CN109018054A - Adaptive cambered surface magnetic suck climbing robot - Google Patents
Adaptive cambered surface magnetic suck climbing robot Download PDFInfo
- Publication number
- CN109018054A CN109018054A CN201811124138.7A CN201811124138A CN109018054A CN 109018054 A CN109018054 A CN 109018054A CN 201811124138 A CN201811124138 A CN 201811124138A CN 109018054 A CN109018054 A CN 109018054A
- Authority
- CN
- China
- Prior art keywords
- magnetic suck
- cambered surface
- car body
- climbing robot
- adaptive
- 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
- 230000009194 climbing Effects 0.000 title claims abstract description 24
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000005452 bending Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 210000000515 tooth Anatomy 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 abstract description 9
- 239000010959 steel Substances 0.000 abstract description 9
- 230000009193 crawling Effects 0.000 abstract description 4
- 238000013016 damping Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000001179 sorption measurement 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
-
- 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
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
- B62D55/0847—Track blocking devices mounted on the frame; Track guides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- 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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The invention proposes a kind of adaptive cambered surface magnetic suck climbing robots, by the way that magnetic suck pedrail mechanism is hinged with car body, and damper is set, when needs are when steel pipe inner arc or outer arc do wide-angle, vertical crawling, magnetic suck pedrail mechanism does adaptability rotation around car body with landing ground radian, damper plays the role of support and damping, to adapt to the steel pipe or cambered surface of different radians；Further, it by the way that motor to be set in chain crawler belt, without installing complicated gear shift, runs more stable；Setting driving gear and driven gear, and the two spacing can be adjusted according to actual needs, facilitate adjusting track tension；Guiding mechanism is set, up-and-down ground can be fitted, reduces the impact force in walking process.
Description
Technical field
The present invention relates to climbing robot field more particularly to a kind of adaptive cambered surface magnetic suck climbing robots.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Detection device carries out mechanical, electrical, the instrument of a series of pipeline operations under the remote control operation or computer controlled automatic of staff
Integral system.
Current magnetic suck climbing robot on the market, can only move in the plane, can not be in cambered steel pipe intrados
Or extrados is mobile, when needs are when steel pipe inner arc or outer arc do wide-angle, vertical crawling, because self structure reason, causes
Adsorption capacity is inadequate, so that so that crawl device is fallen down causes safety accident and loss, in order to realize wide-angle, vertical shifting on steel pipe
It is dynamic, it is generally used the steel pipe or arc that magnetic crawler belt or magnet-wheel are made into the cambered surface of radian known to steel pipe and meet identical radian measure
Face, such robot need to result in the need for frequently replacing magnetic crawler belt or magnet-wheel with various types of magnetic crawler belts or magnet-wheel.
Summary of the invention
In view of this, the invention proposes a kind of adaptive cambered surface magnetic suck climbing robots.
The technical scheme of the present invention is realized as follows: the present invention provides a kind of adaptive cambered surface magnetic suck crawling machines
People comprising car body (1) and two magnetic suck pedrail mechanisms (2), magnetic suck pedrail mechanism (2) include rack (21), driving gear
(22), driven gear (23) and chain crawler belt (24), driving gear (22), driven gear (23) can be rotated with rack (21) respectively
It connects and is engaged with chain crawler belt (24), further include at least two dampers (3), two racks (21) are set to car body (1) two sides
And be hinged therewith, damper (3) both ends are hinged car body (1) and rack (21) respectively.
On the basis of above technical scheme, it is preferred that the damper (3) includes two hinged seats (31), a screw rod
(32) it is threadedly coupled respectively with two hinged seats (31) with spring (33), screw rod (32) both ends, spring (33) is nested in screw rod (32)
Upper and both ends support two hinged seats (31) respectively, and two hinged seats (31) are hinged with car body (1) and rack (21) respectively.
On the basis of above technical scheme, it is preferred that the rack (21) includes two bearing plates disposed in parallel
(211), a fixed plate (212), a bending plate (213) and an articulated slab (214), two drivings gear (22) and two driven gears
(23) it is respectively arranged at two bearing plate (211) heads and two sides of tail, fixed plate (212) is parallel with articulated slab (214) fixed
It is arranged in bearing plate (211), bending plate (213) both ends are respectively fixedly connected with fixed plate (212) and articulated slab (214), fixed plate
(212) it is fixedly installed with bearing plate (211), articulated slab (214) is hinged with car body (1) and damper (3) respectively.
