CN107985432A - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
- Publication number
- CN107985432A CN107985432A CN201711318384.1A CN201711318384A CN107985432A CN 107985432 A CN107985432 A CN 107985432A CN 201711318384 A CN201711318384 A CN 201711318384A CN 107985432 A CN107985432 A CN 107985432A
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- China
- Prior art keywords
- sucker
- crawler
- air distribution
- shirt rim
- type
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
-
- 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
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Abstract
The invention discloses a kind of climbing robot.It is badly in need of climbing robot at present to replace manual work.The present invention includes equipment carrying platform, sufficient formula barrier getting over mechanism, crawler type climbing mechanism and air distribution system；Air distribution system includes the flat shirt rim sucker of hinge type, gas distribution plate and sucker connector；Gas distribution plate is rotated synchronously with crawler type climbing mechanism；N sucker connector is equidistantly fixed on crawler belt；Sucker connector and the flat shirt rim sucker tail end ball-joint of hinge type；The inner hollow of sucker connector, one end are connected with the inside of the flat shirt rim sucker of hinge type, and the other end is connected by gas-guide tube with an air distribution hole of gas distribution plate；Two-position four way change valve changes the alternating pumping with the flat shirt rim sucker of two hinge types of group；The bleeding point of all two-position four way change valves is connected by appendix with vacuum generator.The present invention is creeped barrier getting over mechanism using carrying out sufficient formula, and obstacle climbing ability is strong；By the absorption of the pressure difference of sucker intracavitary and external atmosphere pressure on concrete wall surface.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of climbing robot.
Background technology
Concrete construction is a kind of most commonly seen building in the world today.Due to the influence of external environment and human factor,
There are security risk for many concrete constructions, it may appear that the Disease Characters such as crack, peeling, surface honeycomb, to construction quality and make
Have a negative impact with effect and safety.In apparent disease is handled, it is sometimes desirable to increase at disease position fill out concrete slurry into
Row reinforcement is administered.
At present, the detection for concrete wall and administration way have two kinds.First method is that worker is slow by lifting rope
It is slow to decline, then carry out operation.Second method is first to set up the scaffold of climbing, and worker carries out operation by scaffold again.
First method is extremely hazardous and labor intensity is very big, and second method is of high cost, work efficiency is low, and some positions are difficult to
Reach.
Thus need to design a kind of climbing robot to replace manual work.The exploitation of climbing robot has two technical sides
Face：Adsorption technology and technology of creeping.Adsorption technology is a kind of technology instigated climbing robot not slide, tumbled.At present
The common suction type in climbing robot field have deboost formula, magnetic force adsorption type, vacuum adsorption type, based on Van der Waals force
Four type of animal bionic type.Deboost formula is although easy to control, but noise is very big, and job insecurity；Magnetic adsorption type
Reliable and stable, but restricted application is adsorbed, is only applicable to irony wall；Before animal bionic type application based on Van der Waals force
Scape is very wide, but research also prematurity at present, it is difficult to input application；Vacuum adsorption type has a larger adsorption capacity, adsorption reliability,
Shortcoming is that adsorption system is complex, and easy gas leakage.The technology of creeping is to instigate climbing robot can be on all kinds of metopes certainly
By creeping, a kind of technology of neatly crossing over blockage.The common reptile fashion in climbing robot field relies primarily on sufficient formula at present
Wall climbing mechanism, crawler-type wall climbing mechanism, wheel type wall climbing mechanism.But sufficient formula wall climbing mechanism creep speed is excessively slow, crawler-type wall climbing
Mechanism and wheel type wall climbing mechanism obstacle climbing ability be not strong.
Therefore, it is badly in need of a kind of climbing robot for carrying detection and maintenance of equipment based on concrete wall at present, can
Above-mentioned technical barrier is solved with comprehensive, instead of the detection and maintenance that manually carry out concrete wall.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of more safe and efficient climbing robot, use
To handle the routine testing of concrete construction and maintenance, speedily carry out rescue work transport and rescue, the various fields such as chemical industry equipment cleaning and maintenance
Encountered in problem.
