CN106828655A - With multivariant climbing robot - Google Patents
With multivariant climbing robot Download PDFInfo
- Publication number
- CN106828655A CN106828655A CN201710096763.4A CN201710096763A CN106828655A CN 106828655 A CN106828655 A CN 106828655A CN 201710096763 A CN201710096763 A CN 201710096763A CN 106828655 A CN106828655 A CN 106828655A
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- cradle head
- pivot link
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- component
- steering wheel
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- 230000009194 climbing Effects 0.000 title claims abstract description 26
- 238000010521 absorption reaction Methods 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims description 40
- 239000002184 metal Substances 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 abstract description 21
- 241000256247 Spodoptera exigua Species 0.000 abstract description 10
- 230000007704 transition Effects 0.000 abstract description 7
- 230000007659 motor function Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
There is multivariant climbing robot the invention discloses one kind, second horizontally rotate joint assembly by the first level cradle head component that connects the second pivot link that cradle head component and first pivot link one end are hinged, be hinged by the first vertical cradle head component and the first pivot link other end and by what the second vertical cradle head component and the second pivot link other end were hinged including the first pivot link, one end, and be respectively and fixedly installed to first level cradle head component bottom and second and horizontally rotate the absorption foot component of joint assembly bottom；The motor function with multivariant climbing robot with inchworm motion, flip-flop movement and rotary motion of the invention, can not only realize recessed transition, can also realize convex transition, and movement velocity is fast, control is simple, obstacle climbing ability is strong；And symmetrical structure is used, equal energy normal work, is capable of achieving creeping for complex road condition under free position.
Description
Technical field
The invention belongs to robotics, and in particular to one kind has multivariant climbing robot.
Background technology
The detection of the metal structures such as crane, large-sized boiler is directed to, some places directly go detection less square by the mankind
Just, therefore, it can a kind of robot creeped for metal structure surface of design to replace mankind's completion coherent detection.At present,
There are many researchs on robot both at home and abroad, the research of traditional heavy-duty machines people is more ripe, and miniaturization is machine
One main trend of people's research, and how to keep the flexibility of robot and mobility while miniaturization is a great problem.
For climbing robot, creeping for level ground is basic without too big difficulty, Major Difficulties be wall creep and
Transition between different angle levels.Have in some current climbing robots is greatly to utilize some spies for climbing thing
Different structure is crawled, such as climbing level robot, pipeline climbing robot.At present, it is adaptable to which common metal surface creep is climbed
The walking manner of row robot mainly has wheel type, crawler type.Wheel type is most significant advantage is that translational speed is fast, steering side
Just, but be not particularly suited for wall out-of-flatness, have more snagged surface；Crawler type generally has load capacity big, suitable to wall
The advantage of Ying Xingqiang, but steering capability is poor, structure is relative complex.
The content of the invention
The invention aims to overcome the shortcomings of above-mentioned technology, there is provided a kind of translational speed is fast, motion flexibly and can
For metal surface creep with multivariant climbing robot.
To achieve the above object, connecting with multivariant climbing robot, including the first rotation designed by the present invention
Bar, one end are by connecting cradle head component and the second pivot link that first pivot link one end is hinged, vertical by first
First level cradle head component and rotated vertically by second that cradle head component and the first pivot link other end are hinged
What joint assembly and the second pivot link other end were hinged second horizontally rotates joint assembly, and is respectively and fixedly installed to first
Horizontally rotate joint assembly bottom and second and horizontally rotate the absorption foot component of joint assembly bottom, wherein, described first is vertical
Cradle head component is identical with the described second vertical cradle head modular construction and is arranged symmetrically, the first level cradle head
It is identical and be arranged symmetrically that component horizontally rotates joint assembly structure with described second；
The first level cradle head component is including casing, the first steering wheel being fixedly mounted on casing, by first
Driven pulley that the driving wheel that connection rotating shaft and the first steering wheel are connected is engaged with driving wheel and longitudinally through driven pulley and and driven pulley
The power transmission shaft of interference fit, one end of the power transmission shaft be arranged on the upper end cover of casing by upper bearing (metal) and power transmission shaft one end
End and the first vertical cradle head member hinges, the other end of the power transmission shaft are fixed on the bottom end cover of casing by lower bearing
The other end end of upper and power transmission shaft is connected with the sufficient component of absorption.
