 |
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