It is further preferred that car body (1) side is provided with support column (11), support column (11) end face and articulated slab (214)
Mutually support.
It is further preferred that further including shaft coupling (4), T-type gear-box (5) and motor (6), motor (6) is fixed in parallel
It is sequentially connected between two bearing plates (211) and with shaft coupling (4) and T-type gear-box (5), T-type gear-box (5) is fixed on two
Gear (22) axis connections are driven between bearing plate (211) and with two.
It is further preferred that the magnetic suck pedrail mechanism (2) further include limited block (25), it is tension screw (26), driven
Axis (27) and opening bearing (28), bearing plate (211) tail portion are provided with strip loose slot (215), and driven shaft (27) passes through strip
Loose slot (215) and both ends nesting fix two driving gears (22), and tension screw (26) is vertically arranged and holds with driven shaft (27)
Portion is fixedly connected with opening bearing (28), and opening bearing (28) is nested on driven shaft (27), tension screw (26) and limited block
(25) it is threadedly coupled, limited block (25) is fixedly installed between two bearing plates (211).
It is further preferred that further including guiding mechanism (29), guiding mechanism (29) includes two tripods (291), a pivot
Axis (292) and four directive wheels (293), tripod (291) be in isosceles triangle, two tripods (291) it is arranged in parallel and
Corner position is connected and fixed by pivotal axis (292), and pivotal axis (292) is set between two bearing plates (211) and can turn therewith
Dynamic connection, four directive wheels (293) are respectively arranged at tripod (41) base angle position and roll with chain crawler belt (24) and connect.
Still more preferably, there are four guiding mechanism (29) settings, driving gear (22) and driven tooth are set to
It is symmetrical arranged between wheel (23) and two-by-two up and down.
Adaptive cambered surface magnetic suck climbing robot of the invention has the advantages that compared with the existing technology
(1) by the way that magnetic suck pedrail mechanism to be hinged with car body, and damper is set, when needing in steel pipe inner arc or outer
When arc does wide-angle, vertical crawling, magnetic suck pedrail mechanism does adaptability rotation around car body with landing ground radian, and damper plays
The effect of support and damping, to adapt to the steel pipe or cambered surface of different radians；
(2) further, by the way that motor to be set in chain crawler belt, without installing complicated gear shift, fortune
Row is more stable；
(3) setting driving gear and driven gear, and the two spacing can be adjusted according to actual needs, facilitate adjusting crawler belt
Rate of tension；
(4) guiding mechanism is set, up-and-down ground can be fitted, reduces the impact force in walking process.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the perspective view of adaptive cambered surface magnetic suck climbing robot of the invention；
Fig. 2 is the explosive view of adaptive cambered surface magnetic suck climbing robot of the invention；
Fig. 3 is the side view of the magnetic suck pedrail mechanism of adaptive cambered surface magnetic suck climbing robot of the invention；
Fig. 4 is the perspective view of the drive part of adaptive cambered surface magnetic suck climbing robot of the invention；
Fig. 5 is the perspective view of the guiding mechanism of adaptive cambered surface magnetic suck climbing robot of the invention；
Fig. 6 is the front view of the damper of adaptive cambered surface magnetic suck climbing robot of the invention.
Specific embodiment
Below in conjunction with embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clearly and completely
Description, it is clear that described embodiment is only some embodiments of the invention, rather than whole embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all
Other embodiments shall fall within the protection scope of the present invention.
As shown in Figure 1, in conjunction with Fig. 5, adaptive cambered surface magnetic suck climbing robot of the invention comprising car body 1, two magnetic
Adsorb pedrail mechanism 2, at least two dampers 3, shaft coupling 4, T-type gear-box 5 and motor 6.
Car body 1 carries feature operation equipment.
Damper 3 limits the relative position of rack 21 and car body 1, plays cushioning effect.3 both ends of damper are hinged respectively
Car body 1 and rack 21.Specifically, the damper 3 includes two hinged seats 31, a screw rod 32 and spring 33,32 both ends of screw rod point
It is not threadedly coupled with two hinged seats 31, spring 33 is nested on screw rod 32 and both ends support two hinged seats 31, two hinged seats respectively
31 are hinged with car body 1 and rack 21 respectively.
Magnetic suck pedrail mechanism 2 is the walking mechanism of car body 1.As shown in Fig. 2, in conjunction with Fig. 3 and Fig. 4 comprising rack
21, gear 22, driven gear 23, chain crawler belt 24, limited block 25, tension screw 26, driven shaft 27, opening 28 and of bearing are driven
Guiding mechanism 29.