Further, the connection cradle head component includes being fixedly mounted on the second of described second pivot link one end
Steering wheel and the second connection rotating shaft, described second connection rotating shaft one end are fixed on the second steering wheel bottom, second connection
The rotating shaft other end is fixed by screws in described first pivot link one end.
Further, the described first vertical cradle head component includes the 3rd steering wheel and the 3rd connection rotating shaft, the described 3rd
Steering wheel is fixedly mounted on the other end of first pivot link, and described 3rd connection rotating shaft one end is fixed on the 3rd steering wheel bottom
, the 3rd connection rotating shaft other end is fixed by screws in power transmission shaft one end of the first level cradle head component.
Further, the sufficient component of the absorption includes magnechuck and bolt, and the magnechuck is bolted on
On the bottom end cover of the casing.
Compared with prior art, the present invention has advantages below：It is of the invention to have with multivariant climbing robot
There is the motor function of inchworm motion, flip-flop movement and rotary motion, can not only realize recessed transition, convex transition can also be realized,
And movement velocity is fast, control is simple, obstacle climbing ability is strong；And symmetrical structure is used, the equal energy normal work under free position can
Realize creeping for complex road condition.
Brief description of the drawings
Fig. 1 is the structure schematic diagram with multivariant climbing robot of the invention；
Fig. 2 is connection cradle head component installation structure schematic diagram in Fig. 1；
Fig. 3 is first level cradle head component installation structure schematic diagram in Fig. 1；
Fig. 4 is the first vertical cradle head component installation structure schematic diagram in Fig. 1；
Fig. 5 is the sufficient component installation structure schematic diagram of absorption in Fig. 1；
Fig. 6 is the inchworm motion schematic diagram of Fig. 1；
Fig. 7 is the flip-flop movement schematic diagram of Fig. 1；
Fig. 8 is the rotary motion schematic diagram of Fig. 1.
In figure：The sufficient component 1 of absorption is (wherein：Magnechuck 11, bolt 12), first level cradle head component 2 (wherein：
First steering wheel 21, the first connection rotating shaft 22, driving wheel 23a, driven pulley 23b, upper end cover 24, upper bearing (metal) 25, power transmission shaft 26, casing
27th, lower bearing 28, bottom end cover 29), the first vertical cradle head component 3 (wherein：3rd steering wheel 31, the 3rd connection rotating shaft 32, spiral shell
Nail 33), the first pivot link 4, connection cradle head component 5 (wherein：Second steering wheel 51, the second connection rotating shaft 52, screw 53),
Second pivot link 6, the second vertical cradle head component 7, second horizontally rotate joint assembly 8.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
It is as shown in Figure 1 of the invention with multivariant climbing robot, including 4, second turn of the first pivot link
Dynamic connecting rod 6, connection cradle head component 5, the first vertical cradle head component 3, the second vertical cradle head component 7, the first water
Flat turn movable joint component 2, second horizontally rotates joint assembly 8 and two sets of sufficient components 1 of absorption, therefore, it is of the invention with more certainly
There are five frees degree by the climbing robot spent；Wherein, the vertical cradle head group of the first vertical cradle head component 3 and second
The structure of part 7 is identical and is arranged symmetrically, first level cradle head component 2 with second horizontally rotate the structure of joint assembly 8 it is identical and
It is arranged symmetrically, i.e., joint freedom degrees are symmetrical using " 2-1-2 " formula, i.e. two orthogonal frees degree of ankle design, and knee
Joint then designs one degree of freedom, with more preferable stability of equilibrium and aesthetic property.In order to meet complicated metal surface
Flexibly creep and possess good obstacle climbing ability, the robot ambulation mode that the present invention is creeped using biped, i.e., two sets are inhaled
Attached sufficient component 1.Biped climbing robot has apery formula to creep and two kinds of Inchworm type creeping, and wherein Inchworm type creeping motion is more flat
Surely.The climbing mechanism of Inchworm type creeping robot mainly has cradle head peace movable joint two types, compared to translation joint,
Cradle head structure except with recessed transition type obstacle can be passed through, also can by convex transition type obstacle, therefore, the present invention is used
Cradle head structure.