The present invention includes equipment carrying platform and carries out sufficient formulas along equipment carrying platform circumferentially distributed three creeping obstacle detouring machine
Structure；Shoe foot formula barrier getting over mechanism of creeping includes bottom plate, sufficient formula barrier getting over mechanism, crawler type climbing mechanism and vacuum suction system
System.The sufficient formula barrier getting over mechanism includes steering engine, steering engine transmission shaft, robotic arm one and robotic arm two；Robotic arm one and robotic arm
Two one end is hinged by steering engine transmission shaft, and the output shaft of steering engine transmission shaft and steering engine is fixed；The other end of robotic arm one passes through
Bolt is fixed on bottom plate, and the other end of robotic arm two is bolted on equipment carrying platform.The crawler type is climbed
Row mechanism includes symmetrically arranged two crawler type crawler components；The crawler type crawler component includes crawler haulage axis, carries out
Band, speed reducing gear pair, Athey wheel one, Athey wheel two and direct current generator；Athey wheel one and Athey wheel two are fixed on two crawler belts and pass
On moving axis, wherein a crawler haulage axis is supported on a bearing block by bearing, another crawler haulage axis passes through deceleration
The output axis connection of gear pair and direct current generator；The base of direct current generator is fixed on an electric machine support；Bearing block and motor
Stent is each attached on bottom plate；Crawler belt connecting band track wheel one and Athey wheel two.
The vacuum suction system includes two air distribution systems；The air distribution system includes the flat shirt rim of hinge type and inhales
Disk, distribution transmission shaft, gas distribution plate, synchronous pulley one, synchronous pulley two, sucker connector, and connection synchronous pulley one and same
Walk the synchronous belt of belt wheel two；Distribution transmission shaft is supported on a bearing block by bearing；Synchronous pulley two and gas distribution plate are fixed
In distribution both ends of the drive shaft, and synchronous pulley two is arranged between two crawler type crawler components, and gas distribution plate is arranged on two shoes
On the outside of belt crawler component；N sucker connector is equidistantly fixed on crawler belt, n >=6, and is even number；Sucker connector and hinge
The flat shirt rim sucker tail end ball-joint of formula；The flat shirt rim sucker of hinge type is the big hollow round table shape of the small head end of tail end, and head end
It is connected with circular flat shirt rim madial wall；The inner hollow of sucker connector, one end and the flat shirt rim sucker of hinge type
Inside connection, the other end are connected by gas-guide tube with an air distribution hole of gas distribution plate；Track length l, Athey wheel one and Athey wheel
Two radius r1, synchronous pulley one radius r2With the radius r of synchronous pulley two3Meet formulaEach distribution system
In system, the air distribution hole number of gas distribution plate is identical with the number of the flat shirt rim sucker of hinge type；The synchronous pulley of each air distribution system
One is fixed on wherein on a crawler haulage axis of a corresponding crawler type crawler component.In same air distribution system, along synchronous belt
Circumferential every two neighboring sucker connector is a sucker connector group；Two air distribution systems are along synchronous belt circumferential direction correspondence position
In two sucker connector groups, connect two sucker connectors of different groups of correspondence positions two air distribution holes and one two four
The same working hole of logical reversal valve is connected, and connects two air distribution holes and the two-position four way change valve of another two sucker connector
Another working hole connect；The bleeding point of all two-position four way change valves is connected by appendix with vacuum generator；Air
Compressor provides positive pressure source of the gas to vacuum generator.
The material of the Athey wheel one and Athey wheel two uses makrolon, and the material of crawler belt uses natural rubber or suitable
Buna.
Safety device is further included, the safety device includes hoist engine and steel wire rope；Wire rope rope is being set
On standby carrying platform.
The air compressor uses piston type oilless (oil free) compressor.
The bleeding point of the vacuum generator is equipped with vacuum feed valve, pressure stable throttle valve and vacuum filter；Two-position four-way
Reversal valve, vacuum feed valve, pressure stable throttle valve, vacuum generator and air compressor are controlled by PLC.
Compared with prior art, beneficial effects of the present invention are as follows：
1) present invention is creeped barrier getting over mechanism using carrying out sufficient formula, and obstacle climbing ability is strong, and adsorption capacity is big, creep speed is fast, Ke Yi
On various concrete walls freely, quickly and safely move, can crossing over blockage, and between the wall of different angle back and forth
Movement, completes appointed task.Air distribution system forms vacuum environment using air compressor and vacuum generator in suction cup interior, borrows
The absorption of the pressure official post climbing robot of sucker intracavitary and external atmosphere pressure is helped to possess very strong wall on concrete wall surface and inhale
Attached ability, suitable for the work on the various walls such as cement, lime, ceramic tile.
2) the flat shirt rim sucker of hinge type of the invention, can be freely rotated to adapt to wall according to the difference of wall angle
Face, adds the wall adaptability of sucker.
3) crawler belt and Athey wheel of the invention use macromolecule polymeric material on the premise of it disclosure satisfy that service load, no
Only mitigate the heavy burden of robot itself, moreover it is possible to increase its security of creeping.
4) present invention is compact-sized, firm, safe and reliable and easy to disassemble, assembles and safeguards；Easy to operate,
It is convenient, automated control is realized by PLC；Carrying platform can load Crack Detection instrument, concrete glue-injection machine etc. detection and
Maintained equipment, realizes functional diversities.
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the present invention；
Fig. 2 is the structure diagram of mesopodium formula barrier getting over mechanism of the present invention；
Fig. 3 is to carry out sufficient formula in the present invention to creep the structural perspective of barrier getting over mechanism；
Fig. 4 is to carry out sufficient formula in the present invention to creep the structure top view of barrier getting over mechanism；
Fig. 5 is the structural perspective of air distribution system in the present invention；
Fig. 6 is that sucker connector and the flat shirt rim sucker of hinge type are assemblied in the schematic diagram on crawler belt in the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The scope being not intended to limit the invention.
As shown in Figure 1, a kind of climbing robot, including safety device, equipment carrying platform 6 and carried along equipment flat
Platform 6 circumferentially distributed three carries out sufficient formulas and creeps barrier getting over mechanism 11；Equipment carrying platform 6 can load Crack Detection instrument, coagulation
The detections such as native glue-injection machine and maintained equipment, realize functional diversities；Protective device of the safety device as robot；Safety
Protective device includes hoist engine and steel wire rope；Hoist engine is installed aloft, and wire rope rope is on equipment carrying platform；Steel wire rope work
Make comparisons stabilization, and can be together connected to power cord, appendix on climbing robot, it is not necessary in addition wiring；Sufficient formula is carried out to creep
Barrier getting over mechanism 11 includes bottom plate 1, sufficient formula barrier getting over mechanism 7, crawler type climbing mechanism 8 and vacuum suction system 12；Crawler type is creeped
Mechanism 8 mainly completes quick movement, and sufficient formula barrier getting over mechanism 7 mainly completes obstacle detouring, and vacuum suction system is mainly completed to concrete
The absorption of wall, ensures safe and reliable.
As shown in Figure 1,2 and 3, sufficient formula barrier getting over mechanism 7 includes steering engine 10, steering engine transmission shaft 5, robotic arm 1 and robotic arm
2 16；One end of robotic arm 1 and robotic arm 2 16 is hinged by steering engine transmission shaft 5, and steering engine transmission shaft 5 is defeated with steering engine 10
Shaft is fixed；The other end of robotic arm 1 is bolted on bottom plate 1, and the other end of robotic arm 2 16 is consolidated by bolt
It is scheduled on equipment carrying platform 6.
As shown in Fig. 1,3 and 4, crawler type climbing mechanism 8 includes symmetrically arranged two crawler type crawler components；Crawler type
Crawler component includes crawler haulage axis 3, crawler belt 9, speed reducing gear pair 14, Athey wheel 1, Athey wheel 2 22 and direct current generator 17；
Athey wheel 1 and Athey wheel 2 22 are fixed on two crawler haulage axis 3, wherein a crawler haulage axis 3 is supported by bearing
On a bearing block 2, another crawler haulage axis 3 passes through the output axis connection of speed reducing gear pair 14 and direct current generator 17；Directly
The base of galvanic electricity machine 17 is fixed on an electric machine support 19；Bearing block and electric machine support are bolted on bottom plate 1；
9 connecting band track wheel 1 of crawler belt and Athey wheel 2 22；17 differential of direct current generator of two crawler type crawler components rotates realization and turns
To.
As shown in Fig. 4,5 and 6, vacuum suction system 12 includes two air distribution systems 13；Air distribution system 13 includes hinge type
Flat shirt rim sucker 4, distribution transmission shaft 21, gas distribution plate 23, synchronous pulley 1, synchronous pulley 2 26, sucker connector 27, with
And the synchronous belt 25 of connection synchronous pulley 1 and synchronous pulley 2 26；Distribution transmission shaft 21 is supported on a bearing by bearing
On seat 2；Synchronous pulley 2 26 and gas distribution plate 23 are fixed on 21 both ends of distribution transmission shaft, and synchronous pulley 2 26 is arranged on two shoes
Between belt crawler component, gas distribution plate 23 is arranged on the outside of two crawler type crawler components；(n is even number to n, and here 6) n values is
A sucker connector 27 is equidistantly fixed on crawler belt 9；Sucker connector 27 and the flat 4 tail end ball-joint of shirt rim sucker of hinge type,
Strengthen the wall adaptability of sucker；The flat shirt rim sucker 4 of hinge type is the big hollow round table shape of the small head end of tail end, and head end and circle
The madial wall connection of ring-shaped flat bottom shirt rim, the air-tightness of flat shirt rim enhancing sucker；The inner hollow of sucker connector 27, one end
Connected with the inside of the flat shirt rim sucker 4 of hinge type, the other end is connected by gas-guide tube with an air distribution hole of gas distribution plate 23；This
In need to ensure crawler belt 9 when turning around, gas distribution plate 23 also just turns around, and such gas-guide tube would not be wound；Each air distribution system
In 13, the air distribution hole number of gas distribution plate 23 is identical with the number of the flat shirt rim sucker 4 of hinge type；The synchronization of each air distribution system 13
Belt wheel 1 is fixed on wherein on a crawler haulage axis 3 of a corresponding crawler type crawler component.In same air distribution system 13,
It is a sucker connector group along the circumferential every two neighboring sucker connector 27 of synchronous belt；Two air distribution systems are circumferential along synchronous belt
In two sucker connector groups of correspondence position, four air distribution holes connected with four sucker connectors use a two-position four-way
Reversal valve distribution：That is two air distribution systems connect different groups along two sucker connector groups of synchronous belt circumferential direction correspondence position
The same working hole of two air distribution holes of two sucker connectors 27 of correspondence position and a two-position four way change valve is connected,
Another working hole of two air distribution holes and the two-position four way change valve that connect another two sucker connector 27 is connected；Two
The flat shirt rim sucker 4 of hinge type not worked at the same time is together in parallel, and two air distribution systems of connecting, and can not only save cost,
And system can be simplified, mitigate overall weight；The bleeding point of all two-position four way change valves is occurred by appendix and vacuum
Device connects；The bleeding point of vacuum generator is equipped with vacuum feed valve, pressure stable throttle valve and vacuum filter；Air compressor is to true
Empty generator provides positive pressure source of the gas；Air compressor uses small-sized piston formula oilless (oil free) compressor, lift gas pressure；Two-position four-way
Reversal valve, vacuum feed valve, pressure stable throttle valve, vacuum generator and air compressor are controlled by PLC.
The operation principle of the climbing robot：
Direct current generator 17 drives crawler belt 9 and gas distribution plate 23 to move at the same time, and when ensureing that crawler belt 9 turns around, gas distribution plate 23
Just turn around, prevent gas-guide tube from mutually winding；If 9 length of crawler belt is l, the radius of Athey wheel 1 and Athey wheel 2 22 is
r1, the radius of synchronous pulley 1 is r2, the radius of synchronous pulley 2 26 is r3, then meetI.e.When, you can when ensureing that crawler belt 9 turns around, gas distribution plate 23 also just turns around.The flat skirt of hinge type on crawler belt
Side sucker, is controlled by vacuum suction system, can clench wall；When creeping on wall, commutated by two-position four-way
Valve changes the alternating pumping with the flat shirt rim sucker of two hinge types of group, the flat shirt rim sucker pumping of that hinge type above
During absorption, the flat shirt rim sucker of that hinge type below unclamps at the same time, and the flat shirt rim sucker of that hinge type above unclamps
When, next group of the flat shirt rim sucker of two hinge types starts alternately to be evacuated.
It is to carry out the creep direct current generator of barrier getting over mechanism 11 of sufficient formulas by two below to control and carry out with different rotating speeds when need to turn to
The differential of band is rotated to realize；When there is obstacle on wall, direct current generator is stopped, and steering engine starts sufficient formula barrier getting over mechanism 7 and lifts
Rise it is whole carry out sufficient formula and creep barrier getting over mechanism 11, carry out sufficient formulas barrier getting over mechanism 11 of creeping for three and lift successively by obstacle, realize obstacle detouring
Climb wall.
Sufficient formula and crawler type combine, and greatly increase the efficiency of creeping of climbing robot.The flat shirt rim sucker of hinge type
Tail end ball-joint can not only make climbing robot easily pass some obstacles, and can make it different angle wall it
Between transition back and forth, this design greatly strengthen the flexibility that it creeps.
Claims (5)
1. a kind of climbing robot, including equipment carrying platform and carry out sufficient formulas along circumferentially distributed three of equipment carrying platform and creep
Barrier getting over mechanism, it is characterised in that：Shoe foot formula barrier getting over mechanism of creeping includes bottom plate, sufficient formula barrier getting over mechanism, crawler type and creeps
Mechanism and vacuum suction system；The sufficient formula barrier getting over mechanism includes steering engine, steering engine transmission shaft, robotic arm one and robotic arm two；
One end of robotic arm one and robotic arm two is hinged by steering engine transmission shaft, and the output shaft of steering engine transmission shaft and steering engine is fixed；Machine
The other end of arm one is bolted on bottom plate, and the other end of robotic arm two is bolted on equipment carrying platform
On；The crawler type climbing mechanism includes symmetrically arranged two crawler type crawler components；The crawler type crawler component
Including crawler haulage axis, crawler belt, speed reducing gear pair, Athey wheel one, Athey wheel two and direct current generator；Athey wheel one and Athey wheel two
It is fixed on two crawler haulage axis, wherein a crawler haulage axis is supported on a bearing block by bearing, another shoe
The output axis connection that V belt translation axis passes through speed reducing gear pair and direct current generator；The base of direct current generator is fixed on an electric machine support
On；Bearing block and electric machine support are each attached on bottom plate；Crawler belt connecting band track wheel one and Athey wheel two；
The vacuum suction system includes two air distribution systems；The air distribution system include the flat shirt rim sucker of hinge type,
Distribution transmission shaft, gas distribution plate, synchronous pulley one, synchronous pulley two, sucker connector, and connection synchronous pulley one and synchronous belt
The synchronous belt of wheel two；Distribution transmission shaft is supported on a bearing block by bearing；Synchronous pulley two and gas distribution plate, which are fixed on, matches somebody with somebody
Gas both ends of the drive shaft, and synchronous pulley two is arranged between two crawler type crawler components, gas distribution plate is arranged on two crawler types
On the outside of crawler component；N sucker connector is equidistantly fixed on crawler belt, n >=6, and is even number；Sucker connector is put down with hinge type
The sucker tail end ball-joint of bottom shirt rim；The flat shirt rim sucker of hinge type is the big hollow round table shape of the small head end of tail end, and head end and circle
Cricoid flat shirt rim madial wall connection；The inner hollow of sucker connector, one end and the inside of the flat shirt rim sucker of hinge type
Connection, the other end are connected by gas-guide tube with an air distribution hole of gas distribution plate；Track length l, Athey wheel one and Athey wheel two
Radius r1, synchronous pulley one radius r2With the radius r of synchronous pulley two3Meet formulaEach air distribution system
In, the air distribution hole number of gas distribution plate is identical with the number of the flat shirt rim sucker of hinge type；The synchronous pulley one of each air distribution system
It is fixed on wherein on a crawler haulage axis of a corresponding crawler type crawler component；In same air distribution system, along synchronous band
It is a sucker connector group to every two neighboring sucker connector；Two air distribution systems are along the two of synchronous belt circumferential direction correspondence position
In a sucker connector group, two air distribution holes and a two-position four-way of two sucker connectors of different groups of correspondence positions are connected
The same working hole of reversal valve is connected, and connects two air distribution holes and the two-position four way change valve of another two sucker connector
Another working hole is connected；The bleeding point of all two-position four way change valves is connected by appendix with vacuum generator；Air pressure
Contracting machine provides positive pressure source of the gas to vacuum generator.
A kind of 2. climbing robot according to claim 1, it is characterised in that：The material of the Athey wheel one and Athey wheel two
Material uses makrolon, and the material of crawler belt uses natural rubber or butadiene rubber.
A kind of 3. climbing robot according to claim 1, it is characterised in that：Safety device is further included, it is described
Safety device includes hoist engine and steel wire rope；Wire rope rope is on equipment carrying platform.
A kind of 4. climbing robot according to claim 1, it is characterised in that：The air compressor uses piston type
Oilless (oil free) compressor.
A kind of 5. climbing robot according to claim 1, it is characterised in that：The bleeding point of the vacuum generator is equipped with
Vacuum feed valve, pressure stable throttle valve and vacuum filter；Two-position four way change valve, vacuum feed valve, pressure stable throttle valve, vacuum hair
Raw device and air compressor are controlled by PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318384.1A CN107985432B (en) | 2017-12-12 | 2017-12-12 | A kind of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318384.1A CN107985432B (en) | 2017-12-12 | 2017-12-12 | A kind of climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107985432A true CN107985432A (en) | 2018-05-04 |
| CN107985432B CN107985432B (en) | 2019-05-14 |
Family
ID=62037152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711318384.1A Active CN107985432B (en) | 2017-12-12 | 2017-12-12 | A kind of climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107985432B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| CN109468947A (en) * | 2018-12-28 | 2019-03-15 | 山东华鉴工程检测有限公司 | A kind of intelligent box beam visual defects detection device and method greatly |
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
| CN110040190A (en) * | 2019-04-23 | 2019-07-23 | 哈尔滨理工大学 | A kind of adsorption system for sucker crawler-type wall climbing robot |
| CN110561254A (en) * | 2019-09-30 | 2019-12-13 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN111055948A (en) * | 2020-01-02 | 2020-04-24 | 杭州电子科技大学 | Cable tunnel inspection robot based on telescopic gear train |
| CN114889717A (en) * | 2022-04-12 | 2022-08-12 | 安徽工程大学 | High-altitude crawler-type adsorption wall-climbing robot |
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| CN1709654A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
| CN103129639A (en) * | 2013-02-26 | 2013-06-05 | 西北工业大学 | Cam-type negative pressure adsorption wall-climbing robot |
| GB2532295A (en) * | 2014-11-13 | 2016-05-18 | Sewell Gary | Surface effect unmanned vehicle |
| CN106264308A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of collapsible climbing device of glass curtain wall clean robot |
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| US4727949A (en) * | 1984-03-05 | 1988-03-01 | Watercraft Offshore Canada Ltd. | All terrain vehicle and method of operating same |
| CN1428226A (en) * | 2001-12-28 | 2003-07-09 | 吴志明 | Crawler multi-sucker wall-climbing robot and its implement method |
| CN1709654A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| CN109229227B (en) * | 2018-11-09 | 2019-10-01 | 燕山大学 | Climbing robot |
| CN109468947A (en) * | 2018-12-28 | 2019-03-15 | 山东华鉴工程检测有限公司 | A kind of intelligent box beam visual defects detection device and method greatly |
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
| CN110040190A (en) * | 2019-04-23 | 2019-07-23 | 哈尔滨理工大学 | A kind of adsorption system for sucker crawler-type wall climbing robot |
| CN110561254A (en) * | 2019-09-30 | 2019-12-13 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN110561254B (en) * | 2019-09-30 | 2024-04-26 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN111055948A (en) * | 2020-01-02 | 2020-04-24 | 杭州电子科技大学 | Cable tunnel inspection robot based on telescopic gear train |
| CN114889717A (en) * | 2022-04-12 | 2022-08-12 | 安徽工程大学 | High-altitude crawler-type adsorption wall-climbing robot |
| CN114889717B (en) * | 2022-04-12 | 2023-08-18 | 安徽工程大学 | High-altitude crawler-type adsorption wall climbing robot |
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| CN107985432B (en) | 2019-05-14 |
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