CN109352662A - A kind of control method of adjustable eddy effusion climbing level robot - Google Patents
A kind of control method of adjustable eddy effusion climbing level robot Download PDFInfo
- Publication number
- CN109352662A CN109352662A CN201811124431.3A CN201811124431A CN109352662A CN 109352662 A CN109352662 A CN 109352662A CN 201811124431 A CN201811124431 A CN 201811124431A CN 109352662 A CN109352662 A CN 109352662A
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- China
- Prior art keywords
- nozzle
- clamping
- containment structures
- motor
- block
- 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 29
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims abstract description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000010926 purge Methods 0.000 claims abstract description 24
- 230000007306 turnover Effects 0.000 claims abstract description 19
- 239000012530 fluid Substances 0.000 claims abstract description 6
- 238000009790 rate-determining step (RDS) Methods 0.000 claims abstract description 6
- 239000007921 spray Substances 0.000 claims description 8
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 238000005507 spraying Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007363 ring formation reaction Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000006228 supernatant Substances 0.000 description 1
- 239000002699 waste material Substances 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- 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)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
A kind of control method of adjustable eddy effusion climbing level robot, including piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, clamping cylinder, clamping bar, multi-section type clamping jaw, pivot node, 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 control method includes preliminary step, pole-climbing rate-determining steps, cleaning control step；The cleaning control step includes: to open the control valve to rotate the nozzle motor so that water flow is crossed by link block, circular passage, helical duct to jet expansion, so that forming vortex by the fluid rotary of helical duct and spraying.
Description
Technical field
The present invention relates to climbing level robot related fieldss, and in particular to a kind of control of adjustable eddy effusion climbing level robot
Method processed.
Background technique
With the development of science and technology and expanding economy, skyscraper, electric pole, column are more and more, when maintenance,
Worker needs to climb electric pole with safeguarding to electric pole upper end, then needs to climb by pole-climbing tool, original climbing side
Formula is that pole-climbing shoe cover is put on worker's foot, and mobile another foot moves up and down when being supported by a straight feet, is inconvenient
And heaviness.
Have devised climbing level 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 climbing level robot has the following problems: 1, the climbing level 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 climbing level 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, often there is the thickness difference of bar and the position bumps clamped not in the climbing level robot clamping device of the prior art
Flat situation, in these cases, usually select different model robot, increase economic cost, waste the time at
This.
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 adjustable eddy effusion climbing level robot
Control method, including piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling
Mouth, clamping cylinder, clamping bar, multi-section type clamping jaw, pivots node, bracket, motor, motor output shaft, purge block, company at clamping structure
Connect block, nozzle, nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, helical flow path, pinion gear, clamping structure；It is described
Control method includes preliminary step, pole-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
Including clamping cylinder, clamping bar, by the flexible realization horizontal movement of clamping cylinder, clamping bar, clamping bar one end is pressed from both sides equipped with multi-section type
Pawl, multi-section type clamping jaw include six sections or six sections or more, are connected and fixed between two adjacent sections by pivoting node, thus two adjacent sections
Between relative angle can adjust.
The preliminary step includes: to close up containment structures and carrier base by the clamping structure to circularize, thus will
The climbing level robot is crowded around around bar, 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 bolt for connecting the two adjacent sections is unclamped, the relative angle between the two adjacent sections is adjusted, with
The size of adapter rod, later by bolt fastening, to fasten the two adjacent sections.
The pole-climbing rate-determining steps include: the clamping cylinder of driving lower section first, so that under the horizontal movement of clamping bar drives
The multi-section type clamping jaw supporting rod of side；Secondly by the clamping structure of the extension movement lifting top of piston rod, cylinder barrel, make after lifting
The clamping cylinder of top must be driven, so that the horizontal movement of clamping bar drives the multi-section type clamping jaw supporting rod of top；The back lower place
Clamping structure unclamps, and passes through the clamping structure of the contractile motion lifting lower section by piston rod, cylinder barrel；It climbs to complete one
Circulation.
The lower cleaning structure includes purge block, link block, nozzle, and the nozzle is disposed radially inwardly, and purge block is fixed
In containment structures, access inside access inside link block connection containment structures, the access inside link block be on to
Under be obliquely installed and connect the annular channel, link block lower flat is clinoplain, and annular channel is arranged in purge block,
Annular channel end connects the helical flow path of nozzle interior, and nozzle motor is equipped in purge block, and nozzle motor passes through nozzle motor
Nozzle described in axis connection drives nozzle rotation, and the helical flow path is equipped with three or three or more, and helical flow path end is met at
Jetting nozzle together, nozzle outside are articulated with nozzle turnover panel, and the flip angle of nozzle turnover panel is adjustable, to adjust injection water
Spray angle；Control valve is respectively provided between the upper and lower cleaning structure and corresponding containment structures.
The cleaning control step includes: to open the control valve, 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 upper and lower cleaning structure rotation cleaning.
Preferably, the multi-section type clamping jaw inner wall is equipped with liner.
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 present invention are: 1, be directed to the 1st point of background technique, by water storage container cleverly with the main body of robot
Structure, i.e. main body rack link together, and water storage container is arranged to a part of bracket, increase water storage so as to avoid additional
Weight caused by container or water storage container 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 multi-section type clamping jaw, clamping jaw it is each save between adjustable angle, from
And the gripping angle of adjustable clamping jaw.
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.
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, water filling port 9, clamping structure 10, clamping cylinder 11, clamping bar 12, multi-section type clamping jaw 13, pivot node at carrier base 8
14, bracket 15, motor 16, motor output shaft 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.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
It is as shown in the figure: a kind of control method of adjustable eddy effusion climbing level robot, including piston rod, cylinder barrel, supernatant
Wash structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, clamping cylinder, clamping bar, more piece
Formula clamping jaw, pivot node, 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 control method includes preliminary step, pole-climbing control
Step, cleaning control step.
It is as shown in the figure: cylinder barrel and piston rod to be 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
Stating clamping structure includes clamping cylinder, clamping bar, and by the flexible realization horizontal movement of clamping cylinder, clamping bar, clamping bar one end is set
There is multi-section type clamping jaw, multi-section type clamping jaw includes six sections or six sections or more, it is connected and fixed between two adjacent sections by pivoting node, from
And the relative angle between two adjacent sections can adjust.
As shown in the figure: the preliminary step includes: that containment structures and carrier base are closed up 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 climbing level robot around bar
Interior water filling closes the lid after filling water；The bolt for connecting the two adjacent sections is unclamped, the phase between the two adjacent sections is adjusted
To angle, with the size of adapter rod, later by bolt fastening, to fasten the two adjacent sections.
As shown in the figure: the pole-climbing rate-determining steps include: the clamping cylinder of driving lower section first, so that the horizontal fortune of clamping bar
The dynamic multi-section type clamping jaw supporting rod for driving lower section；The clamping structure of top is lifted secondly by the extension movement of piston rod, cylinder barrel,
Make the clamping cylinder of driving top after lifting, so that the horizontal movement of clamping bar drives the multi-section type clamping jaw supporting rod of top；It
The clamping structure of the back lower place unclamps, and passes through the clamping structure of the contractile motion lifting lower section by piston rod, cylinder barrel；To complete
One circulation of climbing.
As shown in the figure: the lower cleaning structure includes purge block, link block, nozzle, and the nozzle is disposed radially inwardly, clearly
It washes block to be fixed in containment structures, the access inside access connection containment structures inside link block, the access inside link block
In being obliquely installed and connecting the annular channel from top to bottom, link block lower flat is clinoplain, and annular channel setting exists
In purge block, annular channel end connects the helical flow path of nozzle interior, is equipped with nozzle motor in purge block, nozzle motor passes through
Nozzle described in nozzle motor axis connection drives nozzle rotation, and the helical flow path is equipped with three or three or more, helical flow path end
The jetting nozzle together that crosses is held, is articulated with nozzle turnover panel on the outside of nozzle, the flip angle of nozzle turnover panel is adjustable, to adjust spray
The spray angle of jetting stream；Control valve is respectively provided between the upper and lower cleaning structure and corresponding containment structures.
As shown in the figure: the cleaning control step includes: to open the control valve, 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 upper and lower cleaning structure rotation cleaning.
As shown in the figure: the multi-section type clamping jaw 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 adjustable eddy effusion climbing level robot, wherein the climbing level robot includes piston rod, cylinder
Cylinder, 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；It is characterized by: the control method includes preliminary step, pole-climbing rate-determining steps, cleaning control step
Suddenly；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, the branch of top
The carrier base top of stand lower part and lower section connects clamping structure, and the carrier base top of top and the carrier base lower part of lower section connect
Containment structures, for upper cleaning structure bit in the containment structures top on top, lower cleaning structure is located at the containment structures lower part of lower part；Institute
Stating containment structures and carrier base is annular, and the annular is intermediate to be equipped with clamping structure, and trapezoidal slide block is arranged in containment structures side,
Carrier base side be arranged trapezoidal groove, trapezoidal slide block with containment structures rotation, can the rotational slide in trapezoidal groove, bracket
Extended outwardly on seat by bracket and be connected with motor, motor output end connects motor output shaft one end, the motor output shaft other end
Pinion gear is connected, pinion gear connects the tooth of containment structures outer rim, so that containment structures be driven to rotate；The clamping structure includes folder
Tight cylinder, clamping bar, by the flexible realization horizontal movement of clamping cylinder, clamping bar, clamping bar one end is equipped with multi-section type clamping jaw, more piece
Formula clamping jaw includes six sections or six sections or more, is connected and fixed between two adjacent sections by pivoting node, thus between two adjacent sections
Relative angle can adjust；The preliminary step includes: to close up containment structures and carrier base by the clamping structure to circularize,
To crowd around the climbing level robot around bar, the lid of the water filling port position of containment structures is opened, into containment structures
Water filling, closes the lid after filling water；The bolt for connecting the two adjacent sections is unclamped, is adjusted opposite between the two adjacent sections
Angle, with the size of adapter rod, later by bolt fastening, to fasten the two adjacent sections；The pole-climbing rate-determining steps include:
The clamping cylinder of driving lower section first, so that the horizontal movement of clamping bar drives the multi-section type clamping jaw supporting rod of lower section；Secondly by
The clamping structure of the extension movement lifting top of piston rod, cylinder barrel, the clamping cylinder of driving top after lifting, so that the water of clamping bar
Flat movement drives the multi-section type clamping jaw supporting rod of top；The back lower place clamping structure unclamp, pass through the contraction of piston rod, cylinder barrel
The clamping structure of movement lifting lower section；To complete a circulation of climbing；The lower cleaning structure include purge block, link block,
The spout of nozzle, the nozzle is disposed radially inwardly, 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: to open the control valve, 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 adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
It states multi-section type clamping jaw inner wall and is equipped with liner.
3. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
Stating cleaning structure also includes purge block, link block, nozzle.
4. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
It states trapezoidal slide block and replaces with T-shaped block.
5. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
Stating nozzle turnover panel is four pieces.
6. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
It states nozzle turnover panel and is adjusted to flaring or necking.
7. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
Link block minimum point and purge block minimum point are stated not in same level.
8. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: clear
Block is washed to be bolted in containment structures.
9. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that: institute
Piston rod, cylinder barrel composition cylinder are stated, the number of cylinders is two.
10. a kind of control method of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that:
One half space of the containment structures is used to water storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124431.3A CN109352662A (en) | 2018-09-26 | 2018-09-26 | A kind of control method of adjustable eddy effusion climbing level robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124431.3A CN109352662A (en) | 2018-09-26 | 2018-09-26 | A kind of control method of adjustable eddy effusion climbing level robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109352662A true CN109352662A (en) | 2019-02-19 |
Family
ID=65347682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811124431.3A Pending CN109352662A (en) | 2018-09-26 | 2018-09-26 | A kind of control method of adjustable eddy effusion climbing level robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109352662A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714397A (en) * | 2022-04-15 | 2022-07-08 | 江苏图灵智能机器人有限公司 | Inverted medium-sized horizontal multi-joint robot |
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| US20040099478A1 (en) * | 2002-11-27 | 2004-05-27 | Xerox Corporation | Climbing apparatus and method |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
| CN202175127U (en) * | 2011-05-11 | 2012-03-28 | 江苏大学 | Composite peristaltic taper rod maintenance robot |
| CN106313073A (en) * | 2016-10-12 | 2017-01-11 | 上海大学 | Pipeline crawling robot |
| CN107042514A (en) * | 2017-02-07 | 2017-08-15 | 国网浙江新昌县供电公司 | A kind of electric transmission line isolator with correction of creeping cleans climbing level robot |
| CN108489890A (en) * | 2018-05-03 | 2018-09-04 | 中国长江电力股份有限公司 | Power station hydraulic headstock gear piston rod rust detection robot and application method |
| CN108499933A (en) * | 2018-03-28 | 2018-09-07 | 山东理工大学 | A kind of pole-climbing sweeping robot |
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2018
- 2018-09-26 CN CN201811124431.3A patent/CN109352662A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040099478A1 (en) * | 2002-11-27 | 2004-05-27 | Xerox Corporation | Climbing apparatus and method |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
| CN202175127U (en) * | 2011-05-11 | 2012-03-28 | 江苏大学 | Composite peristaltic taper rod maintenance robot |
| CN106313073A (en) * | 2016-10-12 | 2017-01-11 | 上海大学 | Pipeline crawling robot |
| CN107042514A (en) * | 2017-02-07 | 2017-08-15 | 国网浙江新昌县供电公司 | A kind of electric transmission line isolator with correction of creeping cleans climbing level robot |
| CN108499933A (en) * | 2018-03-28 | 2018-09-07 | 山东理工大学 | A kind of pole-climbing sweeping robot |
| CN108489890A (en) * | 2018-05-03 | 2018-09-04 | 中国长江电力股份有限公司 | Power station hydraulic headstock gear piston rod rust detection robot and application method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714397A (en) * | 2022-04-15 | 2022-07-08 | 江苏图灵智能机器人有限公司 | Inverted medium-sized horizontal multi-joint robot |
| CN114714397B (en) * | 2022-04-15 | 2023-01-24 | 江苏图灵智能机器人有限公司 | Inverted medium-sized horizontal multi-joint robot |
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