With reference to shown in Fig. 2, connection cradle head component 5 includes the second steering wheel 51 and the second connection rotating shaft 52, the second steering wheel
51 one end for being fixedly mounted on the second pivot link 6, the one end of the second connection rotating shaft 52 is fixed on the bottom of the second steering wheel 51, second
The other end of connection rotating shaft 52 is fixed on the one end of the first pivot link 4 by screw 53 so that the first pivot link 4 is turned by connection
Movable joint component 5 is hinged with the second pivot link 6, and the first pivot link 4 and second turn are adjusted by connecting cradle head component 5
Angle between dynamic connecting rod 6, so as to control the distance between two sets of sufficient components 1 of absorption to complete " the flexible waist " of Inchworm type creeping
Function.
With reference to shown in Fig. 3, first level cradle head component 2 includes casing 27, first be fixedly mounted on casing 27
Steering wheel 21, the driven pulley engaged with driving wheel 23a with the connected driving wheel 23a of the first steering wheel 21 by the first connection rotating shaft 22
23b and longitudinally through driven pulley 23b and with the power transmission shaft 26 of driven pulley 23b interference fits, one end of power transmission shaft 26 is by upper axle
25 are held on the upper end cover 24 of casing 27 and one end end of power transmission shaft 26 are hinged with the first vertical cradle head component 3,
The other end of power transmission shaft 26 be fixed on the bottom end cover 29 of casing 27 by lower bearing 28 and the other end end of power transmission shaft 26 with
A set of sufficient component 1 of absorption is connected；First steering wheel 21 provides power, and gear train assembly had both had the function of speed governing, and can make again
Power transmission shaft when the sufficient component of absorption is rotated relative to agent structure is coaxial with magnechuck, and this design can reduce amount of calculation,
Reduce complexity during control.In addition, in the present embodiment, two parts are involuted before and after casing 27 is, the first steering wheel 21
Upper end is inserted into casing 27, and driving wheel 23a, driven pulley 26b are respectively positioned in casing 27, and upper end cover 24 and bottom end cover 29 are respectively positioned on
The outside of casing 27.Similarly, second horizontally rotate joint assembly 8 also include casing, be fixedly mounted on casing the first steering wheel,
Driven pulley that the driving wheel being connected by the first connection rotating shaft and the first steering wheel is engaged with driving wheel and longitudinally through driving wheel
Power transmission shaft, one end of power transmission shaft is arranged on the upper end cover of casing by upper bearing (metal) and one end end of power transmission shaft is vertical with second
Cradle head member hinges, the other end of power transmission shaft be fixed on the bottom end cover of casing by lower bearing and power transmission shaft the other end
End is connected with the sufficient component of another set of absorption；I.e. two horizontally rotate joint assembly and are separately positioned on two sufficient components of absorption,
To control to adsorb the relative rotation between sufficient component and robot body's structure.
With reference to shown in Fig. 4, the first vertical cradle head component 3 includes the 3rd steering wheel 31 and the 3rd connection rotating shaft 32, the 3rd
Steering wheel 31 is fixedly mounted on the other end of the first pivot link 4, and the one end of the 3rd connection rotating shaft 32 is fixed on the bottom of the 3rd steering wheel 31
, the other end of the 3rd connection rotating shaft 32 is fixed on one end of power transmission shaft 26 of first level cradle head component 2 by screw 33；Together
Reason, the second vertical cradle head component 7 also includes the 3rd steering wheel and the 3rd connection rotating shaft, and the 3rd steering wheel is fixedly mounted on second turn
The other end of dynamic connecting rod, the 3rd connection rotating shaft one end is fixed on the 3rd steering wheel bottom, and the 3rd connection rotating shaft other end passes through spiral shell
Nail is fixed on second power transmission shaft one end for horizontally rotating joint assembly；I.e. two vertical cradle head components are arranged on pivot link
Between the power transmission shaft 26 for horizontally rotating joint assembly, the sufficient component 1 of major control absorption is relative to agent structure in perpendicular
Interior relative position and attitude.
