CN108890651A - A kind of control method of dual clamping eddy flow rope-climbed robot - Google Patents
A kind of control method of dual clamping eddy flow rope-climbed robot Download PDFInfo
- Publication number
- CN108890651A CN108890651A CN201811124420.5A CN201811124420A CN108890651A CN 108890651 A CN108890651 A CN 108890651A CN 201811124420 A CN201811124420 A CN 201811124420A CN 108890651 A CN108890651 A CN 108890651A
- Authority
- CN
- China
- Prior art keywords
- clamping
- nozzle
- rope
- containment structures
- motor
- 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
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000009977 dual effect Effects 0.000 title claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims abstract description 51
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 44
- 238000010926 purge Methods 0.000 claims abstract description 26
- 230000007306 turnover Effects 0.000 claims abstract description 19
- 230000009194 climbing Effects 0.000 claims abstract description 11
- 238000009790 rate-determining step (RDS) Methods 0.000 claims abstract description 7
- 239000012530 fluid Substances 0.000 claims abstract description 6
- 239000007921 spray Substances 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000005507 spraying Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000007363 ring formation reaction Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Abstract
A kind of control method of dual clamping eddy flow rope-climbed robot, the rope-climbed robot include piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, bracket, motor, motor output shaft, purge block, link block, nozzle, nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, helical flow path, pinion gear, clamping structure；The clamping structure includes clamping cylinder, clamping bar, clamping plate, clamps semicircular ring, bifurcated stent；The control method includes preliminary step, rope climbing rate-determining steps, cleaning control step；The cleaning control step includes：The control valve is opened, so that water flow is crossed by link block, circular passage, helical duct to jet expansion, rotates the nozzle motor, so that forming vortex by the fluid rotary of helical duct and spraying；The motor for controlling the bracket connection drives the tooth of the containment structures outer rim so that the pinion gear rotates, to drive containment structures to rotate, so that cleaning structure rotation cleaning.
Description
Technical field
The present invention relates to rope-climbed robot related fieldss, and in particular to a kind of controlling party of dual clamping eddy flow rope-climbed robot
Method.
Background technique
With the development of science and technology and expanding economy, skyscraper is more and more, and when maintenance, worker needs to climb
Hawser then needs to climb by rope climbing tool to safeguard skyscraper, however high altitude operation risk is big, and to maintenance
The psychological quality and psychological bearing capability of worker is more demanding.
Have devised rope-climbed robot in the prior art to replace worker, but due to backward in technique, however it remains more to ask
Topic.In actual use, existing rope-climbed robot has the following problems：1, the rope-climbed robot of the prior art can carry out cleaning work
Industry, but additional increase container receiving cleaning solution or water, additional container is needed not only to be adapted to the ruler of robot when cleaning
It is very little, make it difficult to accommodate more liquid, while also will cause the imbalance of weight.
Even if 2, the rope-climbed robot of the prior art does not consider the problems of water, it is directly connected to cleaning part using water pipe,
But heavy caliber water pipe cannot be used, in order to avoid cause additional weight；Therefore bring consequence is exactly not have enough power when cleaning injection
The water flow of degree.
3, the cleaning nozzle of the prior art, structure is single, and flow path therein is unchanged, and water flow can not scatter and
Concentrate jet stream.
4, the rope-climbed robot clamping device of the prior art, the thickness difference for often occurring restricting are difficult to the case where all clamping,
In the case of these, the robot of different model is usually selected, economic cost is increased, wastes time cost.
5, the cleaning structure of the prior art, position are fixed, and can only clean different location by mobile robot, using multiple
It is miscellaneous, operating difficulties.
6, prior art cleaning structure, fluid path are right angles in turning, will cause energy loss.
Summary of the invention
In order to overcome the above problem, the present invention proposes while solving the scheme of above-mentioned various problems.
The technical solution adopted by the present invention to solve the technical problems is：A kind of control of dual clamping eddy flow rope-climbed robot
Method, the rope-climbed robot include piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, branch
Stand, water filling port, clamping structure, bracket, motor, motor output shaft, purge block, link block, nozzle, nozzle motor shaft, annular
Runner, nozzle motor, nozzle turnover panel, helical flow path, pinion gear, clamping structure；The clamping structure includes clamping cylinder, clamps
Bar, clamps semicircular ring, bifurcated stent at clamping plate；The control method includes preliminary step, rope climbing rate-determining steps, cleaning control
Step.
