CN108454722B - 永磁轮式爬壁机器人 - Google Patents
永磁轮式爬壁机器人 Download PDFInfo
- Publication number
- CN108454722B CN108454722B CN201810188342.9A CN201810188342A CN108454722B CN 108454722 B CN108454722 B CN 108454722B CN 201810188342 A CN201810188342 A CN 201810188342A CN 108454722 B CN108454722 B CN 108454722B
- Authority
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- China
- Prior art keywords
- wheel
- side frame
- frame body
- plate
- permanent magnet
- 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.)
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- 230000009194 climbing Effects 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 230000001360 synchronised effect Effects 0.000 claims abstract description 93
- 238000001179 sorption measurement Methods 0.000 claims abstract description 34
- 238000003825 pressing Methods 0.000 claims description 45
- 238000004140 cleaning Methods 0.000 claims description 35
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 11
- 238000002955 isolation Methods 0.000 claims description 10
- 239000010985 leather Substances 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810188342.9A CN108454722B (zh) | 2018-03-07 | 2018-03-07 | 永磁轮式爬壁机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810188342.9A CN108454722B (zh) | 2018-03-07 | 2018-03-07 | 永磁轮式爬壁机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108454722A CN108454722A (zh) | 2018-08-28 |
CN108454722B true CN108454722B (zh) | 2023-12-29 |
Family
ID=63216745
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810188342.9A Active CN108454722B (zh) | 2018-03-07 | 2018-03-07 | 永磁轮式爬壁机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN108454722B (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109291783A (zh) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | 一种爬壁机器人 |
CN109455244B (zh) * | 2018-12-27 | 2023-06-27 | 北京史河科技有限公司 | 一种具有磁轮机构的爬壁机器人 |
CN111776103A (zh) * | 2020-07-14 | 2020-10-16 | 代志永 | 一种壁面自适应行走模块 |
CN112172954A (zh) * | 2020-09-17 | 2021-01-05 | 深圳市行知行机器人技术有限公司 | 一种壁面清洗机器人 |
Citations (9)
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RU2051058C1 (ru) * | 1992-04-13 | 1995-12-27 | Обнинский институт атомной энергетики | Транспортное средство для перемещения по ферромагнитным поверхностям |
CN1709654A (zh) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | 基于同步齿形带的磁吸附履带式爬壁机器人 |
CN102039592A (zh) * | 2010-11-10 | 2011-05-04 | 清华大学 | 多体磁吸附式自适应爬壁机器人 |
CN104475405A (zh) * | 2014-11-07 | 2015-04-01 | 常州大学 | 容器及管道爬壁清理机器人 |
CN105035202A (zh) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | 船舶除锈爬壁机器人 |
CN105416430A (zh) * | 2015-12-18 | 2016-03-23 | 哈尔滨科能熔敷科技有限公司 | 一种带有弹簧缓冲的永磁链条爬壁机器人 |
CN106393052A (zh) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | 爬壁机器人 |
CN107031748A (zh) * | 2017-04-25 | 2017-08-11 | 中科新松有限公司 | 一种爬壁机器人的通用驱动模块及其通用驱动单元 |
CN207943099U (zh) * | 2018-03-07 | 2018-10-09 | 深圳市行知行机器人技术有限公司 | 永磁轮式爬壁机器人 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7520356B2 (en) * | 2006-04-07 | 2009-04-21 | Research Foundation Of The City University Of New York | Modular wall climbing robot with transition capability |
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2018
- 2018-03-07 CN CN201810188342.9A patent/CN108454722B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2051058C1 (ru) * | 1992-04-13 | 1995-12-27 | Обнинский институт атомной энергетики | Транспортное средство для перемещения по ферромагнитным поверхностям |
CN1709654A (zh) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | 基于同步齿形带的磁吸附履带式爬壁机器人 |
CN102039592A (zh) * | 2010-11-10 | 2011-05-04 | 清华大学 | 多体磁吸附式自适应爬壁机器人 |
CN104475405A (zh) * | 2014-11-07 | 2015-04-01 | 常州大学 | 容器及管道爬壁清理机器人 |
CN105035202A (zh) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | 船舶除锈爬壁机器人 |
CN105416430A (zh) * | 2015-12-18 | 2016-03-23 | 哈尔滨科能熔敷科技有限公司 | 一种带有弹簧缓冲的永磁链条爬壁机器人 |
CN106393052A (zh) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | 爬壁机器人 |
CN107031748A (zh) * | 2017-04-25 | 2017-08-11 | 中科新松有限公司 | 一种爬壁机器人的通用驱动模块及其通用驱动单元 |
CN207943099U (zh) * | 2018-03-07 | 2018-10-09 | 深圳市行知行机器人技术有限公司 | 永磁轮式爬壁机器人 |
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CN108454722A (zh) | 2018-08-28 |
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SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Xingchao Inventor after: Chen Hao Inventor after: Cai Jiannan Inventor after: Hu Shaojie Inventor after: Zhou Wei Inventor after: Li Jiuhua Inventor after: Geng Yongqing Inventor before: Wang Xingchao Inventor before: Chen Hao Inventor before: Cai Jiannan Inventor before: Hu Shaojie Inventor before: Zhou Wei Inventor before: He Kai Inventor before: Li Jiuhua Inventor before: Fang Haitao Inventor before: Geng Yongqing |
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