In addition, including magnechuck 11 and bolt 12 as shown in figure 5, often covering and adsorbing sufficient component 1, magnechuck 11 passes through spiral shell
Bolt 12 is fixed on the bottom end cover 29 of casing 27, and alternating of the biped in metal surface is completed by the power on/off of magnechuck 11
Absorption and release.Creeped for metal surface, magnetic suck has greater advantage relative to suction types such as vacuum suctions, magnetic suck
Relatively simple for structure, adsorption capacity is also more many by force than vacuum suction mode, and not high to the flatness requirement of wall；In addition, magnetic
Absorption includes that permanent magnet absorption and electromagnet adsorb two kinds, and the absorption affinity that the absorption affinity that permanent magnet is adsorbed is adsorbed than electromagnet is more
By force, but desorption is difficult, comparatively speaking, electromagnetic adsorption control flexibly, it is simple, therefore the present invention is using magnechuck absorption.
This has the motion process of multivariant climbing robot main by inchworm motion, flip-flop movement, rotary motion
These three basic exercises synthesize.Original state is that two sets of sufficient components of absorption are all adsorbed in metal surface, if first company of rotation
The angle of the power transmission shaft 26 of bar 4 and first level cradle head component 2 is 150 °, the first pivot link 4 and the second pivot link 6
Between angle be 60 °, the angle of the second pivot link 6 and the second power transmission shaft for horizontally rotating joint assembly 8 is 150 °.
A, inchworm motion it is (as shown in Figure 6) realize comprise the following steps that：
(1) powered off by right side magnechuck 11, discharge the sufficient component of right side absorption；
3rd steering wheel 31 of (2) first vertical cradle head components 3 is rotated, and drives the first pivot link 4 vertical around first
3rd connection rotating shaft 32 of cradle head component 3 is rotated, the transmission of the first pivot link 4 and first level cradle head component 2
Angle between axle 26 increases to 160 °, and absorption sufficient component in right side is lifted；
(3) the second steering wheel 51 of connection cradle head component 5 is rotated, and drives the second pivot link 6 around connection cradle head
Second connection rotating shaft 52 of component 5 is rotated, and the angle between the first pivot link 4 and even the second pivot link 6 increases to 120 °；
3rd steering wheel of (4) second vertical cradle head components 7 is rotated, and drives second to horizontally rotate joint assembly 8 and the right side
Absorption sufficient component in side is rotated, and the angle for making the second power transmission shaft for horizontally rotating joint assembly 8 and the second pivot link 6 is 130 °；
3rd steering wheel 31 of (5) first vertical cradle head components 3 is rotated backward, and drives the first pivot link 4 around first
The backwards rotation of 3rd connection rotating shaft 32 of vertical cradle head component 3, the first pivot link 4 and first level cradle head component
Angle between 2 power transmission shaft 26 is reduced to 120 °, and absorption sufficient component in right side is laid down and fits；
(6) it is powered by adsorbing the magnechuck 11 of sufficient component to right side, adsorbs the sufficient component of right side absorption；
(7) powered off by adsorbing the magnechuck 11 of sufficient component to left side, discharge the sufficient component of left side absorption；
3rd steering wheel of (8) second vertical cradle head components 7 is rotated, and drives the second pivot link 6 to turn vertically around second
3rd connection rotating shaft of movable joint component 7 is rotated, the second pivot link 6 and the second transmission between centers for horizontally rotating joint assembly 7
Angle increase to 160 °, absorption sufficient component in left side is lifted；
3rd steering wheel 31 of (9) first vertical cradle head components 3 is rotated, and drives the sufficient component of left side absorption and first level
Cradle head component 2 is rotated, and makes the angle between the power transmission shaft 26 of the first pivot link 4 and first level cradle head component 2
Increase to 150 °；
(10) the second steering wheel 51 of connection cradle head component 5 is rotated, and drives the first pivot link 4 around connection cradle head
Second connection rotating shaft 52 of component 5 is rotated, and the angle between the first pivot link 4 and the second pivot link 6 is reduced to 60 °；
3rd steering wheel of (11) second vertical cradle head components 7 is rotated backward, and drives the second pivot link 6 perpendicular around second
3rd connection rotating shaft backwards rotation of straight cradle head component 7, the second pivot link 6 and second horizontally rotates joint assembly 8
The angle for being driven between centers reduces 150 °, and absorption sufficient component in left side is laid down and fits；
(12) it is powered by adsorbing the magnechuck 11 of sufficient component to left side, adsorbs the sufficient component of left side absorption.
