CN107140153A - Adaptive strain born of the same parents' crawler belt traveling mechanism - Google Patents
Adaptive strain born of the same parents' crawler belt traveling mechanism Download PDFInfo
- Publication number
- CN107140153A CN107140153A CN201710345776.0A CN201710345776A CN107140153A CN 107140153 A CN107140153 A CN 107140153A CN 201710345776 A CN201710345776 A CN 201710345776A CN 107140153 A CN107140153 A CN 107140153A
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- wheel
- adaptive
- same parents
- supporting plate
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The present invention discloses a kind of adaptive strain born of the same parents' crawler belt traveling mechanism, including crawler belt, and crawler belt is set on driving wheel and tensioning wheel；The tensioning wheel is connected with expansion regulating mechanism；Adaptive mechanism is installed between driving wheel and tensioning wheel；The adaptive mechanism includes spring, and spring one end connecting vehicle frame, other end connection upper backup pad, supporting plate is connect by rotating shaft with vehicle frame axle；Supporting plate is connected with lower supporting plate by steering wheel, and lower supporting plate is connected with BOGEY WHEEL.The present invention enables to BOGEY WHEEL and creeper tread to be close to the adsorption effect that wall surfaces of ships ensures permanent magnet, is adapted to various walls on ship.
Description
Technical field
The invention belongs to mechanical field, more particularly to a kind of adaptive strain born of the same parents' crawler belt traveling mechanism.
Background technology
The problem of traditional cleaning machine mode all has different degrees of.Artificial cleaning takes time and effort, and cleanup crew's work
Make that condition is poor, do not meet the automation trend of today's society；Chemical method cleaning is easily caused the larger marine eco-environment
Pollution, the method cleaning effect of high-pressure water shot is limited and expends larger energy, and the cleaning of traditional robot list brush is in work
In can produce vibration with surface, limited by surface condition.Modern clean ship robot cleaner mode mainly has abroad to be compared
Good development.
NASA and California Institute of Technology jet propulsion laboratory (NASA-JPL) have developed for carrying ship
Oceangoing ship derusting washer climbing robot M series, if but such robot use permanent magnetic suck move back in the course of the work
Magnetic runs into non-ferromagnetic material surface the situation that can not be adsorbed occurs, while absorption affinity is influenceed larger by magnetic situation.Using height
Pressure hydraulic giant injection causes service load larger, while influenceing adsorption effect.
NASA-JPL joint Ka Naiji-Mei Long universities robot research have developed the titanium of M3500 type machines people use
Alloy and other composites, and kneed adaptation mechanism, with comprehensive excellent cleaning effect, mechanical structure is more
Complicated material cost simultaneously is higher.
Flow companies have developed Hydro-Cat and Hydro-Crawler.The vacuum suction that Hydro-Cat robots are used
Structure causes absorption difficulty big, and relies on ship hull surface shape, to avoid vacuum condition from causing destruction.Crawler travel and lack
Adaptive mechanism can cause walking absorption unreliable.
French Cybernetix companies have developed Octopus robots and remain unchanged the permanent magnetic suck structure of use, and equally having can
Absorption can be caused unreliable because of demagnetization.Running on wheels mode obstacle detouring is good, but walking reliability is low.
Cartagena University of Science and Technology of Spain DSIE researchs department professor Iborra etc. have developed a kind of rail type cantilever and carry
Climb wall rust removing robot EFTCOR.EFTCOR overlaps track due to needing, and can only clean the larger plane in side, with certain
Limitation.
Shenyang Inst of Automation, Chinese Academy of Sciences's Wang Hong light etc. has succeeded in developing a variety of climbing robots.It has developed one kind
New-type wheel walking combined wall climbing robot, it is more deep to walking research, but study condition is not situation under water, and
It is not intended to the robot of cleaning.
Positive Yao of Maritime Affairs University Of Dalian's clothing etc. have developed the two alternative climbing robots in carrying ship derusting washer and lack
Adaptive structure, while the single cleaning brush configuration used, unstable, the problems such as easily there is vibration noise when causing work.
Existing wall-climbing cleaning robot is due to that can not cause crawler belt to be brought into close contact with Chuan Bi, in the body surface of greater curvature ship
Face easily causes robot to depart from hull.