Wherein, gear 22, driven gear 23 is driven to be rotatably connected and engage with chain crawler belt 24, machine with rack 21 respectively
Frame 21 is hinged with car body 1.Specifically, rack 21 includes two bearing plates 211 disposed in parallel, a fixed plate 212, one bending
Plate 213 and an articulated slab 214, two driving gears 22 and two driven gears 23 are respectively arranged at two 211 heads of bearing plate and tail
Portion two sides, fixed plate 212 is parallel with articulated slab 214 to be fixed on the setting of bearing plate 211, and 213 both ends of bending plate are respectively fixedly connected with
Fixed plate 212 and articulated slab 214, fixed plate 212 and bearing plate 211 are fixedly installed, articulated slab 214 respectively with car body 1 and damping
Device 3 is hinged.In this way, articulated slab 214 can be rotated around car body 1, to adapt to the surface of different arcs.Bending plate 213 guarantees machine
There are enough spaces between frame 21 and car body 1, is rotated convenient for articulated slab 214.Specifically, 1 side of car body is provided with support column 11,
11 end face of support column is mutually supported with articulated slab 214.In this way, limited support can be played the role of to articulated slab 214.
As shown in figure 3, adjusting the rate of tension of chain crawler belt 24 for convenience, 211 tail portion of bearing plate is provided with strip activity
Slot 215, driven shaft 27 passes through strip loose slot 215 and both ends nesting fixes two driving gears 22, tension screw 26 and driven shaft
27 be vertically arranged and end be fixedly connected opening bearing 28, opening bearing 28 be nested on driven shaft 27, tension screw 26 and limit
Position block 25 is threadedly coupled, and limited block 25 is fixedly installed between two bearing plates 211.In this way, by rotation tension screw 26, just
Driven shaft 27 can be driven to be moved forward and backward in strip loose slot 215, to adjust driving gear 22, driven gear 23 and chain
The rate of tension of crawler belt 24.
As drive part, motor 6 and rack 21 are fixed and are sequentially connected with driving gear 22.Specifically, motor 6 is parallel
It is fixed between two bearing plates 211 and is sequentially connected with shaft coupling 4 and T-type gear-box 5, T-type gear-box 5 is fixed on two and holds
22 axis connections of gear are driven between weight plate 211 and with two.
In order to adapt to the up-and-down situation in ground, as shown in figure 5, guiding mechanism 29 is pivoted including two tripods 291, one
Axis 292 and four directive wheels 293, tripod 291 are in isosceles triangle, and two tripods 291 are arranged in parallel and corner position
It is connected and fixed by pivotal axis 292, pivotal axis 292 is set between two bearing plates 211 and is rotatably connected therewith, four guiding
Wheel 293 is respectively arranged at 41 base angle position of tripod and rolls with chain crawler belt 24 and connects.In this way, when encountering hypsography,
Tripod 291 can be rotated around bearing plate 211, reduce the impact force that chain crawler belt 24 is subject to.Specifically, the guiding mechanism 29 is set
There are four setting, it is set between driving gear 22 and driven gear 23 and is symmetrical arranged two-by-two up and down.
The external motor type pipeline climbing robot mode of action of the invention is as follows:
Motor 6 drives driving gear 22 to rotate, and the circulation of drive chain crawler belt 24 is advanced；
At the ground for encountering fluctuating, tripod 291 can be rotated around bearing plate 211, and what reduction chain crawler belt 24 was subject to rushes
Power is hit, meanwhile, damper 3 can play the role of damping.
The foregoing is merely better embodiments of the invention, are not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of adaptive cambered surface magnetic suck climbing robot comprising car body (1) and two magnetic suck pedrail mechanisms (2), magnetic
Attached pedrail mechanism (2) includes rack (21), driving gear (22), driven gear (23) and chain crawler belt (24), drives gear
(22), driven gear (23) is rotatably connected with rack (21) respectively and engages with chain crawler belt (24), it is characterised in that: also wraps
It includes at least two dampers (3), two racks (21) are set to car body (1) two sides and are hinged therewith, damper (3) both ends difference
It is hinged car body (1) and rack (21).