Above is action process of the inchworm motion inside a cycle.
B, flip-flop movement it is (as shown in Figure 7) realize comprise the following steps that：
(1) powered off by adsorbing the magnechuck 11 of sufficient component to right side, discharge the sufficient component of right side absorption；
3rd steering wheel 31 of (2) first vertical cradle head components 3 is rotated, and drives the first pivot link 4 vertical around first
3rd connection rotating shaft 32 of cradle head component 3 is rotated, the transmission of the first pivot link 4 and first level cradle head component 2
Angle between axle 26 increases to 210 °；
3rd steering wheel of (3) second vertical cradle head components 7 is rotated, and drives second to horizontally rotate joint assembly 8 and the right side
Absorption sufficient component 9 in side is rotated, and makes second to horizontally rotate the power transmission shaft of joint assembly 8 and the angle of the second pivot link 6 is increased to
210°；
(4) the second steering wheel 51 of connection cradle head component 5 is rotated, and drives the second pivot link 6 around connection cradle head
Second connection rotating shaft 52 of component 5 is rotated, and the angle between the first pivot link 4 and the second pivot link 6 increases to 300 °；
(5) it is powered by adsorbing the magnechuck 11 of sufficient component to right side, adsorbs the sufficient component of right side absorption.
C, rotary motion be (as shown in Figure 8) comprising the following steps that of realizing：
(1) powered off by adsorbing the magnechuck 11 of sufficient component to right side, discharge the sufficient component of right side absorption；
3rd steering wheel 31 of (2) first vertical cradle head components 3 is rotated, and drives the first pivot link 4 vertical around first
3rd connection rotating shaft 32 of cradle head component 3 is rotated, the transmission of the first pivot link 4 and first level cradle head component 2
Angle between axle 26 increases to 160 °, and absorption sufficient component in right side is lifted；
(3) the first steering wheel 21 of first level cradle head component 2 is rotated, drive successively driving wheel 23a, driven pulley 23b,
Power transmission shaft 26 is rotated, and robot is rotated 180 ° around power transmission shaft 26；
3rd steering wheel 31 of (5) first vertical cradle head components 3 is rotated, and drives the first pivot link 4 vertical around first
The backwards rotation of 3rd connection rotating shaft 32 of cradle head component 3, the first pivot link 4 and first level cradle head component 2
Angle between power transmission shaft 26 is reduced to 150 °, and absorption sufficient component in right side is laid down and fits；
(6) it is powered by adsorbing the magnechuck 11 of sufficient component to right side, adsorbs the sufficient component of right side absorption.
Claims (4)
- It is 1. a kind of that there is multivariant climbing robot, it is characterised in that：Including the first pivot link (4), one end by connecting Switch through the second pivot link (6) that movable joint component (5) and the first pivot link (4) one end be hinged, rotated vertically by first First level cradle head component (2) that joint assembly (3) is hinged with the first pivot link (4) other end and vertical by second Cradle head component (7) horizontally rotates joint assembly (8) with the second pivot link (7) other end is hinged second, and respectively It is fixedly mounted on first level cradle head component (2) bottom and second and horizontally rotates the absorption foot group of joint assembly (2) bottom Part (1), wherein, the first vertical cradle head component (3) it is identical with the described second vertical cradle head component (2) structure and It is arranged symmetrically, it is identical and right that the first level cradle head component (2) horizontally rotates joint assembly (8) structure with described second Claim arrangement；The first level cradle head component (2) includes casing (27), the first steering wheel being fixedly mounted on casing (27) (21), the driving wheel (23a) being connected with the first steering wheel (21) by the first connection rotating shaft (22) is engaged with driving wheel (23a) Driven pulley (23b) and longitudinally through driven pulley (23b) and with the power transmission shaft (26) of driven pulley (23b) interference fit, the transmission One end of axle (26) by upper bearing (metal) (25) on the upper end cover (24) of casing (27) and power transmission shaft (26) one end end It is hinged with the first vertical cradle head component (3), the other end of the power transmission shaft (26) is fixed on casing by lower bearing (28) (27) on bottom end cover (29) and the other end end of power transmission shaft (26) is connected with sufficient component (1) is adsorbed.