The content of the invention
To solve the above problems, the invention provides the adaptive strain born of the same parents' crawler belt traveling mechanism of one kind.The present invention is enabled to
BOGEY WHEEL and creeper tread are close to the adsorption effect that wall surfaces of ships ensures permanent magnet, it is ensured that the absorption reliability and row of pedrail mechanism
Security is sailed, various walls on ship are adapted to.
To reach above-mentioned technique effect, the technical scheme is that：
A kind of adaptive strain born of the same parents' crawler belt traveling mechanism, including crawler belt, crawler belt are set on driving wheel and tensioning wheel；Described
Bearing up pulley is connected with expansion regulating mechanism；Adaptive mechanism is installed between driving wheel and tensioning wheel；The adaptive mechanism includes spring,
Spring one end connecting vehicle frame, other end connection upper backup pad, supporting plate is connect by rotating shaft with vehicle frame axle；Supporting plate is connected by steering wheel
Lower supporting plate is connected to, lower supporting plate is connected with BOGEY WHEEL；
Spring provide pretightning force for upper backup pad so that upper backup pad rotate around the axis so that drive BOGEY WHEEL rotate,
So that BOGEY WHEEL laminating support crawler belt；When running into depression, expansion regulating mechanism drives and moved after tensioning wheel, meanwhile, under steering wheel drives
Supporting plate is rotated, and is brought into close contact so as to realize with hull recess；When running into projection, steering wheel drives lower supporting plate reversely to turn
It is dynamic so that crawler belt and holding and high spot are brought into close contact；In the smooth part of hull, expansion regulating mechanism is driven after tensioning wheel
Reach is moved, while steering wheel drives lower supporting plate homing.
Further to improve, the expansion regulating mechanism is hydraulic jack.
It is further to improve, the support sprocket wheel coordinated with crawler belt is also equipped with the vehicle frame.
Further to improve, the grouser shoe of the crawler belt is fixed with permanent magnet by permanent magnet support frame；The lower branch
Fagging is connected by clutch shaft bearing and is fixed with BOGEY WHEEL end cap on BOGEY WHEEL, BOGEY WHEEL；Second bearing is arranged with outside the rotating shaft；
Driving wheel is connected with driving wheel motor；Cleaning mechanism is connected with cleaning mechanism motor.
Further to improve, the adaptive mechanism is no less than two.
Further to improve, adaptive strain born of the same parents' crawler belt traveling mechanism is arranged on ship naval vessels wall wall-climbing cleaning device
On the vehicle frame of people.
It is further to improve, the spacer pin coordinated with upper backup pad is fixed with the vehicle frame；Spacer pin is used to prevent
Supporting plate rotates down the landform adaptive functions that influence lower supporting plate is rotated, and remains the shock-absorbing function of spring when running into obstacle.
It is further to improve, the deep-slotted chip breaker coordinated with spacer pin is formed with the upper backup pad.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of ship naval vessels wall wall-climbing cleaning robot；
Fig. 2 is the overlooking the structure diagram of ship naval vessels wall wall-climbing cleaning robot；
Fig. 3 is the adaptive structural representation for straining born of the same parents' crawler belt traveling mechanism；
Fig. 4 is the structural representation of adaptive mechanism；
Fig. 5 is the structural representation of cleaning mechanism.
Embodiment
Technical scheme is illustrated below by way of embodiment and with reference to accompanying drawing.
Embodiment 1
It is provided with a kind of ship naval vessels wall wall-climbing cleaning robot as Figure 1-Figure 2, including vehicle frame 1, vehicle frame 1
Adaptive strain born of the same parents' crawler belt traveling mechanism 2, cleaning mechanism 3 and thrust adsorbing mechanism 4.
As shown in Figure 3 and Figure 4, adaptive strain born of the same parents' crawler belt traveling mechanism 2 includes crawler belt 5, and crawler belt 5 is set in the He of driving wheel 6
On tensioning wheel 7；Tensioning wheel 7 is connected with expansion regulating mechanism 8, and expansion regulating mechanism 8 is hydraulic jack or other retractor devices, such as
Cylinder etc..Adaptive mechanism is installed between driving wheel 6 and tensioning wheel 7；Adaptive mechanism includes spring 9, one end connecting vehicle frame of spring 9
1, other end connection upper backup pad 10, supporting plate 10 is connect by rotating shaft 14 with the axle of vehicle frame 1；Supporting plate 10 is connected with by steering wheel 11
Lower supporting plate 12, lower supporting plate 12 is connected with BOGEY WHEEL 13.
Spring 9 is that upper backup pad 10 provides pretightning force so that upper backup pad 10 14 rotates around the shaft and then drives load-bearing
Wheel 13 is rotated so that the laminating support crawler belt 5 of BOGEY WHEEL 13；When running into depression, expansion regulating mechanism 8 drives and moved after tensioning wheel 7, together
When, steering wheel 11 drives lower supporting plate 12 to rotate, and is brought into close contact so as to realize with hull recess；When running into projection, steering wheel 11
Lower supporting plate 12 is driven to rotate backward so that crawler belt 5 is brought into close contact with holding and high spot；In the smooth part of hull, stretch
Contracting governor motion 8, which drives, moves reach after tensioning wheel 7, while steering wheel 11 drives the homing of lower supporting plate 12.
Robot discharges or constrained the supporting plate free degree according to traveling demand by servos control.Dual-gripper plate is controlled to stretch
So that BOGEY WHEEL and creeper tread are close to the adsorption effect that wall surfaces of ships ensures permanent magnet.The mechanism combination spring hydraulic device,
Ensure the absorption reliability and driving safety of pedrail mechanism, be adapted to various walls on ship.
The support sprocket wheel 15 coordinated with crawler belt 5 is also equipped with vehicle frame 1.The grouser shoe 16 of crawler belt 5 is supported by permanent magnet
Frame 17 is fixed with permanent magnet 18；Lower supporting plate 12 is connected by clutch shaft bearing 19 and is fixed with load-bearing on BOGEY WHEEL 13, BOGEY WHEEL 13
Take turns end cap 21；Second bearing 20 is arranged with outside rotating shaft 14；Driving wheel 6 is connected with driving wheel motor 601；Cleaning mechanism 3 is connected with
Cleaning mechanism motor 301.Adaptive mechanism is no less than two, three is elected in the present embodiment as, so that crawler belt is totally adapted to
A variety of landform.
The spacer pin 22 coordinated with upper backup pad 10 is fixed with vehicle frame 1；Spacer pin 22 be used for prevent upper backup pad 10 to
It is lower to rotate the landform adaptive functions that influence lower supporting plate 12 is rotated, remain the shock-absorbing function of spring 9 when running into obstacle.Upper support
The deep-slotted chip breaker coordinated with spacer pin 22 is formed with plate 10.
As shown in figure 1, thrust adsorbing mechanism 4 is propeller, propeller is connected with propeller motor.Propeller be two and
It is located at the both sides of vehicle frame 1 respectively.Permanent magnet absorption combines the suction type of airscrew thrust adsorbing mechanism.Robot is improved not
With the reliability and job stability under environment.Robot is adsorbed in wall by robot by magnetic force.Magnetic suck mode is climbed
Wall robot requires that wall must be permeability magnetic material, but simple in construction, and to the concavo-convex strong adaptability of wall.When robot row
Cross journey and touch the meeting partial failure of demagnetization material permanent magnetic suck power, in order to ensure that robot will not be peeled off from wall, propeller
The negative-pressure adsorption of generation is the mode that robot is attached to wall by a kind of dependence air-negative-pressure power, produces negative pressure except producing
Robot is attached to beyond the normal force of wall, robot is overcome itself while it also relies on its wall tangential component
Gravity and wall friction power and advance.Overcome single permanent magnetic suck obstacle detouring to be limited, the influence such as material limitation.Protected using double helix
Demonstrate,prove dynamic balance and moving equilibrium.
As shown in figure 5, cleaning mechanism 3 includes sun gear 302 and planet carrier 303；Between sun gear 302 and planet carrier 303
Planetary gear 304 is engaged with, planetary gear 304 is connected with cleaning brush 305.It is provided between planetary gear 304 and cleaning brush 305
Adjust spring 306.Sun gear 302 is connected by 3rd bearing 307 with planetary gear 304；Shaft block ring is arranged on sun gear 302
308；Sun gear is connected with sun wheel shaft 309, and sun wheel shaft 309 is engaged with bevel gear shaft 310, the connection cleaning of bevel gear shaft 310
Mechanism motor 301.
So planetary gear 304 is driven to revolve round the sun by sun gear 302, planetary gear 304 is entered by the power of engaging tooth again
Row rotation, is combined with rotation by revolution and uniformly hull is derusted.Connected in planetary lower end on brush, axial direction
Install spring assembly additional, spring has certain pretightning force.This structure enables brush to move in the axial direction, and keeps brush filament to be close to ship
Body surface face, and be provided with certain normal pressure, it is ensured that derusting is smoothed out.Complete to clean work with water during robot ride
Industry.Relative to general single brush, mechanism cleaning area is big, and uniform force, bearing capacity is strong, and intensity is higher, can be fine
Reach equilibrium condition, the cleaning efficiency improved.
Robot is controlled by control system, and control system selects 51 SCM systems, is to realize robot motion
The core of control.The signal that it is received according to the various sensors of robot in the process of moving, deals with to signal, transmits
Initiation parameter and action command carry out path planning, drive two decelerating step motors (driving wheel motor 601), so as to control
The motion of robot processed；The feedback signal of obliquity sensor is obtained, the posture of control machine people prevents convex due to hull surface
Recessed injustice, the track of crawler belt is different when causing the robot to move or so, makes robot occur climbing inclined phenomenon, it is ensured that Robot is advised
Fixed path walking.Common submersible machine (cleaning mechanism motor 301) is driven, the operation of brushing machine is completed.Drive propeller
Stepper motor, the auxiliary suction-operated of airscrew thrust mechanism is realized if necessary.The obstacle that can not be crossed over and depression are run into, by
Infrared ray sensor receives signal and feeds back to control centre, the motion of robot command.Cleaning effect is differentiated by visualization system
Fruit determines the need for carrying out secondary cleaning.
The specific guiding embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto,
All changes for carrying out unsubstantiality to the present invention using this design, all should belong to the behavior for invading protection scope of the present invention.
Claims (8)
1. a kind of adaptive strain born of the same parents' crawler belt traveling mechanism, including crawler belt (5), crawler belt (5) are set in driving wheel (6) and tensioning wheel
(7) on, it is characterised in that the tensioning wheel (7) is connected with expansion regulating mechanism (8)；Between driving wheel (6) and tensioning wheel (7)
Adaptive mechanism is installed；The adaptive mechanism includes propping up in spring (9), spring (9) one end connecting vehicle frame (1), other end connection
Fagging (10), supporting plate (10) is connect by rotating shaft (14) with vehicle frame (1) axle；Supporting plate (10) is connected with lower branch by steering wheel (11)
Fagging (12), lower supporting plate (12) is connected with BOGEY WHEEL (13)；
Spring (9) is that upper backup pad (10) provides pretightning force so that upper backup pad (10) (14) rotation and then drive around the shaft
BOGEY WHEEL (13) is rotated so that BOGEY WHEEL (13) laminating support crawler belt (5)；When running into depression, expansion regulating mechanism (8), which drives, to be opened
Bearing up pulley (7) is moved afterwards, meanwhile, steering wheel (11) drives lower supporting plate (12) to rotate, and is brought into close contact so as to realize with hull recess；
When running into projection, steering wheel (11) drives lower supporting plate (12) to rotate backward so that crawler belt (5) is with keeping the close patch with high spot
Close；In the smooth part of hull, expansion regulating mechanism (8) drives tensioning wheel (7) to move reach afterwards, while steering wheel (11) drives lower
Fagging (12) homing.
2. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 1, it is characterised in that the expansion regulating mechanism (8)
For hydraulic jack.
3. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 1, it is characterised in that also installed on the vehicle frame (1)
There is the support sprocket wheel (15) coordinated with crawler belt (5).
4. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 1, it is characterised in that the caterpillar chain of the crawler belt (5)
Plate (16) is fixed with permanent magnet (18) by permanent magnet support frame (17)；The lower supporting plate (12) is connected by clutch shaft bearing (19)
Connect and be fixed with BOGEY WHEEL end cap (21) on BOGEY WHEEL (13), BOGEY WHEEL (13)；Second bearing is arranged with outside the rotating shaft (14)
(20)；Driving wheel (6) is connected with driving wheel motor (601)；Cleaning mechanism (3) is connected with cleaning mechanism motor (301).
5. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 1, it is characterised in that the adaptive mechanism is no less than two
It is individual.
6. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 1, it is characterised in that adaptive strain born of the same parents' crawler belt row
Mechanism is sailed on the vehicle frame (1) of ship naval vessels wall wall-climbing cleaning robot.
7. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 6, it is characterised in that be fixed with the vehicle frame (1)
The spacer pin (22) coordinated with upper backup pad (10)；Spacer pin (22) is used to prevent upper backup pad (10) from propping up under the influence of rotating down
The landform adaptive functions that fagging (12) is rotated, remain the shock-absorbing function of spring when running into obstacle (9).
8. adaptive strain born of the same parents' crawler belt traveling mechanism as claimed in claim 7, it is characterised in that on the upper backup pad (10) into
Shape has the deep-slotted chip breaker coordinated with spacer pin (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345776.0A CN107140153B (en) | 2017-05-17 | 2017-05-17 | Adaptive strain born of the same parents crawler belt traveling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345776.0A CN107140153B (en) | 2017-05-17 | 2017-05-17 | Adaptive strain born of the same parents crawler belt traveling mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107140153A true CN107140153A (en) | 2017-09-08 |
| CN107140153B CN107140153B (en) | 2018-12-28 |
Family
ID=59778097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710345776.0A Expired - Fee Related CN107140153B (en) | 2017-05-17 | 2017-05-17 | Adaptive strain born of the same parents crawler belt traveling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107140153B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826171A (en) * | 2017-12-01 | 2018-03-23 | 北京履坦科技有限公司 | A kind of joint crawler belt with attitude-adjusting system |
| CN107918396A (en) * | 2017-11-30 | 2018-04-17 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot paths planning method and system based on hull model |
| CN108638087A (en) * | 2018-06-29 | 2018-10-12 | 深圳聚纵科技有限公司 | The attached recyclable robot of double suction |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
| CN110435845A (en) * | 2019-09-11 | 2019-11-12 | 广东海洋大学 | A kind of rotary hull cleaning robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4838373A (en) * | 1988-06-30 | 1989-06-13 | Caterpillar Inc. | Suspension structure for a tracked vehicle |
| DE102008035670A1 (en) * | 2007-08-11 | 2009-02-12 | RIMO Transportgeräte GmbH & Co. KG | Sales cabinet i.e. beach sales vehicle, for e.g. transporting goods, has chassis with track drive and supporting device for goods, and electric motors provided with flanged transmissions, where motors drive track chains |
| CN102424100A (en) * | 2011-11-22 | 2012-04-25 | 哈尔滨功成科技创业投资有限公司 | Robot for cleaning composite adsorption ship body |
| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
| CN103863530A (en) * | 2014-02-28 | 2014-06-18 | 浙江海洋学院 | Novel cleaning device for ship attachments |
| GB2528871A (en) * | 2014-07-31 | 2016-02-10 | Reece Innovation Ct Ltd | Improvements in or relating to ROVs |
| CN205311727U (en) * | 2016-01-29 | 2016-06-15 | 中国农业大学 | Light -duty crawler -type agricultural robot moving platform with shock -absorbing function |
| CN205396252U (en) * | 2016-03-08 | 2016-07-27 | 江西南特工程机械股份有限公司 | Light -caterpillar -band tractor |
| US9555448B2 (en) * | 2010-12-02 | 2017-01-31 | Eliot Systems, S.L. | Robotised device of cleaning of external steel structures |
| CN106628053A (en) * | 2016-12-28 | 2017-05-10 | 浙江海洋大学 | Ship rust removal robot capable of walking conveniently |
-
2017
- 2017-05-17 CN CN201710345776.0A patent/CN107140153B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4838373A (en) * | 1988-06-30 | 1989-06-13 | Caterpillar Inc. | Suspension structure for a tracked vehicle |
| DE102008035670A1 (en) * | 2007-08-11 | 2009-02-12 | RIMO Transportgeräte GmbH & Co. KG | Sales cabinet i.e. beach sales vehicle, for e.g. transporting goods, has chassis with track drive and supporting device for goods, and electric motors provided with flanged transmissions, where motors drive track chains |
| US9555448B2 (en) * | 2010-12-02 | 2017-01-31 | Eliot Systems, S.L. | Robotised device of cleaning of external steel structures |
| CN102424100A (en) * | 2011-11-22 | 2012-04-25 | 哈尔滨功成科技创业投资有限公司 | Robot for cleaning composite adsorption ship body |
| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
| CN103863530A (en) * | 2014-02-28 | 2014-06-18 | 浙江海洋学院 | Novel cleaning device for ship attachments |
| GB2528871A (en) * | 2014-07-31 | 2016-02-10 | Reece Innovation Ct Ltd | Improvements in or relating to ROVs |
| CN205311727U (en) * | 2016-01-29 | 2016-06-15 | 中国农业大学 | Light -duty crawler -type agricultural robot moving platform with shock -absorbing function |
| CN205396252U (en) * | 2016-03-08 | 2016-07-27 | 江西南特工程机械股份有限公司 | Light -caterpillar -band tractor |
| CN106628053A (en) * | 2016-12-28 | 2017-05-10 | 浙江海洋大学 | Ship rust removal robot capable of walking conveniently |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107918396A (en) * | 2017-11-30 | 2018-04-17 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot paths planning method and system based on hull model |
| CN107826171A (en) * | 2017-12-01 | 2018-03-23 | 北京履坦科技有限公司 | A kind of joint crawler belt with attitude-adjusting system |
| CN107826171B (en) * | 2017-12-01 | 2023-12-05 | 北京履坦科技有限公司 | Joint crawler belt with posture adjusting mechanism |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
| CN108673469B (en) * | 2018-06-14 | 2023-04-25 | 河北工业大学 | Caterpillar band deformable robot moving platform for dangerous disaster site environment |
| CN108638087A (en) * | 2018-06-29 | 2018-10-12 | 深圳聚纵科技有限公司 | The attached recyclable robot of double suction |
| CN110435845A (en) * | 2019-09-11 | 2019-11-12 | 广东海洋大学 | A kind of rotary hull cleaning robot |
| CN110435845B (en) * | 2019-09-11 | 2024-02-06 | 广东海洋大学 | Rotary ship body cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107140153B (en) | 2018-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106976002A (en) | A kind of ship naval vessels wall wall-climbing cleaning robot | |
| CN207058300U (en) | A kind of ship naval vessels wall wall-climbing cleaning robot | |
| CN107140153B (en) | Adaptive strain born of the same parents crawler belt traveling mechanism | |
| CN110667719B (en) | Marine omnidirectional movement wall climbing robot | |
| US7398843B2 (en) | Reconfigurable robot drive | |
| CN208731086U (en) | It is a kind of can adaptive a variety of curved surfaces crawler-type wall climbing robot | |
| CN207078219U (en) | A kind of caterpillar type robot | |
| CN110920334B (en) | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method | |
| CN206781910U (en) | Ship wall-climbing robot for removing rust | |
| CN107117223A (en) | Ship wall-climbing robot for removing rust | |
| CN102689296A (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN206049838U (en) | Mobile robot | |
| CN102673670A (en) | Novel full driving composite adsorption climbing robot | |
| CN107585271A (en) | The big seam wall-climbing robot for removing rust of hull wall | |
| CN205769667U (en) | A kind of can the crawler-type wall climbing robot of free translation | |
| CN201849550U (en) | Composite adsorption wall-crawling mechanism for underwater ship body | |
| CN111674523B (en) | Eccentric universal translation magnetic wall-climbing robot for hull decontamination and working method | |
| CN109987165B (en) | Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support | |
| CN102390454A (en) | Submarine all-terrain traveling vehicle | |
| CN104816764A (en) | Automatic de-rusting machine for hull outer plate | |
| CN209581649U (en) | A kind of caterpillar type robot with speeling stairway function | |
| CN113844564A (en) | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces | |
| CN104874951A (en) | Wall-climbing welding machine for shell plate of large-scale ship | |
| CN208731088U (en) | Climbing robot | |
| CN110466296A (en) | The amphibious intelligent mobile chassis in double drive source and its working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20190517 |