CN107127770A - A kind of ferromagnetism climbs wall working robot - Google Patents
A kind of ferromagnetism climbs wall working robot Download PDFInfo
- Publication number
- CN107127770A CN107127770A CN201710460803.9A CN201710460803A CN107127770A CN 107127770 A CN107127770 A CN 107127770A CN 201710460803 A CN201710460803 A CN 201710460803A CN 107127770 A CN107127770 A CN 107127770A
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- universal wheel
- wheel
- driving
- driving wheel
- vehicle body
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Classifications
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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
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- 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
Abstract
Wall working robot is climbed the invention provides a kind of ferromagnetism, is made up of walking unit, swing unit, protective unit and control unit；Walking unit includes left driving wheel component, right driving wheel component, universal wheel component and chassis assembly, two drive wheel assemblies coaxial-symmetricals are installed on the preceding bottom of chassis assembly, universal wheel component is installed on inside the rear bottom of chassis assembly, drive wheel assemblies and universal wheel component and is installed with strength arc-shaped permanent magnet；Swing unit includes wobble drive component, oscillating bar assembly, angular adjustment sensor cluster；Control unit includes control box, switch board and wireless remote control terminal.
Description
Technical field
The present invention relates to a kind of robot technology, particularly a kind of ferromagnetism climbs wall working robot.
Background technology
Ferromagnetism climbs the important branch that wall working robot is mobile robot field, and it is ground mobile robot
Technology combines with adsorption technology, and carries associated process equipment or the certain job task of instrument completion, approximate
Adhere on vertical ferromagnetism wall and creep, carry out such as derusting, cleaning, spray painting, welding, detection, maintenance engineer operation.At present
Climbing robot has bionical absorption, negative-pressure adsorption and magnetic suck by suction type point, and they have respective application and excellent
Shortcoming.Wherein magnetic adsorption wall climbing robot is divided into two kinds：One kind is permanent magnetic suck, and one kind is electromagnetic adsorption.Electromagnetic adsorption climbs wall
Robot architecture is complicated, and security is poor, and practical application in industry is less；And permanent magnetic suck climbing robot is mainly used in oil
In the operations of adverse circumstances such as the detection of tank skin face, hull spray painting.
Ferromagnetism, which climbs wall working robot, to be needed to solve adsorb, drive, turning in engineer applied, adapts to small curvature work
A series of problems, such as face, operating efficiency, robot deadweight and workload, a kind of adaptability is lacked at this stage and practicality is high
Ferromagnetism climbs wall working robot.
Current permanent magnetic suck climbing robot is generally divided into three kinds by motion mode：One kind is polypody, and one kind is crawler belt
Formula, one kind is wheeled.The control of polypody climbing robot footwork is more complicated, and kinematic dexterity is poor, and operating efficiency is not high.
Patent No. ZL201310198901.1 Chinese invention patent discloses a kind of curved surface adaptive magnetic adsorption wall climbing robot, should
Climbing robot uses crawler type motion mode, and permanent magnet is placed on chain, with certain curved surface adaptive ability, still
The adsorption efficiency of permanent magnetic adhesion device is low, permanent magnet quantity it is more and cause deadweight it is larger, robot carrying load ability is poor, and
Crawler belt can cause obvious scuffing to working surface when robot turns, and influence the surface quality of working face, kinematic dexterity is not
It is high.The Chinese invention patent of Application No. 201610364096.9 relate to a kind of wheeled magnetic adsorption wall climbing robot, and this climbs wall
Robot includes four driving wheels, and magnetic patch is installed on inside aluminium alloy closed cavity, the chassis distance Iron magnetic wall of robot
It is relatively near, the ferromagnetism wall operation of smaller curvature is difficult to realize, and chassis easily accumulates ferromagnetic debris, causes robot ambulation
Inconvenience, while injuring the surface quality of working face.
The content of the invention
It is an object of the invention to provide a kind of high adsorption capacity, that kinematic dexterity is high, to cross curvature adaptability good is ferromagnetic
Property climbs wall working robot.
The technical scheme for realizing the object of the invention is：A kind of ferromagnetism climbs wall working robot, including vehicle body, walking list
Member, swing unit, control unit；Wherein walking unit is arranged on vehicle body and including driving wheel, universal wheel and permanent magnet, driving
Wheel is connected with motor and is connected by driving wheel frame board with vehicle body bottom surface, and universal wheel fixing axle is set in universal wheel,
The fixing axle is connected by caster bracket and the universal joint being arranged on caster bracket with vehicle body bottom surface, and permanent magnet is set
Driving wheel permanent magnet and universal wheel permanent magnet, driving wheel permanent magnet are arranged on driving wheel frame board, and universal wheel permanent magnet passes through
Universal wheel magnetic patch mounting bracket is arranged in the universal wheel fixing axle in universal wheel；Swing unit includes oscillating rod, elevating lever and two
Root is vertically arranged, and oscillating rod one end is arranged on the wobble drive component of vehicle body upper bottom surface and in the driving of the wobble drive component
Bottom lever is along the plane rocking parallel to lower body face in the range of certain angle, and elevating lever is arranged at the oscillating rod other end
On lowering or hoisting gear and end sets process equipment；Control unit includes that the control box and terminal and control box of communication connection can be set up
It is arranged on vehicle body and is connected with motor, wobble drive component, lowering or hoisting gear.
Using above-mentioned robot, the robot sets left driving wheel component and right driving wheel component, each drive wheel assemblies
Including two driving wheels, driving wheel driving shaft, driving wheel driven shaft, motor, synchronous belt drive mechanism；The timing belt is passed
Motivation structure includes two big synchronous pulley, two small synchronous pulleys, timing belt, a synchronous belt tension devices；Frame board is set
Parallel two pieces and upper end are fixedly connected with vehicle body bottom surface, and driving wheel driving shaft is rotated through two pieces of frame boards and with frame board
Connection, driving wheel driving shaft is connected with driving motor output shaft, and two driving wheels are respectively arranged in driving wheel both ends of main drive shaft, drives
Driving wheel driven shaft is connected by synchronous belt tension device with frame board, and two big synchronous pulley is respectively arranged in two driving wheels
Inner side, two small synchronous pulleys are respectively arranged in driving wheel driven shaft two ends, timing belt and big synchronous pulley, small synchronous pulley
With connection, driving wheel permanent magnet is arranged at one end near outside ferromagnetism wall between two frame boards.
Using above-mentioned robot, the universal wheel includes the recessed circle of two universal wheel side plates, universal wheel, the outer glue of universal wheel
Set；Two of which universal wheel side plate is be arranged in parallel, and two universal wheel side plates are fixedly connected by the recessed circle of universal wheel, the outer gum cover of universal wheel
It is placed on the recessed circle of universal wheel；Universal wheel fixing axle is arranged between two universal wheel side plates and passes through axle with two universal wheel side plates
Connection is held, universal wheel fixing axle two ends are fixedly connected with caster bracket, and caster bracket passes through universal joint and vehicle body bottom surface
Connection；Universal wheel magnetic patch mounting bracket is located between two universal wheel side plates and is arranged in universal wheel fixing axle, universal wheel permanent magnetism
Body is arranged at universal wheel magnetic patch mounting bracket near one end of outside ferromagnetism wall.
Using above-mentioned robot, the robot also include protective unit, protective unit include arc bumper, protective cover and
Overturn-preventing sensor；Wherein arc bumper is circumferentially disposed and fixed along vehicle body, and protective cover is arranged above vehicle body and fixed, and prevents
The sensor that topples is arranged at vehicle body bottom surface.
The present invention compared with prior art, with advantages below：(1) three strength arcuate permanent magnetics are secured in walking unit
Body, absorption property is excellent, and load capacity is strong；(2) by increasing and decreasing gas flow in pneumatic tyre wheel, regulation driving wheel arc-shaped permanent magnet and iron
Gap between magnetic wall, it is easy to accomplish the adjustment of absorption affinity, reaches that optimal absorption is creeped effect；(3) driven by left and right
The speed difference of drive wheel assemblies realizes the steering of climbing robot, with reference to rearmounted universal wheel, makes the kinematic dexterity of robot excellent
It is different；(4) walking unit is using two drive wheel assemblies and the form of the composition of a universal wheel component, and compact conformation makes to climb wall machine
Contact range between the chassis of device people and ferromagnetism wall is smaller, and the full model of ferromagnetism wall of certain smaller curvature can be achieved
The work of creeping enclosed；(5) swing unit can realize reciprocally swinging of the swing rod in certain adjustable extent, be that robot is created more
Wide job area, operating efficiency is high, can meet the engineer applied demand such as derusting, cleaning, spray painting, welding, detection, maintenance；(6)
Protective unit is configured with, disposition and the monitoring of climbing robot is realized, security is good.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is Fig. 1 A-A schematic cross-sectional views.