Cylinder barrel and piston rod are connected between two carrier bases, are moved up and down by the flexible realization of cylinder barrel and piston rod, on
The carrier base lower part of side and the carrier base top of lower section connect clamping structure, under the carrier base top of top and the carrier base of lower section
Portion connects containment structures, and for upper cleaning structure bit in the containment structures top on top, lower cleaning structure is located at the containment structures of lower part
Lower part；The containment structures and carrier base are annular, and the annular is intermediate to be equipped with clamping structure, containment structures side setting ladder
Trapezoidal groove is arranged in shape sliding block, carrier base side, and trapezoidal slide block can rotate cunning with the rotation of containment structures in trapezoidal groove
It is dynamic, extended outwardly on carrier base by bracket and be connected with motor, motor output end connects motor output shaft one end, motor output shaft
The other end connects pinion gear, and pinion gear connects the tooth of containment structures outer rim, so that containment structures be driven to rotate；The clamping structure
By the flexible realization horizontal movement of clamping cylinder, clamping bar, clamping bar one end is equipped with bifurcated stent, and bifurcated stent is to upper and lower two sides
A bifurcated is respectively stretched out, the end of top bifurcated connects the clamping plate, and the end of lower section bifurcated connects the clamping semicircular ring,
The thickness of the clamping plate is identical as the clamping thickness of semicircular ring, and the width of the clamping plate is greater than the clamping semicircular ring
Diameter.
The preliminary step includes：Containment structures and carrier base are closed up by the clamping structure and are circularized, thus will
The rope-climbed robot is crowded around around rope, is opened the lid of the water filling port position of containment structures, is filled the water into containment structures, note
The lid is closed after full water.
The rope climbing rate-determining steps include：The clamping cylinder of driving lower section first, so that the horizontal movement of clamping bar while band
It is dynamic to clamp semicircular ring and clamp board clamping and fixed rope；Secondly by the clamping of the extension movement lifting top of piston rod, cylinder barrel
Structure, the clamping cylinder of driving top after lifting, so that the horizontal movement of clamping bar drives the clamping semicircular ring and clamping plate of top
Clamp simultaneously fixed rope；The clamping structure of the back lower place unclamp, pass through the clamping knot of the contractile motion of piston rod, cylinder barrel lifting lower section
Structure；To complete a circulation of climbing.
The lower cleaning structure includes purge block, link block, nozzle, and the spout of the nozzle is described towards radial outside
The outer rim of nozzle does not extend off the outer rim of the containment structures, and purge block is fixed in containment structures, logical inside link block
Road connects the access inside containment structures, and the access inside link block is in be obliquely installed from top to bottom and connect the annular flow
Road, link block lower flat are clinoplain, and annular channel is arranged in purge block, and annular channel end connects nozzle interior
Helical flow path, purge block is interior to be equipped with nozzle motor, and nozzle motor drives nozzle rotation by nozzle described in nozzle motor axis connection
Turn, the helical flow path is equipped with three or three or more, and helical flow path end crosses jetting nozzle together, pivot joint on the outside of nozzle
There is nozzle turnover panel, the flip angle of nozzle turnover panel is adjustable, to adjust the spray angle of injection water；The upper and lower cleaning knot
Control valve is respectively provided between structure and corresponding containment structures.
The cleaning control step includes：The control valve is opened, so that water flow passes through link block, circular passage, spiral
Channel crosses to jet expansion, rotates the nozzle motor, so that forming vortex by the fluid rotary of helical duct and spraying；
The motor for controlling the bracket connection drives the tooth of the containment structures outer rim, to drive storage so that the pinion gear rotates
Water-bound rotation, so that cleaning structure rotation cleaning.
Preferably, the semicircular ring inner wall that clamps is equipped with liner more.
Preferably, the upper cleaning structure also includes purge block, link block, nozzle.
Preferably, the trapezoidal slide block replaces with T-shaped block.
Preferably, the nozzle turnover panel is four pieces.
Preferably, the nozzle turnover panel is adjusted to flaring or necking.
Preferably, the link block minimum point and purge block minimum point be not in same level.
Preferably, purge block is bolted in containment structures.
Preferably, the piston rod, cylinder barrel form cylinder, and the number of cylinders is two.
Preferably, a half space of the containment structures is used to water storage.
The beneficial effects of the invention are as follows：
1, it is directed to the 1st point of background technique, by water storage container cleverly with the main structure of robot, i.e. main body rack is connected to one
It rises, water storage container is arranged to a part of bracket, increase caused by water storage container or water storage container so as to avoid additional
Weight is uneven.
2, it is directed to the 2nd point of background technique, framework vortex injector drives nozzle rotation to generate centrifugal force by motor,
By the separation of fluid path and converge and spiral path generates vortex, so that obtaining clean-up performance preferably sprays water flow.
3, the 3rd point proposed for background technique, the nozzle turnover panel outside framework nozzle, is obtained by adjusting the angle of turnover panel
Obtain discrete water flow (large area injection is used) or concentrated flow (strength cleaning use).
4, the 4th point proposed for background technique has used dual clamping design, i.e., the clamping bar point of the same clamping structure
Two clamping elements are pitched into, clamping and firm function are combined, realizes and stablizes fastening clamping action, safety coefficient is high, bearing capacity
Greatly.
5, it is directed to the 5th point of background technique, uses annular water storage cavity, the annular water storage cavity can be in the manipulation backspin of motor
Turn any angle, to drive wiper mechanism rotation thereon, completes the jet cleaning of different angle.
6, it is directed to the 6th point of background technique, nozzle is designed using water conservancy diversion ramp type, saves energy loss.
Note：Above-mentioned design in no particular order, each all make the present invention compared with the prior art have difference and significantly into
Step.
Detailed description of the invention
Fig. 1 is overall schematic of the present invention.
Fig. 2 is cleaning structure schematic diagram under the present invention.
Fig. 3 is clamping structure schematic diagram of the present invention.
Fig. 4 is rotating-spray structural schematic diagram of the present invention.
Fig. 5 is visual angle schematic diagram below clamping structure of the present invention.
In figure, appended drawing reference is as follows：
1, piston rod 2, cylinder barrel 3, upper cleaning structure 4, lower cleaning structure 5, trapezoidal slide block 6, containment structures 7, carrier base 8, water filling
Mouth 9, clamping cylinder 11, clamping bar 12, clamping plate 13, clamps semicircular ring 14, bracket 15, motor 16, motor output at clamping structure 10
Axis 17, purge block 18, link block 19, nozzle 20, nozzle motor shaft 21, annular channel 22, nozzle motor 23, nozzle turnover panel 24,
Helical flow path 25, pinion gear 26, clamping structure 27, bifurcated stent.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in the figure：A kind of control method of dual clamping eddy flow rope-climbed robot, the rope-climbed robot include piston rod,
Cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, bracket, electricity
Mechanical, electrical machine output shaft, purge block, link block, nozzle, nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, spiral flow
Road, pinion gear, clamping structure；The clamping structure includes clamping cylinder, clamping bar, clamping plate, clamps semicircular ring, bifurcated stent；
The control method includes preliminary step, rope climbing rate-determining steps, cleaning control step.
As shown in the figure：Cylinder barrel and piston rod are connected between two carrier bases, in the flexible realization by cylinder barrel and piston rod
Lower movement, the carrier base lower part of top and the carrier base top of lower section connect clamping structure, the carrier base top of top and lower section
Carrier base lower part connect containment structures, for upper cleaning structure bit in the containment structures top on top, lower cleaning structure is located at lower part
Containment structures lower part；The containment structures and carrier base are annular, and the annular is intermediate to be equipped with clamping structure, containment structures
Trapezoidal slide block is arranged in side, and trapezoidal groove is arranged in carrier base side, and trapezoidal slide block, can be trapezoidal recessed with the rotation of containment structures
Rotational slide in slot is extended outwardly on carrier base by bracket and is connected with motor, and motor output end connects motor output shaft one end,
The motor output shaft other end connects pinion gear, and pinion gear connects the tooth of containment structures outer rim, so that containment structures be driven to rotate；Institute
The flexible realization horizontal movement that clamping structure passes through clamping cylinder, clamping bar is stated, clamping bar one end is equipped with bifurcated stent, bifurcated stent
A bifurcated is respectively stretched out to upper and lower two sides, and the end of top bifurcated connects the clamping plate, described in the end connection of lower section bifurcated
Semicircular ring is clamped, the thickness of the clamping plate is identical as the clamping thickness of semicircular ring, and the width of the clamping plate is greater than institute
State the diameter for clamping semicircular ring.
As shown in the figure：The preliminary step includes：Containment structures and carrier base are closed up into cyclization by the clamping structure
Shape opens the lid of the water filling port position of containment structures, to containment structures to crowding around the rope-climbed robot around rope
Interior water filling closes the lid after filling water.
As shown in the figure：The rope climbing rate-determining steps include：The clamping cylinder of driving lower section first, so that the horizontal fortune of clamping bar
It moves while driving and clamp semicircular ring and clamping board clamping and fixed rope；Secondly by the extension campaign lifting of piston rod, cylinder barrel
The clamping structure of side, the clamping cylinder of driving top after lifting, so that the horizontal movement of clamping bar drives the clamping semicircular ring of top
With clamping board clamping and fixed rope；The clamping structure of the back lower place unclamp, lower section is lifted by the contractile motion of piston rod, cylinder barrel
Clamping structure；To complete a circulation of climbing.
As shown in the figure：The lower cleaning structure includes purge block, link block, nozzle, and the spout direction of the nozzle is radial
Outside, the outer rim of the nozzle do not extend off the outer rim of the containment structures, and purge block is fixed in containment structures, link block
Internal access connects the access inside containment structures, and the access inside link block is described in being obliquely installed and connecting from top to bottom
Annular channel, link block lower flat are clinoplain, and annular channel is arranged in purge block, and annular channel end connects nozzle
Internal helical flow path, purge block is interior to be equipped with nozzle motor, and nozzle motor drives spray by nozzle described in nozzle motor axis connection
Mouth rotation, the helical flow path are equipped with three or three or more, and helical flow path end crosses jetting nozzle together, on the outside of nozzle
It is articulated with nozzle turnover panel, the flip angle of nozzle turnover panel is adjustable, to adjust the spray angle of injection water；It is described upper and lower clear
It washes between structure and corresponding containment structures and is respectively provided with control valve.
As shown in the figure：The cleaning control step includes：The control valve is opened, so that water flow passes through link block, annular
Channel, helical duct cross to jet expansion, rotate the nozzle motor, so that being formed by the fluid rotary of helical duct
Vortex sprays；The motor for controlling the bracket connection drives the tooth of the containment structures outer rim so that the pinion gear rotates,
To drive containment structures to rotate, so that cleaning structure rotation cleaning.
As shown in the figure：The clamping semicircular ring inner wall is equipped with liner.The upper cleaning structure also includes purge block, connection
Block, nozzle.The trapezoidal slide block replaces with T-shaped block.The nozzle turnover panel is four pieces.The nozzle turnover panel be adjusted to flaring or
Necking.The link block minimum point and purge block minimum point be not in same level.Purge block is bolted on water storage
In structure.The piston rod, cylinder barrel form cylinder, and the number of cylinders is two.One half space of the containment structures is used to store up
Water.
Above-listed detailed description is illustrating for possible embodiments of the present invention, and the embodiment is not to limit this hair
Bright the scope of the patents, all equivalence enforcements or change without departing from carried out by the present invention, is intended to be limited solely by the scope of the patents of this case.
Claims (10)
1. a kind of control method of dual clamping eddy flow rope-climbed robot, the rope-climbed robot includes piston rod, cylinder barrel, upper cleaning
Structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, bracket, motor, motor output
Axis, purge block, link block, nozzle, nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, helical flow path, pinion gear,
Clamping structure；The clamping structure includes clamping cylinder, clamping bar, clamping plate, clamps semicircular ring, bifurcated stent；It is characterized in that：
The control method includes preliminary step, rope climbing rate-determining steps, cleaning control step；Cylinder barrel and work are connected between two carrier bases
Stopper rod is moved up and down by the flexible realization of cylinder barrel and piston rod, and the carrier base lower part of top and the carrier base top of lower section connect
Clamping structure is connect, the carrier base top of top and the carrier base lower part of lower section connect containment structures, and upper cleaning structure bit is in top
Containment structures top, lower cleaning structure is located at the containment structures lower part of lower part；The containment structures and carrier base are annular,
The annular is intermediate to be equipped with clamping structure, and trapezoidal slide block is arranged in containment structures side, and trapezoidal groove is arranged in carrier base side, trapezoidal
Sliding block with containment structures rotation, can the rotational slide in trapezoidal groove, extended outwardly on carrier base by bracket and be connected with
Motor, motor output end connect motor output shaft one end, and the motor output shaft other end connects pinion gear, and pinion gear connects water storage knot
The tooth of structure outer rim, so that containment structures be driven to rotate；The flexible realization level fortune that the clamping structure passes through clamping cylinder, clamping bar
Dynamic, clamping bar one end is equipped with bifurcated stent, and bifurcated stent respectively stretches out a bifurcated, the end connection of top bifurcated to upper and lower two sides
The end of the clamping plate, lower section bifurcated connects the clamping semicircular ring, the thickness of the clamping plate and the clamping semicircular ring
Thickness it is identical, the width of the clamping plate is greater than the diameter for clamping semicircular ring；The preliminary step includes：By described
Clamping structure, which closes up containment structures and carrier base, to be circularized, to crowding around the rope-climbed robot around rope, is opened
The lid of the water filling port position of containment structures, fills the water into containment structures, closes the lid after filling water；The rope climbing rate-determining steps
Including：The clamping cylinder of driving lower section first clamps semicircular ring and clamps board clamping so that the horizontal movement of clamping bar drives simultaneously
And fixed rope；Secondly by the clamping structure of the extension movement lifting top of piston rod, cylinder barrel, the clamping of driving top after lifting
Cylinder, so that the horizontal movement of clamping bar drives the clamping semicircular ring of top and clamps board clamping and fixed rope；The back lower place folder
Locking structure unclamps, and passes through the clamping structure of the contractile motion lifting lower section of piston rod, cylinder barrel；To complete a circulation of climbing；
The lower cleaning structure includes purge block, link block, nozzle, the spout of the nozzle towards radial outside, the nozzle it is outer
Edge does not extend off the outer rim of the containment structures, and purge block is fixed in containment structures, and the access inside link block connects storage
Access inside water-bound, access inside link block is in being obliquely installed from top to bottom and connect the annular channel, link block
Lower flat is clinoplain, and annular channel is arranged in purge block, and annular channel end connects the helical flow path of nozzle interior,
Nozzle motor is equipped in purge block, nozzle motor drives nozzle rotation, the spiral by nozzle described in nozzle motor axis connection
Runner is equipped with three or three or more, and helical flow path end crosses jetting nozzle together, is articulated with nozzle turnover panel on the outside of nozzle,
The flip angle of nozzle turnover panel is adjustable, to adjust the spray angle of injection water；The upper and lower cleaning structure and corresponding storage
Control valve is respectively provided between water-bound；The cleaning control step includes：The control valve is opened, so that water flow passes through connection
Block, circular passage, helical duct cross to jet expansion, rotate the nozzle motor, so that the fluid by helical duct revolves
Turn, forms vortex and spray；The motor for controlling the bracket connection drives outside the containment structures so that the pinion gear rotates
The tooth of edge, to drive containment structures to rotate, so that cleaning structure rotation cleaning.
2. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：The folder
Tight semicircular ring inner wall is equipped with liner.
3. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：On described
Cleaning structure also includes purge block, link block, nozzle.
4. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：The ladder
Shape sliding block replaces with T-shaped block.
5. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：The spray
Mouth turnover panel is four pieces.
6. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：The spray
Mouth turnover panel is adjusted to flaring or necking.
7. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：The company
Block minimum point and purge block minimum point are connect not in same level.
8. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：Purge block
It is bolted in containment structures.
9. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：The work
Stopper rod, cylinder barrel form cylinder, and the number of cylinders is two.
10. a kind of control method of dual clamping eddy flow rope-climbed robot according to claim 1, it is characterised in that：It is described
One half space of containment structures is used to water storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124420.5A CN108890651A (en) | 2018-09-26 | 2018-09-26 | A kind of control method of dual clamping eddy flow rope-climbed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124420.5A CN108890651A (en) | 2018-09-26 | 2018-09-26 | A kind of control method of dual clamping eddy flow rope-climbed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890651A true CN108890651A (en) | 2018-11-27 |
Family
ID=64360351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811124420.5A Pending CN108890651A (en) | 2018-09-26 | 2018-09-26 | A kind of control method of dual clamping eddy flow rope-climbed robot |
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| CN (1) | CN108890651A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1256189A (en) * | 1999-12-10 | 2000-06-14 | 上海交通大学 | Pneumatic creeping cable robot |
| US20040099478A1 (en) * | 2002-11-27 | 2004-05-27 | Xerox Corporation | Climbing apparatus and method |
| CN200957564Y (en) * | 2006-09-11 | 2007-10-10 | 于复生 | Pneumatic jungle-gym robot |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
-
2018
- 2018-09-26 CN CN201811124420.5A patent/CN108890651A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1256189A (en) * | 1999-12-10 | 2000-06-14 | 上海交通大学 | Pneumatic creeping cable robot |
| US20040099478A1 (en) * | 2002-11-27 | 2004-05-27 | Xerox Corporation | Climbing apparatus and method |
| CN200957564Y (en) * | 2006-09-11 | 2007-10-10 | 于复生 | Pneumatic jungle-gym robot |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
| CN115257996B (en) * | 2022-07-19 | 2023-07-25 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
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