- 2. there is multivariant climbing robot according to claim 1, it is characterised in that：The connection cradle head group Part (5) is including being fixedly mounted on second steering wheel (51) and the second connection rotating shaft (52) of described second pivot link (6) one end, institute State the second connection rotating shaft (52) one end and be fixed on the second steering wheel (51) bottom, the second connection rotating shaft (52) other end Described first pivot link (4) one end is fixed on by screw (53).
- 3. according to claim 1 or claim 2 with multivariant climbing robot, it is characterised in that：Described first turns vertically Movable joint component (3) includes the 3rd steering wheel (31) and the 3rd connection rotating shaft (32), and the 3rd steering wheel (31) is fixedly mounted on institute The other end of the first pivot link (4) is stated, described 3rd connection rotating shaft (32) one end is fixed on the 3rd steering wheel (31) bottom, institute State the power transmission shaft that the 3rd connection rotating shaft (32) other end is fixed on the first level cradle head component (2) by screw (33) (26) one end.
- 4. according to claim 1 or claim 2 with multivariant climbing robot, it is characterised in that：The sufficient component of absorption (1) including magnechuck (11) and bolt (12), the magnechuck (11) is fixed on the casing (27) by bolt (12) Bottom end cover (29) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710096763.4A CN106828655A (en) | 2017-02-22 | 2017-02-22 | With multivariant climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710096763.4A CN106828655A (en) | 2017-02-22 | 2017-02-22 | With multivariant climbing robot |
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| Publication Number | Publication Date |
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| CN106828655A true CN106828655A (en) | 2017-06-13 |
Family
ID=59133773
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710096763.4A Pending CN106828655A (en) | 2017-02-22 | 2017-02-22 | With multivariant climbing robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344365A (en) * | 2017-07-03 | 2017-11-14 | 深圳市优必选科技有限公司 | Joint of robot driving structure and robot |
| CN108082316A (en) * | 2017-12-11 | 2018-05-29 | 唐山行者机器人有限公司 | One kind is used for upright walking auxiliary balance device |
| CN109131622A (en) * | 2018-09-28 | 2019-01-04 | 南京信息职业技术学院 | A kind of climbing robot |
| CN109649521A (en) * | 2019-01-29 | 2019-04-19 | 江苏大学 | A kind of unidirectional creeping motion type soft robot of magnetic control |
| CN109823429A (en) * | 2019-04-09 | 2019-05-31 | 济宁职业技术学院 | A kind of Bionic inchworm robot |
| CN111067404A (en) * | 2020-01-09 | 2020-04-28 | 天津大学 | Two-foot wall surface cleaning robot body |
| CN111700550A (en) * | 2020-06-30 | 2020-09-25 | 佛山科学技术学院 | Curtain wall cleaning robot |
| CN113771981A (en) * | 2021-10-08 | 2021-12-10 | 浙江友联修造船有限公司 | Crawler-type wall-climbing robot for ship and control method thereof |
| CN114426068A (en) * | 2021-11-29 | 2022-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Paper-based wall-climbing robot based on shape memory polymer drive and manufacturing method thereof |
| CN114750848A (en) * | 2022-03-31 | 2022-07-15 | 方远建设集团股份有限公司 | Crawling detection robot |
| CN115352546A (en) * | 2022-07-21 | 2022-11-18 | 湖南工程学院 | Cylinder wall crawling robot |
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| CN114426068A (en) * | 2021-11-29 | 2022-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Paper-based wall-climbing robot based on shape memory polymer drive and manufacturing method thereof |
| CN114750848B (en) * | 2022-03-31 | 2023-03-21 | 方远建设集团股份有限公司 | Crawling detection robot |
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