2. adaptive cambered surface magnetic suck climbing robot as described in claim 1, it is characterised in that: damper (3) packet
Two hinged seats (31), a screw rod (32) and spring (33) are included, screw rod (32) both ends are threadedly coupled with two hinged seats (31) respectively, bullet
Spring (33) is nested on screw rod (32) and both ends support two hinged seats (31) respectively, two hinged seats (31) respectively with car body (1) with
Rack (21) is hinged.
3. cambered surface magnetic suck climbing robot as described in claim 1 adaptive, it is characterised in that: the rack (21) includes
Two bearing plate (211), a fixed plate (212), a bending plate (213) and an articulated slabs (214) disposed in parallel, two sliding tooths
Wheel (22) and two driven gears (23) are respectively arranged at two bearing plate (211) heads and two sides of tail, fixed plate (212) and hinge
Fishplate bar (214) is fixed on bearing plate (211) setting in parallel, and bending plate (213) both ends are respectively fixedly connected with fixed plate (212) and hinge
Fishplate bar (214), fixed plate (212) and bearing plate (211) are fixedly installed, articulated slab (214) respectively with car body (1) and damper
(3) it is hinged.
4. adaptive cambered surface magnetic suck climbing robot as claimed in claim 3, it is characterised in that: the setting of car body (1) side
Have support column (11), support column (11) end face is mutually supported with articulated slab (214).
5. cambered surface magnetic suck climbing robot as claimed in claim 3 adaptive, it is characterised in that: further include shaft coupling (4),
T-type gear-box (5) and motor (6), motor (6) in parallel be fixed between two bearing plates (211) and with shaft coupling (4) and T-type
Gear-box (5) is sequentially connected, and T-type gear-box (5) is fixed between two bearing plates (211) and connects with two driving gear (22) axis
It connects.
6. adaptive cambered surface magnetic suck climbing robot as claimed in claim 3, it is characterised in that: the magnetic suck tracked machine
Structure (2) further includes limited block (25), tension screw (26), driven shaft (27) and opening bearing (28), and bearing plate (211) tail portion is set
It is equipped with strip loose slot (215), driven shaft (27) passes through strip loose slot (215) and both ends nesting fixes two driving gears
(22), tension screw (26) is vertically arranged with driven shaft (27) and end is fixedly connected with opening bearing (28), is open bearing (28)
It is nested on driven shaft (27), tension screw (26) is threadedly coupled with limited block (25), and limited block (25) is fixedly installed on two
Between bearing plate (211).
7. adaptive cambered surface magnetic suck climbing robot as claimed in claim 3, it is characterised in that: further include guiding mechanism
(29), guiding mechanism (29) includes two tripods (291), a pivotal axis (292) and four directive wheels (293), tripod (291)
In isosceles triangle, two tripods (291) are arranged in parallel and corner position is connected and fixed by pivotal axis (292), pivotal axis
(292) it is set between two bearing plates (211) and is rotatably connected therewith, four directive wheels (293) are respectively arranged at triangle
Frame (41) base angle position and with chain crawler belt (24) roll connect.
8. adaptive cambered surface magnetic suck climbing robot as claimed in claim 7, it is characterised in that: the guiding mechanism (29)
There are four settings, is set between driving gear (22) and driven gear (23) and is symmetrical arranged two-by-two up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124138.7A CN109018054A (en) | 2018-09-26 | 2018-09-26 | Adaptive cambered surface magnetic suck climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124138.7A CN109018054A (en) | 2018-09-26 | 2018-09-26 | Adaptive cambered surface magnetic suck climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109018054A true CN109018054A (en) | 2018-12-18 |
Family
ID=64617990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811124138.7A Pending CN109018054A (en) | 2018-09-26 | 2018-09-26 | Adaptive cambered surface magnetic suck climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109018054A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436237A (en) * | 2018-12-28 | 2019-03-08 | 舟山万邦永跃船舶修造有限公司 | Rust removing robot |
| CN110116767A (en) * | 2019-06-19 | 2019-08-13 | 广东电网有限责任公司 | A kind of robot |
