CN107512323A - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
- Publication number
- CN107512323A CN107512323A CN201710803212.7A CN201710803212A CN107512323A CN 107512323 A CN107512323 A CN 107512323A CN 201710803212 A CN201710803212 A CN 201710803212A CN 107512323 A CN107512323 A CN 107512323A
- Authority
- CN
- China
- Prior art keywords
- sucker
- inner frame
- outer framework
- guide rod
- installing 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.)
- Pending
Links
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
- B62D57/024—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
The invention discloses a kind of climbing robot, including motor, outer framework, inner frame, and the travel mechanism in parallel that can be moved in X/Y plane and the leg mechanism that lift leg motion can be done in Z-direction, the inner frame is arranged in the outer framework by travel mechanism in parallel, and outer framework and inner frame bottom are respectively provided with four leg mechanisms that can be adsorbed in metope；A motor is respectively installed at four ends angle of the outer framework；The travel mechanism in parallel includes installing plate, Y-direction slipping mechanism, X to slipping mechanism, bearing seat assembly, odontoid belt and roller；The bearing seat assembly includes synchronous pulley, and the odontoid belt just surrounds " work " font closed-loop path around whole rollers and synchronous pulley.Deft design, control are simple, can flexibly be walked in wall, and it is reliable and stable to creep；In addition, can carry difference in functionality equipment completes the work such as cleaning, paint, prospecting, it is loaded and obstacle climbing ability is notable.
Description
Technical field
The present invention relates to a kind of climbing robot.
Background technology
Increasing skyscraper turns into the new landscape of modern metropolitan cities, these high buildings it is more using ceramic tile and glass curtain wall as
Alien invasion, it is every just to need that it is carried out the work high above the ground such as to clean after a while.
All the time, all it is to complete the cleaning of skyscraper alien invasion by manually mostly, its operating efficiency is low, consumption
Shi Jiu, and it is simple take the safety measure reliability such as hanging basket or waist tether rope and pessimistic, great potential safety hazard be present.
The content of the invention
The present invention is intended to provide one kind can and operation mobile in hazardous environments such as vertical walls, and creep it is reliable and stable, move
Dynamic flexible, control simply, loads climbing robot significant with obstacle climbing ability.
Therefore, the technical solution adopted in the present invention is：A kind of climbing robot, including motor, outer framework, inner frame,
And the travel mechanism in parallel that can be moved in X/Y plane and the leg mechanism that lift leg motion can be done in Z-direction, the inner frame
It is arranged on by travel mechanism in parallel in the outer framework, and outer framework and inner frame bottom are respectively provided with four can be adsorbed in wall
The leg mechanism in face.
Further, it is total to slipping mechanism, bearing block to include installing plate, Y-direction slipping mechanism, X for the travel mechanism in parallel
Into, odontoid belt and roller；The installing plate is arranged in outer framework by what Y-direction slipping mechanism can move forward and backward, described interior
Framework is arranged on installing plate bottom by X to what slipping mechanism can move left and right；The bearing seat assembly includes bearing block, rolled
Bearing and synchronous pulley, the bearing block are arranged at housing frame end angle, and the synchronous pulley is driven by the motor；The rolling
Wheel is arranged to four, and in rectangular layout on a mounting board, the odontoid belt just surrounds around whole rollers and synchronous pulley
" work " font closed-loop path.
Further, the leg mechanism includes thigh, shank, sucker group and pump installation, between the thigh and shank
The tendon being arranged in parallel by a telescopic cylinder and two connects, and can complete bending and Z-direction lift leg action, the flexible gas
Cylinder one end is connected on thigh, and the other end is connected on shank, and the tendon is connecting plate, and one end of tendon is hinged on thigh
On, the other end is hinged on shank, is connected between two tendons by extension spring；The sucker group is installed on shank bottom,
The pump installation is vacuumized and inflated for sucker group.
Further, the sucker group includes sucker fixed seat, sucker installing plate, quick connector and sucker, the sucker
Installing plate is arranged on shank bottom by the sucker fixed seat；The sucker is arranged to three and uniform into triangle, each
Sucker is installed on the sucker installing plate by described quick connector, passes through tracheae between the pump installation and each sucker
Connection.
Further, the sucker group also includes antivoid valve, vacuum pressure switch, pressure sensor, the vacuum
Safety valve, which is arranged on tracheae, to be used to ensure that each sucker works independently, and described vacuum pressure switch one end connecting sucker is another
End is connected with the pressure sensor.
Further, the vacuum pressure switch left and right side is each provided with an import, and bottom is provided with one outlet,
Export each and one of inlet communication；Each sucker group is provided with two vacuum pressure switch, the first two sucker
First vacuum pressure switch is accessed after parallel connection, is accessed after last sucker is in parallel with the outlet of first vacuum pressure switch
Second vacuum pressure switch, second vacuum pressure switch outlet connection pressure sensor.
Further, the Y-direction slipping mechanism includes Y-direction translation guide rod, the first sliding assembly, the Y-direction translation guide rod
Two are arranged to, two Y-direction translation guide rods are divided right and left and are arranged on outer framework, and the left and right sides of installing plate each passes through first
Sliding assembly is arranged on the Y-direction translation guide rod of respective side, and can be slided on Y-direction translation guide rod；The X is to slipping mechanism bag
Include X and be arranged to two to translation guide rod to translation guide rod, the second sliding assembly, the X, two X are separated to horizontal guide
On a mounting board, the front and back end of inner frame is arranged on the X of corresponding end on translation guide rod each via the second sliding assembly for installation,
And can be in X to sliding on translation guide rod.
Further, the Y-direction translation guide rod front-end and back-end are fixedly mounted on correspondingly by guide shaft support respectively
On the bearing block of side；The X is then installed on a mounting board to the both ends of translation guide rod by the T-shaped bearing of the axis of guide.
On the basis of such scheme, the inner frame includes inner frame template, die casting angle connector, on the inner frame
Leg mechanism be fixed on by die casting angle connector on described inner frame template；The outer framework includes outter frame profile frame,
The motor is arranged on the outter frame profile frame by motor mounting plate；The bearing seat assembly is arranged on housing by cushion block
On frame.
Beneficial effects of the present invention：Deft design, control are simple, can flexibly be walked in wall, and it is reliable and stable to creep；This
Outside, difference in functionality equipment can be carried and complete the work such as cleaning, paint, prospecting, it is loaded and obstacle climbing ability is notable.
Brief description of the drawings
Fig. 1 is axonometric drawing of the present invention.
Fig. 2 is front view of the present invention.
Fig. 3 is the axonometric drawing of outer framework of the present invention.
Fig. 4 is the axonometric drawing of inner frame of the present invention.
Fig. 5 is the axonometric drawing of leg mechanism of the present invention.
Fig. 6 is the axonometric drawing of bearing seat assembly of the present invention.
Fig. 7,8 be present invention travel mechanism in parallel axonometric drawing.
In figure：1- motors, 2- outer frameworks, 3- inner frames, 4- parallel connections travel mechanism, 5- leg mechanisms, 41- installing plates, 42-
Bearing seat assembly, 43- odontoid belts, 44- rollers, a1- bearing blocks, a2- rolling bearings, a3- synchronous pulleys, 51- thighs, 52-
Shank, 53- sucker groups, 54- telescopic cylinders, 55- tendons, 56- extension springs, b1- sucker fixed seats, b2- sucker installing plates,
B3- quick connectors, b4- suckers, 6-Y is to translation guide rod, the sliding assemblies of 7- first, and 8-X is to translation guide rod, 9- the second sliding groups
Part, c- guide shaft supports, the T-shaped bearing of the d- axis of guides, 31- inner frame templates, 32- die casting angle connectors, 21- outter frame profile framves,
11- motor mounting plates, e- cushion blocks.
Embodiment
Hereinafter with reference to the specific embodiment of the invention shown in accompanying drawing to carry out more specific description outlined above.
Climbing robot as depicted in figs. 1 and 2, mainly by motor 1, outer framework 2, inner frame 3, and can be in X/Y plane
The travel mechanism in parallel 4 of interior motion forms with the leg mechanism 5 that lift leg motion can be done in Z-direction, and motor 1 is mainly wall-climbing device
People provides power, is at least provided with a motor 1 or multiple in the present embodiment, inner frame 3 passes through travel mechanism in parallel
4 are arranged in outer framework 2, and outer framework 2 and the bottom of inner frame 3 are respectively provided with four leg mechanisms that can be adsorbed in metope 5.
Outer framework 2 can also carry the equipment of corresponding function in the present embodiment.Preferably, as shown in Figure 3, Figure 4, inner frame 3 includes inside casing
Frame template 31, die casting angle connector 32, the inner frame that the leg mechanism 5 on inner frame 3 is fixed on by die casting angle connector 32
On template 31；Outer framework 2 includes outter frame profile frame 21, and outter frame profile frame 21 has preferable load capacity, various functions equipment
It can be arranged on outter frame profile frame 21, complete different types of operation, and motor 1 is arranged on outside by motor mounting plate 11
On frame section frame 21；Climbing robot can above obtained and preferably installs and uses performance.
As shown in Fig. 1, Fig. 3, Fig. 6, Fig. 7, Fig. 8, the travel mechanism in parallel 4 in above-described embodiment includes installing plate 41, Y-direction
Slipping mechanism, X are to slipping mechanism, bearing seat assembly 42, odontoid belt 43 and roller 44；Installing plate 41 passes through Y-direction slipping mechanism
What can be moved forward and backward is arranged in outer framework 2, and inner frame 3 is arranged on installing plate 41 by X to what slipping mechanism can move left and right
Bottom；Bearing seat assembly 42 includes bearing block a1, rolling bearing a2 and synchronous pulley a3, and bearing block a1 is arranged on the end of outer framework 2
At angle, motor 1 can be also mounted at the end angle of outer framework 2 in the present embodiment, synchronous pulley corresponding with bearing seat assembly 42
A3 is driven by motor 1；Roller 44 is arranged to four, in rectangular layout on installing plate 41, and odontoid belt 43 bypasses whole rollers
44 and synchronous pulley a3 just surrounds " work " font closed-loop path.In addition, two terminations of odontoid belt 43 are general in embodiment
It can be connected by belt contiguous block.Preferably, bearing seat assembly 42 is arranged on outer framework 2 by cushion block e.
Y-direction slipping mechanism in the present embodiment includes Y-direction translation guide rod 6, the first sliding assembly 7, and Y-direction translation guide rod 6 is set
Two are set to, two Y-direction translation guide rods 6 are divided right and left and are arranged on outer framework 2, and the left and right sides of installing plate 41 each passes through
One sliding assembly 7 is arranged on the Y-direction translation guide rod 6 of respective side, and can be slided on Y-direction translation guide rod 6；X is to slipping mechanism
Two are arranged to translation guide rod 8 to translation guide rod 8, the second sliding assembly 9, X including X, two X divide to horizontal guide 8 is front and rear
Open on the installing plate 41, the front and back end of inner frame 3 is arranged on the X of corresponding end to translation each via the second sliding assembly 9
On guide rod 8, and can be in X to sliding on translation guide rod 8.Preferably, the front-end and back-end of Y-direction translation guide rod 6 pass through guiding respectively
Shaft stool c is fixedly mounted on the bearing block a1 of respective side；X is then pacified to the both ends of translation guide rod 8 by the T-shaped bearing d of the axis of guide
On installing plate 41.
As shown in figure 5, preferably, leg mechanism 5 includes thigh 51, shank 52, sucker group 53 and pump installation, the He of thigh 51
Connected between shank 52 by a telescopic cylinder 54 and two tendons 55 being arranged in parallel, bending and Z-direction lift leg can be completed
Action, the one end of telescopic cylinder 54 is connected on thigh 51, and the other end is connected on shank 52, and tendon 55 is connecting plate, tendon 55
One end be hinged on thigh 51, the other end is hinged on shank 52, is connected between two tendons 55 by extension spring 56, this
Sample make it that to coordinate between thigh 51 and shank 52 that compact, motion is coherent, and stability and reliability are protected；Sucker group 53 is installed
In the bottom of shank 52, pump installation is vacuumized and inflated for sucker group 53.
As the preferred of above-described embodiment, sucker group 53 includes sucker fixed seat b1, sucker installing plate b2, quick connector b3
The bottom of shank 52 is arranged on by sucker fixed seat b1 with sucker b4, sucker installing plate b2；Sucker b4 is arranged to three and into three
Angular uniform, the quick connector b3 that each sucker b4 passes through is installed on sucker installing plate b2, pump installation and each sucker b4 it
Between connected by tracheae, completing sucker b4 with this vacuumizes or inflates work, leg mechanism 5 is adsorbed on wall, this
Embodiment is more conventional in daily life, is no longer repeated herein.
In addition, sucker group 53 also includes antivoid valve, vacuum pressure switch, pressure sensor, antivoid valve is set
It is used to ensure that each sucker b4 works independently on tracheae, vacuum pressure switch one end connecting sucker b4, the other end passes with pressure
Sensor connects.Preferably, vacuum pressure switch left and right side is each provided with an import, bottom is provided with one outlet, outlet
Every time only with one of inlet communication；Each sucker group 53 is provided with two vacuum pressure switch, and the first two sucker b4 is in parallel
First vacuum pressure switch is accessed afterwards, and the is accessed after last sucker b4 is in parallel with the outlet of first vacuum pressure switch
Two vacuum pressure switch, second vacuum pressure switch outlet connection pressure sensor.Above structure ensures each sucker group
53 three mutual vacuum of sucker b4 are unaffected, as long as having a sucker b4 in three sucker b4 of sucker group 53
In work it is ensured that whole system normal work.
The climbing robot that the present embodiment provides is during wall works, using leg formula and the motion of frame-type combination
Mode, mobility are superior to wheel type movement；Wherein, leg mechanism 5 can back and forth shrink lift leg, hand over outer framework 2 and inner frame 3
Connect the action for realizing lift leg；And the movement of gait is realized in the presence of travel mechanism 4 in parallel, so as to move work in wall
Make, and the function device carried on outer framework 2, implement corresponding work to wall.
Explained above is only preferred embodiment, it is impossible to is considered as the practical range for limiting the present invention.Fan Yiben
Equivalent change that patent application scope is made all should be belonged to still within the patent covering scope of the present invention with improving etc..
Claims (9)
- A kind of 1. climbing robot, it is characterised in that：Including motor (1), outer framework (2), inner frame (3), and can be put down in XY The travel mechanism in parallel (4) of in-plane moving and the leg mechanism (5) that lift leg motion can be done in Z-direction, the inner frame (3) pass through Travel mechanism (4) in parallel is arranged in the outer framework (2), and outer framework (2) and inner frame (3) bottom are respectively provided with four energy It is adsorbed in the leg mechanism (5) of metope.
- 2. climbing robot according to claim 1, it is characterised in that：The travel mechanism in parallel (4) includes installing plate (41), Y-direction slipping mechanism, X are to slipping mechanism, bearing seat assembly (42), odontoid belt (43) and roller (44)；The installing plate (41) it is arranged on by what Y-direction slipping mechanism can move forward and backward in outer framework (2), the inner frame (3) is by X to slipping mechanism What can be moved left and right is arranged on installing plate (41) bottom；The bearing seat assembly (42) includes bearing block (a1), rolling bearing (a2) it is arranged on synchronous pulley (a3), the bearing block (a1) at the angle of outer framework (2) end, the synchronous pulley (a3) is by described Motor (1) drives；The roller (44) is arranged to four, in rectangular layout on installing plate (41), the odontoid belt (43) " work " font closed-loop path is just surrounded around whole rollers (44) and synchronous pulley (a3).
- 3. climbing robot as claimed in claim 2, it is characterised in that:The leg mechanism (5) includes thigh (51), shank (52), sucker group (53) and pump installation, a telescopic cylinder (54) and two are passed through between the thigh (51) and shank (52) Tendon (55) connection of parallel arrangement, bending and Z-direction lift leg action can be completed, described telescopic cylinder (54) one end is connected to greatly On leg (51), the other end is connected on shank (52), and the tendon (55) is connecting plate, and one end of tendon (55) is hinged on thigh (51) on, the other end is hinged on shank (52), is connected between two tendons (55) by extension spring (56)；The sucker group (53) shank (52) bottom is installed on, the pump installation is vacuumized and inflated for sucker group (53).
- 4. climbing robot as claimed in claim 3, it is characterised in that：The sucker group (53) includes sucker fixed seat (b1), sucker installing plate (b2), quick connector (b3) and sucker (b4), the sucker installing plate (b2) are fixed by the sucker Seat (b1) is arranged on shank (52) bottom；The sucker (b4) is arranged to three and uniform into triangle, and each sucker (b4) is logical Cross described quick connector (b3) to be installed on the sucker installing plate (b2), lead between the pump installation and each sucker (b4) Cross tracheae connection.
- 5. climbing robot as claimed in claim 4, it is characterised in that：The sucker group (53) also include antivoid valve, Vacuum pressure switch, pressure sensor, the antivoid valve, which is arranged on tracheae, to be used to ensure each sucker (b4) independent work Make, described vacuum pressure switch one end connecting sucker (b4), the other end is connected with the pressure sensor.
- 6. climbing robot as claimed in claim 5, it is characterised in that：The vacuum pressure switch left and right side is each provided with One import, bottom are provided with one outlet, export each and one of inlet communication；Each sucker group (53) sets Two vacuum pressure switch are equipped with, first vacuum pressure switch, last sucker are accessed after the first two sucker (b4) is in parallel (b4) second vacuum pressure switch, second vacuum pressure switch are accessed after in parallel with the outlet of first vacuum pressure switch Outlet connection pressure sensor.
- 7. climbing robot as claimed in claim 4, it is characterised in that：The Y-direction slipping mechanism includes Y-direction translation guide rod (6), the first sliding assembly (7), the Y-direction translation guide rod (6) are arranged to two, and two Y-direction translation guide rods (6) are divided right and left and set Put on outer framework (2), the left and right sides of installing plate (41) is each arranged on the Y-direction of respective side by the first sliding assembly (7) On translation guide rod (6), and it can be slided on Y-direction translation guide rod (6)；The X includes X to translation guide rod (8), the to slipping mechanism Two sliding assemblies (9), the X are arranged to two to translation guide rod (8), and two X are separated installed in peace to horizontal guide (8) In loading board (41), the front and back end of inner frame (3) is arranged on the X of corresponding end to translation guide rod each via the second sliding assembly (9) (8) on, and can be in X to sliding on translation guide rod (8).
- 8. climbing robot as claimed in claim 5, it is characterised in that：Y-direction translation guide rod (6) the front-end and back-end difference It is fixedly mounted on by guide shaft support (c) on the bearing block (a1) of respective side；The both ends of the X to translation guide rod (8) then lead to The T-shaped bearing (d) of the axis of guide is crossed on installing plate (41).
- 9. climbing robot as claimed in claim 6, it is characterised in that：The inner frame (3) include inner frame template (31), Die casting angle connector (32), leg mechanism (5) on the inner frame (3) are fixed on described by die casting angle connector (32) On inner frame template (31)；The outer framework (2) includes outter frame profile frame (21), and the motor (1) passes through motor mounting plate (11) it is arranged on the outter frame profile frame (21)；The bearing seat assembly (42) is arranged on outer framework (2) by cushion block (e) On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710803212.7A CN107512323A (en) | 2017-09-08 | 2017-09-08 | A kind of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710803212.7A CN107512323A (en) | 2017-09-08 | 2017-09-08 | A kind of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107512323A true CN107512323A (en) | 2017-12-26 |
Family
ID=60725145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710803212.7A Pending CN107512323A (en) | 2017-09-08 | 2017-09-08 | A kind of climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107512323A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466662A (en) * | 2018-05-11 | 2018-08-31 | 天津职业技术师范大学 | Offshore platform spud leg semicircular inner walls climbing robot |
| CN109602322A (en) * | 2019-01-21 | 2019-04-12 | 鲁豪 | A kind of wiping arrangement that green building glass curtain wall uses |
| CN110315523A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of manipulator of industrial plant automated assembly line |
| CN110641569A (en) * | 2019-11-07 | 2020-01-03 | 武汉轻工大学 | Pneumatic bionic wall-climbing walking device capable of crossing outer wall |
| CN110654473A (en) * | 2019-09-30 | 2020-01-07 | 武汉轻工大学 | Bionic foot component |
| CN111678660A (en) * | 2020-06-22 | 2020-09-18 | 南通科达建材股份有限公司 | Floor joint close inspection device for assembly type building |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0084012A1 (en) * | 1982-01-11 | 1983-07-20 | International Robotic Engineering Inc. | Robot with climbing members |
| JP2011194937A (en) * | 2010-03-17 | 2011-10-06 | National Institute Of Advanced Industrial Science & Technology | Wall surface traveling robot |
| CN103962847A (en) * | 2014-04-08 | 2014-08-06 | 南京航空航天大学 | Double-direction crawling light moving type parallel normal-direction hole forming device |
| CN204871273U (en) * | 2015-07-17 | 2015-12-16 | 大连四达高技术发展有限公司 | Surface robot of crawling |
| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN205574093U (en) * | 2016-01-26 | 2016-09-14 | 嘉兴学院 | Negative pressure wall climbing robot |
-
2017
- 2017-09-08 CN CN201710803212.7A patent/CN107512323A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0084012A1 (en) * | 1982-01-11 | 1983-07-20 | International Robotic Engineering Inc. | Robot with climbing members |
| JP2011194937A (en) * | 2010-03-17 | 2011-10-06 | National Institute Of Advanced Industrial Science & Technology | Wall surface traveling robot |
| CN103962847A (en) * | 2014-04-08 | 2014-08-06 | 南京航空航天大学 | Double-direction crawling light moving type parallel normal-direction hole forming device |
| CN204871273U (en) * | 2015-07-17 | 2015-12-16 | 大连四达高技术发展有限公司 | Surface robot of crawling |
| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN205574093U (en) * | 2016-01-26 | 2016-09-14 | 嘉兴学院 | Negative pressure wall climbing robot |
Non-Patent Citations (2)
| Title |
|---|
| 刘雪飞: "高适应爬壁机器人的研发", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 朱光辉: "新型爬壁机器人的研制", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466662A (en) * | 2018-05-11 | 2018-08-31 | 天津职业技术师范大学 | Offshore platform spud leg semicircular inner walls climbing robot |
| CN109602322A (en) * | 2019-01-21 | 2019-04-12 | 鲁豪 | A kind of wiping arrangement that green building glass curtain wall uses |
| CN109602322B (en) * | 2019-01-21 | 2020-12-25 | 广东珠江工程总承包有限公司 | Wiping device for green building glass curtain wall |
| CN110315523A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of manipulator of industrial plant automated assembly line |
| CN110654473A (en) * | 2019-09-30 | 2020-01-07 | 武汉轻工大学 | Bionic foot component |
| CN110641569A (en) * | 2019-11-07 | 2020-01-03 | 武汉轻工大学 | Pneumatic bionic wall-climbing walking device capable of crossing outer wall |
| CN111678660A (en) * | 2020-06-22 | 2020-09-18 | 南通科达建材股份有限公司 | Floor joint close inspection device for assembly type building |
| CN111678660B (en) * | 2020-06-22 | 2022-03-29 | 南通科达建材科技股份有限公司 | Floor joint close inspection device for assembly type building |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107512323A (en) | A kind of climbing robot | |
| CN204530469U (en) | A kind of novel high ferro truss bridge detecting vehicle | |
| CN104512843B (en) | A kind of workbench of bridge-type job platform | |
| CN106175608A (en) | Intelligent stair sweeping robot and control method thereof and control system | |
| CN105769055A (en) | Multifunctional stair cleaning robot with capacity of automatic adjustment | |
| CN106320512A (en) | Rubbish pool leachate filter liquid hole dredging machine and rack driving device thereof | |
| CN203381704U (en) | Telescopic arm of wall-climbing robot | |
| CN106601865A (en) | Foldable conveying device for photovoltaic panel | |
| CN106284950A (en) | A kind of when facilitating house furred ceiling personnel the mobile device of Os Draconis is installed | |
| CN107327152A (en) | A kind of curtain wall robot and control method for easily realizing wall adsorption | |
| CN104895532A (en) | Chain transmission reversing and short support double long-stroke oil pumping machine and using method thereof | |
| CN104692288A (en) | Modularized lifting platform and using method thereof | |
| CN206342425U (en) | Intelligent stair sweeping robot | |
| CN210144604U (en) | Glass curtain wall robot | |
| CN208897198U (en) | A kind of bionical spider sniffing robot | |
| CN207245230U (en) | A kind of curtain wall robot for easily realizing wall adsorption | |
| CN109015276A (en) | A kind of building field environment protection pipeline outer wall rust removalling equipment | |
| CN108523785A (en) | A kind of pneumatic glass curtain cleaning robot | |
| CN107905228A (en) | Walking pile frame | |
| CN209360538U (en) | A kind of glass washing device | |
| CN207582927U (en) | A kind of building decoration intelligent work platform for high-rise balcony outer wall operation | |
| CN207672570U (en) | A kind of walking pile frame | |
| CN107598906A (en) | A kind of robot to run at high speed | |
| CN101660356A (en) | Portable machine for installing light partition boards | |
| CN106245525A (en) | One travelling wheel type main rope of suspension bridge voluntarily checks car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171226 |