Fig. 3 is the lateral view of drive wheel assemblies of the present invention.
Fig. 4 is Fig. 3 B-B schematic cross-sectional views.
Fig. 5 is Fig. 3 C-C schematic cross-sectional views.
Fig. 6 is the lateral view of universal wheel component of the present invention.
Fig. 7 is Fig. 6 D-D schematic cross-sectional views.
Fig. 8 is robot body axonometric schematic diagram of the present invention.
Embodiment
As depicted in figs. 1 and 2, a kind of ferromagnetism climbs wall working robot, including walking unit 1, swing unit 2, protection
Unit 3 and control unit 4.The walking unit 1 includes left driving wheel component 11L, right driving wheel component 11R, universal wheel component
12 and chassis assembly 13, two drive wheel assemblies 11L, 11R coaxial-symmetricals are installed on the preceding bottom of chassis assembly 13, universal wheel group
Part 12 is installed on the rear bottom of chassis assembly 13, forms the stable state of an isosceles triangle.The normal walking states of robot
For two drive wheel assemblies 11L, 11R in a preceding and universal wheel component 12 rear, it is possible to achieve climbing robot is in ferromagnetism
The functions such as absorption and front and rear walking and left and right turn on wall.
As shown in Fig. 3~Fig. 5, drive wheel assemblies 11L, 11R include two frame boards 111, a driving wheel electricity
Machine drive module 112, driving wheel driving shaft 113, driving wheel driven shaft 114, two pneumatic tyre wheels 115, an a set of synchronizations
Tape handler 116, a driving wheel permanent magnet 117, the outer protective plate 118 of two driving wheels.The synchronous belt drive mechanism 116
Including two big synchronous pulley 1161, two small synchronous pulleys 1162, timing belt 1163, two synchronous belt tension devices
1164.Frame board 111 sets parallel two pieces and upper end is fixedly connected with vehicle body bottom surface, and driving wheel driving shaft 113 passes through two
Block frame board 111 and with frame board 111 rotate be connected, driving wheel driving shaft 113 is connected with driving motor output shaft.The synchronization
One end with tensioning apparatus 1164 is installed on driving wheel driven shaft 114, and the other end is installed on frame board 111.The synchronization
Band tensioning apparatus 1164 is compressed spring type stretcher, the compression degree of stage clip is adjusted by screw on nut, so as to adjust timing belt
Tensioning degree.Driving wheel motor drive module 112 drives driving wheel driving shaft 113 to rotate, and two pneumatic tyre wheels 115 are separately mounted to
The two ends of driving wheel driving shaft 113, big synchronous pulley 1161 is fixedly installed in the inner side of pneumatic tyre wheel 115, small synchronous pulley 1162
It is installed on the two ends of driving wheel driven shaft 114, timing belt 1163 and big synchronous pulley 1161, the company of matching of small synchronous pulley 1162
Connect.Driving wheel permanent magnet 117 is installed on frame board 111, close to ferromagnetism wall inside drive wheel assemblies 11L, 11R
Bottommost.
As shown in figure 5, the pneumatic tyre wheel 115 in drive wheel assemblies 11L, 11R, can be by increasing and decreasing the gas in its inner tube of a tyre
The scale of construction, the gap between regulation driving wheel permanent magnet 117 and ferromagnetism wall is realized the absorption affinity adjustment of climbing robot, reached
Creeped effect to optimal adsorption.
Timing belt 1163 in drive wheel assemblies 11L, 11R is the special-shaped timing belt of wide type, and both sides are containing the normal of tooth
Timing belt, middle is relatively thin flat rubber belting, reduces the distance between driving wheel permanent magnet 117 and ferromagnetism wall, keeps enough
Absorption affinity.
The driving wheel motor drive module 112 includes a servomotor 1121 with band-type brake and a right angle output subtracts
Fast machine 1122.The output shaft of angle output speed reducer 1122 is connected with driving wheel driving shaft 113
As shown in Fig. 6~Fig. 7, the universal wheel component 12 includes universal joint 121, a caster bracket 122, one
Individual universal wheel body assembly 123, universal wheel fixing axle 124, two caster bracket adapter flanges 125, two universal wheels
Magnetic patch mounting bracket 126, universal wheel permanent magnet 127, two universal wheel bearings 128.The universal wheel body assembly 123, bag
Include the recessed circle 1232 of two universal wheel side plates 1231, a universal wheel and the outer gum cover 1233 of a universal wheel.Two universal wheel side plates
1231 are be arranged in parallel, and two universal wheel side plates 1231 are fixedly connected by the recessed circle 1232 of universal wheel, and the outer gum cover 1233 of universal wheel is placed on
On the recessed circle 1232 of universal wheel；Universal wheel fixing axle 124 be arranged between two universal wheel side plates 1231 and with two universal wheel sides
Plate 1231 is connected by universal wheel bearing 128, and the two ends of universal wheel fixing axle 124 are fixedly connected with caster bracket 122, universal wheel
Support 122 is connected by universal joint 121 with vehicle body bottom surface.Universal wheel magnetic patch mounting bracket 126 is located at two universal wheel side plates
Between 1231 and it is arranged in universal wheel fixing axle 124, universal wheel permanent magnet 127 is arranged at universal wheel magnetic patch mounting bracket 126 most
Close to one end of outside ferromagnetism wall.
There is a less gap in the universal wheel permanent magnet 127, it is ensured that universal with universal wheel 1232 inner surfaces of recessed circle
Wheel assembly universal wheel permanent magnet 127 in rolling process does not produce interference friction with internal any part.The universal wheel component
12 can climb wall around the 360 ° of arbitrarily revolutions of universal joint rotary middle spindle around the 360 ° of arbitrarily rollings of universal wheel fixing axle, realization
Driven revolution, rolling, absorption and the support of robot.
The driving wheel permanent magnet 117 and universal wheel permanent magnet 127 are arc-shaped permanent magnet, using NdFeB rear-earth forever
Magnet, absorption affinity is powerful.
As shown in Fig. 2 the chassis assembly 13 including one cross fixed pipe 131, vehicle frame mainboard 132, two
Vehicle frame support frame 133, two drive wheel assemblies 11L, 11R and universal wheel component 12 are fitted together, and are other structures part
Mounting platform is provided.
As illustrated in figures 1 and 8, the swing unit 2 includes wobble drive component 21, oscillating bar assembly 22, angular adjustment biography
Sensor component 23.The wobble drive component 21 includes a servomotor and a harmonic wave speed reducing machine, is installed on vehicle frame mainboard
On 132.The oscillating bar assembly 22 includes oscillating rod 221, elevating lever 222 and swing rod end mounting flange 223, oscillating rod 221 1
End be arranged on the wobble drive component of vehicle body upper bottom surface and the wobble drive component driving bottom lever 221 at certain angle
Along the plane rocking parallel to lower body face in the range of degree, elevating lever 222 is arranged on the lowering or hoisting gear of the other end of oscillating rod 221
And end sets process equipment, swing rod end mounting flange 223 can the related operation of mounting process equipment progress.The angular adjustment
Sensor cluster 23 includes two swing inductive pick-ups 231 and a sensor adjustable mounting bracket 232, can be according to actually making
Adjust reciprocally swinging angle manually with effect, the hunting range of oscillating rod 221 is located between two swing inductive pick-ups 231 in fact
Existing reciprocally swinging of the climbing robot oscillating bar assembly 22 in adjustable extent.
As shown in figure 8, the protective unit 3 includes bumper 31, protective cover 32 and overturn-preventing sensor 33.The insurance
Thick stick 31 is the pipe of U-shaped structure, and two, which is respectively arranged in, crosses on the fixed two ends of pipe 131, and centre is installed on vehicle frame mainboard 132
On, protect climbing robot not hit in advancing by periphery barrier.The protective cover 32 is thin sheet metal structural, is installed on horizontal stroke
Fasten and determine on pipe 131 and vehicle frame mainboard 132, for protecting climbing robot structural member and control box 41 not to be made by working environment
Into adverse effect.The overturn-preventing sensor 33 is that metal senses distance measuring sensor, real-time monitoring robot and ferromagnetism wall
The distance between face, after distance increases above the numerical value of some setting, sensor, which sends a signal, makes system closing all
Operational outfit, prevents relevant device from jeopardizing surrounding people or other equipment.
As shown in figure 1, described control unit 4 includes control box 41, switch board 42 and wireless remote control terminal 43.The control
Box 41 realizes the driving of each motor in walking unit 1 and swing unit 2, and the switch board 42 realizes that the signal of robot is passed
Defeated, motion control and in real time aobvious control, the wireless remote control terminal 43 are used to set kinematic parameter and operational control climbing robot
Motion state, including straight trip, turn left, turn right, advance, retreat, accelerate, slow down, stop etc..
The present invention, which has in perfect combination property, walking unit, is fixed with three strength arc-shaped permanent magnets, absorption property
Excellent, load capacity is strong；By increasing and decreasing in drive wheel assemblies gas flow in pneumatic tyre wheel, regulation driving wheel arc-shaped permanent magnet with it is ferromagnetic
Property wall between gap, it is easy to accomplish the absorption affinity adjustment of climbing robot, reach that optimal absorption is creeped effect；Utilize a left side
The speed difference of right driving wheel component realizes the steering of climbing robot, with reference to rearmounted universal wheel, possesses robot excellent
Kinematic dexterity；Walking unit is using two drive wheel assemblies and the form of the composition of a universal wheel component, and compact conformation can be real
The work of creeping of the ferromagnetism wall gamut of now certain smaller curvature；Swing unit can realize swing rod in certain adjustable extent
Interior reciprocally swinging, is that robot creates wider array of job area, operating efficiency is high；Protective unit realizes climbing robot
Disposition and monitoring, it is safe；Control unit includes function of wireless remote control, workable.Each side of the present invention
Can be complete, with good adaptability and practicality, the engineer applieds such as derusting, cleaning, spray painting, welding, detection, maintenance can be met
Demand, it is easy to commercialization and popularization and application.
Claims (10)
1. a kind of ferromagnetism climbs wall working robot, it is characterised in that single including vehicle body, walking unit, swing unit, control
Member；Wherein
Walking unit is arranged on vehicle body and including driving wheel, universal wheel and permanent magnet,
Driving wheel is connected with motor and is connected by driving wheel frame board (111) with vehicle body bottom surface,
Universal wheel fixing axle (124) is set in universal wheel (123), and the fixing axle is by caster bracket (122) and is arranged at ten thousand
It is connected to the universal joint (121) on wheel support (122) with vehicle body bottom surface,
Permanent magnet sets driving wheel permanent magnet (117) and universal wheel permanent magnet (127),
Driving wheel permanent magnet (117) is arranged on driving wheel frame board (111),
The universal wheel that universal wheel permanent magnet (127) is arranged in universal wheel (123) by universal wheel magnetic patch mounting bracket (126) is fixed
On axle (124)；
Swing unit is vertically arranged including oscillating rod (221), elevating lever (222) and two,
Oscillating rod (221) one end is arranged on the wobble drive component of vehicle body upper bottom surface and under the driving of the wobble drive component
Oscillating rod (221) in the range of certain angle along parallel to lower body face plane rocking,
Elevating lever (222) is arranged on the lowering or hoisting gear of oscillating rod (221) other end and end sets process equipment；
Control unit include can set up communication connection control box (41) and terminal and control box (41) be arranged on vehicle body and with
Motor, wobble drive component, lowering or hoisting gear are connected.
2. robot according to claim 1, it is characterised in that the robot sets left driving wheel component and right driving wheel
Component, each drive wheel assemblies include two driving wheels (115), driving wheel driving shaft (113), driving wheel driven shaft (114), drive
Dynamic motor, synchronous belt drive mechanism (116)；The synchronous belt drive mechanism (116) includes two big synchronous pulley (1161), two
Individual small synchronous pulley (1162), timing belt (1163), a synchronous belt tension device (1164)；
Frame board (111) sets parallel two pieces and upper end is fixedly connected with vehicle body bottom surface,
Driving wheel driving shaft (113) is connected through two pieces of frame boards (111) and with frame board (111) rotation,
Driving wheel driving shaft (113) is connected with driving motor output shaft,
Two driving wheels are respectively arranged in driving wheel driving shaft (113) two ends,
Driving wheel driven shaft (114) is connected by synchronous belt tension device (1164) with frame board (111),
Two big synchronous pulley (1161) is respectively arranged in the inner side of two driving wheels,
Two small synchronous pulleys (1162) are respectively arranged in driving wheel driven shaft (114) two ends,
Timing belt (1163) is connected with big synchronous pulley (1161), small synchronous pulley (1162) matching,
Driving wheel permanent magnet (117) is arranged at one end near outside ferromagnetism wall between two frame boards (111).
3. robot according to claim 1, it is characterised in that the universal wheel (123) includes two universal wheel sides
The recessed circle (1232) of plate (1231), universal wheel, the outer gum cover (1233) of universal wheel；Wherein
Two universal wheel side plates (1231) be arranged in parallel,
Two universal wheel side plates (1231) are fixedly connected by the recessed circle (1232) of universal wheel,
The outer gum cover (1233) of universal wheel is placed on the recessed circle (1232) of universal wheel；
Universal wheel fixing axle (124) is arranged between two universal wheel side plates (1231) and logical with two universal wheel side plates (1231)
Bearing connection is crossed,
Universal wheel fixing axle (124) two ends are fixedly connected with caster bracket (122),
Caster bracket (122) is connected by universal joint (121) with vehicle body bottom surface；
Universal wheel magnetic patch mounting bracket (126) is located between two universal wheel side plates (1231) and is arranged at universal wheel fixing axle
(124) on,
Universal wheel permanent magnet (127) is arranged at universal wheel magnetic patch mounting bracket (126) near one end of outside ferromagnetism wall.
4. robot according to claim 1, it is characterised in that swing unit also includes being arranged at the two of vehicle body upper bottom surface
Individual swing inductive pick-up (231), the hunting range of oscillating rod (221) is located between two swing inductive pick-ups (231).
5. robot according to claim 2, it is characterised in that synchronous belt tension device (1164) is tensioned for compressed spring type
Device.
6. robot according to claim 1 or 2, it is characterised in that driving wheel is the gas flow in pneumatic tyre wheel, pneumatic tyre wheel
It can increase and decrease.
7. robot according to claim 2, it is characterised in that timing belt (1163) is both sides containing tooth and centre is relatively thin
Flat rubber belting.
8. robot according to claim 2, it is characterised in that motor includes the servo with band-type brake being connected with each other
Motor (1121) and right angle output speed reducer (1122), output shaft and the driving wheel driving shaft of right angle output speed reducer (1122)
(113) it is connected.
9. robot according to claim 3, it is characterised in that driving wheel permanent magnet (117) and the recessed circle of universal wheel
(1232) gap is set between.
10. robot according to claim 1, it is characterised in that the robot also includes protective unit, protective unit bag
Bracket bumper (31), protective cover (32) and overturn-preventing sensor (33)；Wherein
Arc bumper (31) is circumferentially disposed and fixed along vehicle body,
Protective cover (32) is arranged above vehicle body and fixed,
Overturn-preventing sensor (33) is arranged at vehicle body bottom surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460803.9A CN107127770A (en) | 2017-06-18 | 2017-06-18 | A kind of ferromagnetism climbs wall working robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460803.9A CN107127770A (en) | 2017-06-18 | 2017-06-18 | A kind of ferromagnetism climbs wall working robot |
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| CN107127770A true CN107127770A (en) | 2017-09-05 |
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| CN201710460803.9A Pending CN107127770A (en) | 2017-06-18 | 2017-06-18 | A kind of ferromagnetism climbs wall working robot |
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| CN110773489A (en) * | 2019-09-12 | 2020-02-11 | 天津华能北方热力设备有限公司 | Barrier-free high-altitude rust removal device |
| CN112045338A (en) * | 2020-07-28 | 2020-12-08 | 江苏衡云智能科技有限公司 | Mobile platform and mobile method applied to wagon balance welding |
| CN113066593A (en) * | 2021-03-23 | 2021-07-02 | 三门核电有限公司 | Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant |
| CN113523571A (en) * | 2021-06-30 | 2021-10-22 | 北京航星机器制造有限公司 | Laser welding tool and welding method for skin skeleton structure rudder wing product |
| CN115503845A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Self-walking device for precision measurement of guide rail of marine equipment |
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