| CN112455561A (en) * | 2020-11-30 | 2021-03-09 | 山西华遇科技开发有限公司 | Novel easily adjust formula robot crawler-type and remove chassis |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN1789062A (en) * | 2005-12-21 | 2006-06-21 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
| JP2007045372A (en) * | 2005-08-12 | 2007-02-22 | Hitachi Constr Mach Co Ltd | Crawler shock-absorbing device of construction machine |
| CN105465551A (en) * | 2016-01-25 | 2016-04-06 | 武汉大学 | Supporting type pipeline inside detection robot with flexibility self-adapting function |
| CN105857423A (en) * | 2016-04-15 | 2016-08-17 | 中国科学院合肥物质科学研究院 | High-maneuverability and high-adaptability ground unmanned platform |
| CN207670519U (en) * | 2017-12-07 | 2018-07-31 | 极创机器人科技有限公司 | A kind of compound pedrail chassis suspended structure |
| CN207747950U (en) * | 2017-11-17 | 2018-08-21 | 朱英铁 | 4 wheel driven transport vehicle Athey wheel |
| CN208881956U (en) * | 2018-09-26 | 2019-05-21 | 武汉力博物探有限公司 | Adaptive cambered surface magnetic suck climbing robot |
-
2018
- 2018-09-26 CN CN201811124138.7A patent/CN109018054A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JP2007045372A (en) * | 2005-08-12 | 2007-02-22 | Hitachi Constr Mach Co Ltd | Crawler shock-absorbing device of construction machine |
| CN1789062A (en) * | 2005-12-21 | 2006-06-21 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
| CN105465551A (en) * | 2016-01-25 | 2016-04-06 | 武汉大学 | Supporting type pipeline inside detection robot with flexibility self-adapting function |
| CN105857423A (en) * | 2016-04-15 | 2016-08-17 | 中国科学院合肥物质科学研究院 | High-maneuverability and high-adaptability ground unmanned platform |
| CN207747950U (en) * | 2017-11-17 | 2018-08-21 | 朱英铁 | 4 wheel driven transport vehicle Athey wheel |
| CN207670519U (en) * | 2017-12-07 | 2018-07-31 | 极创机器人科技有限公司 | A kind of compound pedrail chassis suspended structure |
| CN208881956U (en) * | 2018-09-26 | 2019-05-21 | 武汉力博物探有限公司 | Adaptive cambered surface magnetic suck climbing robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436237A (en) * | 2018-12-28 | 2019-03-08 | 舟山万邦永跃船舶修造有限公司 | Rust removing robot |
| CN109436237B (en) * | 2018-12-28 | 2024-03-12 | 万邦船舶重工(舟山)有限公司 | Rust removing robot |
| CN110116767A (en) * | 2019-06-19 | 2019-08-13 | 广东电网有限责任公司 | A kind of robot |
| CN112455561A (en) * | 2020-11-30 | 2021-03-09 | 山西华遇科技开发有限公司 | Novel easily adjust formula robot crawler-type and remove chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208881956U (en) | Adaptive cambered surface magnetic suck climbing robot | |
| CN109760014B (en) | Automatic inspection robot and system for track type coal conveying stack bridge | |
| CN109018054A (en) | Adaptive cambered surface magnetic suck climbing robot | |
| CN103802086B (en) | Crusing robot | |
| CN208935649U (en) | External motor type pipeline climbing robot | |
| CN209887578U (en) | Automatic robot and system of patrolling and examining of rail mounted coal conveying landing stage | |
| CN110466633B (en) | Suspension height self-adaptive special robot suitable for severe environment and operation method | |
| JP2022528741A (en) | Warehouse robot | |
| KR20120045863A (en) | Moving apparatus for working in hull block and docking method between moving apparatus | |
| CN102170097B (en) | Two-arm-regulating gravity type inspection robot for high-voltage transmission lines | |
| CN105059408B (en) | The crawler-type mobile platform of passive adaptation landform and there is its robot | |
| CN206587404U (en) | Telecar and its tailstock arrangement for adjusting height | |
| CN203804963U (en) | Routing inspection robot | |
| CN208007137U (en) | A kind of wheel leg type barrier-exceeding vehicle | |
| CN109140113A (en) | External motor type pipeline climbing robot | |
| CN206031544U (en) | Wheel -track transform is removed chassis and is had its fire control detection robot | |
| CN112413280A (en) | Chassis structure of walking robot in pipeline | |
| CN111365562A (en) | Pipeline inspection robot suitable for multiple pipe diameters | |
| CN111497931A (en) | Guide vehicle | |
| CN111572656A (en) | Suspension system with damping and buffering characteristics and crawler-type mobile platform | |
| CN207028744U (en) | For running gear hitch and there is its walking robot | |
| WO2017219314A1 (en) | Turret, and remote control robot carrying same | |
| CN206956647U (en) | Bindiny mechanism and snow removing shovel | |
| CN210526227U (en) | Mobile chassis and robot | |
| CN210191071U (en) | Mobile chassis and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |