CN110015354A - Voluntarily judge the climbing robot running gear of working condition - Google Patents
Voluntarily judge the climbing robot running gear of working condition Download PDFInfo
- Publication number
- CN110015354A CN110015354A CN201910109473.8A CN201910109473A CN110015354A CN 110015354 A CN110015354 A CN 110015354A CN 201910109473 A CN201910109473 A CN 201910109473A CN 110015354 A CN110015354 A CN 110015354A
- Authority
- CN
- China
- Prior art keywords
- running gear
- sucker
- climbing robot
- working condition
- air
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses the climbing robot running gears for voluntarily judging working condition.It is characterized by: the variation that item generates magnetic field occurs using the electromagnetism on climbing robot driving platform, the conducting and disconnection of magnetic switch are controlled；For photoelectric proximity switch by diffusing to robot ambulation work surface launching with received, spacing wave is stepped in judgement, controls the conducting and disconnection of photoelectric proximity switch；Magnetic switch and photoelectric proximity switch are series connection on circuit, are coupled with serial circuit is done on vacuum solenoid in parallel, air-operated solenoid valve circuit；By the conducting of magnetic switch with disconnect and the conducting and disconnection of photoelectric proximity switch, control vacuum solenoid, air-operated solenoid valve, drive pushing and promotion and the absorption of sucker and the disengaging robot ambulation working face of sucker.The configuration of the present invention is simple, control signal and the signal transmission of no complexity, the pushing and promotion of sucker and the absorption of sucker and disengaging switching are simple and fast, and running gear is stable, flexible, is easy to practical.
Description
One, technical field
The present invention relates to the running gear technical fields of climbing robot, and in particular to voluntarily judges climbing for working condition
Row robot walking device.
Two, background technique
With the development of society, climbing robot is as machine in the more and more every field to enter society of robot
One in people classification, application is also very extensive, such as high-rise cleaner device people, ship outer casing derusting, clean robot,
Climb wall welding robot etc..It is much that running gear is moved as it using sucker in climbing robot.It is this kind of based on sucker
Running gear be divided into 2 kinds of modes, one is passive type, by the weight or impressed pressure of robot itself, exclude in sucker
Gas makes suction cup interior that negative pressure be presented and be adsorbed on working face；Another kind is that active absorption by control device uses vacuum
Occurrence of equipment extracts the air in sucker, makes suction cup interior in negative pressure state, is adsorbed onto working face.Current active absorption
Because of its operation is stable, the advantages that strong adsorption force, using flexible, is more and more applied in climbing robot running gear.
The running gear of the active absorption of climbing robot at present controls the main body mainly from robot, fills to walking
The walking manner set is linear type circulation action, and the control of running gear can be directly connected to the main body of robot；And for
The walking manner of running gear is what rotating circulating moved back and forth, and control is very troublesome, and the control signal wire of robot body is not
It can be transmitted directly to running gear, the signal transmission form between running gear and robot body will pass through, 1, wireless signal
Transmission, 2, rotary joint connection.No matter which kind of mode is taken all to exist, structure is complicated, at high cost, transmission jitter etc. is asked
Topic, and thus bring robot fluctuation of service the problems such as.
Three, summary of the invention
In view of the above-mentioned problems, the present invention provides the climbing robot running gear for voluntarily judging working condition.It is existing to solve
Having technology and method, structure is complicated, at high cost, transmission jitter, and thus the unstable etc. of bring equipment operation is asked
Topic.One
To achieve the above object, the present invention provides following technical schemes:
Voluntarily judge the climbing robot running gear of working condition, including executing agency, control device, sensing device with
Structure stand.The control device acquires the position state signal of climbing robot running gear by sensing device and monitoring is gone
Walking apparatus steps on spacing wave, and executing agency is helped voluntarily to complete the work of running gear；The executing agency, control device, biography
Induction device is installed on structure stand.
As a further solution of the present invention, the executing agency includes sucker, cylinder；The sucker is fixed on sucker gold
On tool, sucker fitting is connect with sucker fitting connecting rod, and sucker fitting connecting rod, which is mounted in connecting rod slider, to be slidably connected, and connecting rod is sliding
Block is fixed on running gear bracket；The cylinder is fixed on running gear bracket, and cylinder piston connecting rod and cylinder are connection；
The sucker fitting connecting rod is connect by connector with cylinder piston connecting rod.
As a further solution of the present invention, the control device includes vacuum solenoid and air-operated solenoid valve；It is described true
Empty solenoid valve P mouthfuls are connect by tracheae with air-inlet of vacuum pump, and A mouthfuls of vacuum solenoid pass through tracheae and sucker air inlet, cylinder
Lower gas outlet connection；The P mouth of the air-operated solenoid valve is connect by tracheae with air pump gas outlet, and the A mouth of air-operated solenoid valve passes through
Tracheae is connect with the enterprising port of cylinder, and the R mouth of air-operated solenoid valve is connect by tracheae with A mouthfuls of vacuum solenoid；The vacuum electric
Magnet valve, air-operated solenoid valve are all mounted on running gear bracket.
As a further solution of the present invention, the sensing device includes magnetic switch and photoelectric proximity switch；The magnetic
Control switch is the position state signal sensor of running gear, is done with electromagnetism generation item on climbing robot driving platform non-contact
Connection, receive electromagnetism occur item generate changes of magnetic field, control the conducting and disconnection of magnetic switch, determine running gear at this
Position working condition；The photoelectric proximity switch is that running gear steps on spacing wave sensor, by robot ambulation working face
Emit and diffuse with what is received, judges whether running gear present position steps on sky；The magnetic switch and photoelectric proximity switch
It is connected in series on circuit, does serial circuit connection with vacuum solenoid in parallel, air-operated solenoid valve circuit, pass through magnetic switch
Conducting, disconnection and the conducting of photoelectric proximity switch, disconnect, control vacuum solenoid, air-operated solenoid valve, drive the pushing of sucker
With promotion and the absorption of sucker and disengaging robot ambulation working face；The magnetic switch, photoelectric proximity switch are all mounted on
On running gear bracket.
As further scheme of the invention, as a further solution of the present invention, the structure stand includes walking
Appliance stand, horizontal support device, longitudinal bracing device, chain link remover；The horizontal support device includes horizontally-supported dress
Bracket and flanged (FLGD) zanjon bearing B are set, horizontal support device bracket is fixed on running gear bracket, flanged (FLGD) zanjon axis
It holds B to be mounted on horizontal support device bracket, flanged (FLGD) zanjon bearing B and climbing robot driving platform edges do rolling and connect
It connects；The longitudinal bracing device includes longitudinal bracing device bracket and flanged (FLGD) zanjon bearing A, and longitudinal bracing device bracket is solid
It is scheduled on running gear bracket, flanged (FLGD) zanjon bearing A is mounted on longitudinal bracing device bracket, flanged (FLGD) zanjon bearing
Motion guide rail on A and climbing robot driving platform does rolling connection；The running gear bracket by chain link remover with
Climbing robot drives the chain connection on platform；Climbing robot drive sprocket drives the rotational cyclic motion of chain, fixed
Running gear on chain makes climbing robot advance relative to fixed running gear because it is adsorbed on working face.
Preferably, the sucker uses neoprene or silicon rubber for vacuum chuck made of primary raw material.
Preferably, the tracheae uses the pneumatic hose of high-quality TPU raw material manufacture.
Preferably, the vacuum solenoid is two-position two-way solenoid valve；The air-operated solenoid valve is two-position three way magnetic valve.
Preferably, the magnetic switch uses glass-encapsulated open type tongue tube；The photoelectric proximity switch uses direct current 3
Wire type.
Compared with prior art, beneficial effects of the present invention are, the running gear of climbing robot can be with through the invention
Voluntarily judge its working condition and automatic running, reduces the transmission and control of sophisticated signal between robot body and running gear
System, while on the cost basis for reducing equipment, guarantee the stable, reliable and flexible of running gear, through the invention also
The speed of travel of climbing robot can be improved.
Four, 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 do simply to introduce, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the attached drawing of offer.
Fig. 1 is the working principle of the invention block diagram
Fig. 2 is the climbing robot running gear structural schematic diagram that present example voluntarily judges working condition
Fig. 3 is the working condition of sucker and cylinder under present example control circuit off-position
Fig. 4 is the working condition of sucker and cylinder under present example control circuit energized state
In figure, 1, sucker, 2, sucker fitting, 3, sucker venthole, 4, sucker fitting connecting rod, 5, connecting rod slider, 6, reset
Spring, 7, connector, 8, cylinder piston connecting rod, 9, running gear bracket, 10, cylinder, 11, air inlet under cylinder, 12, on cylinder
Air inlet, 13, vacuum solenoid, 14, A mouthfuls of vacuum solenoid, 15, P mouthfuls of vacuum solenoid, 16, air-operated solenoid valve, 17, magnetic control
Switch, 18, photoelectric proximity switch, 19, chain link remover, 20, longitudinal bracing device bracket, 21, flanged (FLGD) zanjon bearing A,
22, horizontal support device bracket, 23, flanged (FLGD) zanjon bearing B, 24, climbing robot driving platform, 25, operation guide rail,
26, sprocket wheel, 27, chain, 28, electromagnetism generation item, 29, robot ambulation working face, 30, vacuum pump, 31, air-inlet of vacuum pump,
32, air pump, 33, air pump gas outlet, 34, tracheae.
Five, specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being mounted on " another element
On one element or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.Term as used herein " longitudinal direction ", "horizontal",
"upper", "lower" and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Fig.1, Fig. 1 is the climbing robot running gear work for voluntarily judging working condition that the present invention implements to provide
Functional block diagram, the embodiment of the present invention provide climbing robot running gear and voluntarily judge the working principle of working condition and execute machine
Structure, control device, sensing device workflow, the working principle are sent out using electromagnetism on climbing robot driving platform 24
The carded sliver 28 generates the variation in magnetic field, controls the conducting and disconnection of magnetic switch 17；Photoelectric proximity switch 18 passes through to robot row
It walks the transmitting of working face 29 to diffuse with what is received, judgement steps on spacing wave to control the conducting of photoelectric proximity switch 18 and disconnection；
Magnetic switch 17 and photoelectric proximity switch 18 are connected in series on circuit, with vacuum solenoid 15 in parallel, air-operated solenoid valve 16
Circuit does serial circuit connection；It by the conducting of magnetic switch 17, disconnection and the conducting of photoelectric proximity switch 18, disconnects, control
Vacuum solenoid 15, air-operated solenoid valve 16 drive the pushing of sucker 1 and promotion and the absorption of sucker 1 and are detached from robot row
Walk working face 29.
Referring to Fig. 2, the climbing robot running gear structure for voluntarily judging working condition that an example of the invention proposes is shown
It is intended to, the sensing device is magnetic switch 17 and photoelectric proximity switch 18, is separately mounted to the suitable of running gear bracket 9
Position.
Further, the executing agency is sucker 1 and cylinder 10；The sucker 1 is fixed on sucker fitting 2, is inhaled
Disk fitting 2 is connect with sucker fitting connecting rod 4, and sucker fitting connecting rod 4, which is mounted in connecting rod slider 5, to be slidably connected, connecting rod slider 5
It is fixed on running gear bracket 9；The cylinder 10 is fixed on running gear bracket 9, and cylinder piston connecting rod 8 and cylinder 10 connect
It connects；The sucker fitting connecting rod 4 is connect by connector 7 with cylinder piston connecting rod 8.
Further, the control device includes vacuum solenoid 13 and air-operated solenoid valve 16；The vacuum solenoid P
Mouth 15 is connect by tracheae 34 with vacuum air pump air inlet 31；The vacuum solenoid A mouth 14 is ventilated by tracheae 34 and sucker
Gas outlet 11 connects under mouth 3, cylinder；The P mouth of the air-operated solenoid valve 16 is connect by tracheae 34 with air pump gas outlet 33；It is described
The A mouth of air-operated solenoid valve 16 is connect by tracheae 34 with the enterprising port 12 of cylinder；The R mouth of the air-operated solenoid valve 16 passes through tracheae
34 connect with vacuum solenoid A mouth 14.
Further, the sensing device includes magnetic switch 17 and photoelectric proximity switch 18；The magnetic switch 17
Item 28 occurs for electromagnetism on the position state signal sensor of running gear, with climbing robot driving platform 24 and does non-contact company
Connect, receive electromagnetism occur item 28 generate changes of magnetic field, control magnetic switch 17 conducting and disconnection, determine running gear
The position working condition；The photoelectric proximity switch 18 is that running gear steps on spacing wave sensor, by robot ambulation work
Make the transmitting of face 29 to diffuse with what is received, judges whether running gear present position steps on sky；The magnetic switch 17 and photoelectricity
It is connected in series on circuit close to switch 18, and does serial circuit with vacuum solenoid 13 in parallel, 16 circuit of air-operated solenoid valve
Connection by the conducting of magnetic switch 17, disconnection and the conducting of photoelectric proximity switch 18, disconnects, controls vacuum solenoid 13, gas
Moving electromagnetic valve 16 drives the pushing of sucker 1 and promotion and the absorption of sucker 1 and is detached from robot ambulation working face 29.
Further, the structure stand includes running gear bracket, horizontal support device, longitudinal bracing device, chain
Connector；The horizontal support device includes horizontal support device bracket 22 and flanged (FLGD) zanjon bearing B 23, horizontally-supported
Appliance stand 22 is fixed on running gear bracket 9, and flanged (FLGD) zanjon bearing B 23 is mounted on horizontal support device bracket 22
On, flanged (FLGD) zanjon bearing B 23 does rolling connection with climbing robot driving 24 edge of platform；The longitudinal bracing device
Including longitudinal bracing device bracket 20 and flanged (FLGD) zanjon bearing A 21, longitudinal bracing device bracket 20 is fixed on running gear
On bracket 9, flanged (FLGD) zanjon bearing A 21 is mounted on longitudinal bracing device bracket 20, flanged (FLGD) zanjon bearing A 21 with
Motion guide rail 25 on climbing robot driving platform 24 does rolling connection；The running gear bracket 24 passes through chain link remover
19 connect with the chain 27 on climbing robot driving platform 24；Climbing robot drive sprocket 26 drives the rotation of chain 27 to follow
Ring movement, the running gear being fixed on chain 27 make climbing robot because it is adsorbed on robot ambulation working face 29
Advance relative to fixed running gear.
Referring to Fig. 3, the working condition of sucker 1 and cylinder 10 under an example control circuit off-position of the invention.Walking dress
The judgement by sensing device is set, determines that running gear is vacant state, the power supply of cutting control device.The vacuum solenoid
13 power-off, vacuum solenoid A mouth 14 are isolated with vacuum solenoid P mouth 15, and vacuum pump 30 can not be from air inlet under sucker 1, cylinder
11 extract air；The air-operated solenoid valve 16 powers off, and the P mouth shutdown of air-operated solenoid valve 16, air pump 32 can not give cylinder upper air
Mouth 12 supplies compressed airs, and the enterprising port 12 of cylinder is connected to air inlet 11, sucker blow vent 3 under cylinder, 10 upper cavity of cylinder
Compressed gas fill to sucker 1, make sucker 1 by negative pressure become normal pressure be detached from robot ambulation working face 29；On the cylinder 10,
Lower chamber holds normal pressure, and cylinder piston connecting rod 8 above mentions under the action of reset spring 6, together with sucker fitting connecting rod 4 draw sucker
1 above mentions, and leaves robot ambulation working face 29.
Referring to Fig. 4, the working condition of sucker 1 and cylinder 10 under an example control circuit energized state of the invention.Walking dress
The judgement by sensing device is set, determines that running gear is adsorbed state, the power supply to control device.The air pump solenoid valve 16
It is powered, the P mouth of air-operated solenoid valve 16 is connected to the A of air-operated solenoid valve 16 mouth, and air pump 30 generates compressed gas and passes through air pump outlet
Mouthfuls 33, the A mouth of P mouth of air-operated solenoid valve 16 and air-operated solenoid valve 16 is supplied gas 12 mouthfuls of the enterprising port of cylinder, and 10 upper cavity of cylinder is inflated,
Cylinder piston connecting rod 8 is promoted to release downwards, sucker 1 is under the action of cylinder piston connecting rod 8 draws sucker fitting connecting rod 4, downwards
It is moved to robot ambulation working face 29；The vacuum solenoid 13 is powered, vacuum solenoid A mouth 14 and vacuum solenoid P mouthfuls
15 conductings, sucker 1 pass through sucker venthole 3, vacuum solenoid A mouth 14, vacuum solenoid P mouth 15 and 31 phase of air-inlet of vacuum pump
Even, sucker 1 is pumped into negative pressure state by vacuum pump 30, makes the sucker 1 for being depressed into robot ambulation working face 29, tightly and machine
People's walking working face 29 adsorbs；Air inlet 11 passes through vacuum solenoid A mouth 14, vacuum solenoid P mouth 15, vacuum under the cylinder
Pump steam inlet 31 is connected with vacuum pump 30, and 10 lower end air cavity of cylinder is pumped into negative pressure state by vacuum pump 30, and intensifying cylinder piston connects
The downward active force of bar 8.
The climbing robot running gear proposed by the present invention for voluntarily judging working condition, wherein running gear utilizes
Self-contained sensor, the guidance in robot body and the identification to movement environment, judge automatically the work of running gear
State, structure is simple, control signal and the signal transmission of no complexity, the pushing and promotion of sucker and the absorption and disengaging of sucker
Switch simple and fast, is easy to practical, in addition, structure is simple using the climbing robot of the running gear, manufacturing cost is lower,
Practicability is stronger.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. voluntarily judging the climbing robot running gear of working condition, which is characterized in that voluntarily judge creeping for working condition
Robot walking device is made of executing agency, control device, sensing device and structure stand.The control device passes through sensing
The position state signal of device acquisition climbing robot running gear and the spacing wave of stepping on for monitoring running gear, help executing agency
Voluntarily complete the work of running gear.
2. the climbing robot running gear according to claim 1 for voluntarily judging working condition, which is characterized in that described
Executing agency, control device, sensing device are installed on structure stand.
3. the climbing robot running gear according to claim 1 for voluntarily judging working condition, which is characterized in that described
Executing agency includes sucker, cylinder；
The sucker is fixed on sucker fitting, and sucker fitting is connect with sucker fitting connecting rod, and sucker fitting connecting rod is mounted on company
It is slidably connected in bar sliding block, connecting rod slider is fixed on running gear bracket；
The cylinder is fixed on running gear bracket, and cylinder piston connecting rod and cylinder are connection；
The sucker fitting connecting rod is connect by connector with cylinder piston connecting rod.
4. the climbing robot running gear according to claim 1 for voluntarily judging working condition, which is characterized in that described
Control device includes vacuum solenoid and air-operated solenoid valve；
Described vacuum solenoid P mouthfuls are connect by tracheae with air-inlet of vacuum pump, A mouthfuls of vacuum solenoid pass through tracheae and sucker into
Gas outlet connects under port, cylinder；
The P mouth of the air-operated solenoid valve is connect by tracheae with air pump gas outlet, and the A mouth of air-operated solenoid valve passes through tracheae and cylinder
Enterprising port connection, the R mouth of air-operated solenoid valve are connect by tracheae with A mouthfuls of vacuum solenoid；
The vacuum solenoid, air-operated solenoid valve are all mounted on running gear bracket.
5. the climbing robot running gear according to claim 1 for voluntarily judging working condition, which is characterized in that described
Sensing device includes magnetic switch and photoelectric proximity switch；
Electromagnetism generation item does non-contact connection on the magnetic switch and climbing robot driving platform, receives electromagnetism and item production occurs
Raw magnetic field controls the conducting and disconnection of magnetic switch, determines the working condition in the position of running gear；
The photoelectric proximity switch is that running gear steps on spacing wave sensor, judges whether running gear present position steps on sky；
The magnetic switch and the photoelectric proximity switch series connection on circuit, with vacuum solenoid in parallel, air-operated solenoid valve
Circuit does serial circuit connection, by the conducting of the conducting of magnetic switch, disconnection and photoelectric proximity switch, disconnects, controls vacuum
Solenoid valve, air-operated solenoid valve drive the pushing of sucker and promotion and the absorption of sucker and are detached from robot ambulation working face；
The magnetic switch, photoelectric proximity switch are all mounted on running gear bracket.
6. the climbing robot running gear according to claim 1 for voluntarily judging working condition, which is characterized in that described
Structure stand includes running gear bracket, horizontal support device, longitudinal bracing device, chain link remover；
The horizontal support device and climbing robot driving platform edges do rolling connection；
Motion guide rail on the longitudinal bracing device and climbing robot driving platform does rolling connection；
The running gear bracket drives the chain on platform to connect by chain link remover with climbing robot；Climbing robot
Drive sprocket drives the rotational cyclic motion of chain, the running gear being fixed on chain, because it is adsorbed on robot ambulation work
Make that climbing robot is made to advance relative to fixed running gear on face.
7. the climbing robot running gear according to claim 3 for voluntarily judging working condition, which is characterized in that described
Sucker uses neoprene or silicon rubber for vacuum chuck made of primary raw material.
8. the climbing robot running gear according to claim 4 for voluntarily judging working condition, which is characterized in that described
Tracheae uses the pneumatic hose of high-quality TPU raw material manufacture.
9. the climbing robot running gear according to claim 4 for voluntarily judging working condition, which is characterized in that described
Vacuum solenoid is two-position two-way solenoid valve；The air-operated solenoid valve is two-position three way magnetic valve.
10. the climbing robot running gear according to claim 5 for voluntarily judging working condition, which is characterized in that institute
Magnetic switch is stated using glass-encapsulated open type tongue tube；The photoelectric proximity switch uses 3 wire type of direct current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910109473.8A CN110015354A (en) | 2019-02-03 | 2019-02-03 | Voluntarily judge the climbing robot running gear of working condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910109473.8A CN110015354A (en) | 2019-02-03 | 2019-02-03 | Voluntarily judge the climbing robot running gear of working condition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110015354A true CN110015354A (en) | 2019-07-16 |
Family
ID=67188965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910109473.8A Pending CN110015354A (en) | 2019-02-03 | 2019-02-03 | Voluntarily judge the climbing robot running gear of working condition |
Country Status (1)
| Country | Link |
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| CN (1) | CN110015354A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379670A (en) * | 2022-01-24 | 2022-04-22 | 哈尔滨工业大学 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
-
2019
- 2019-02-03 CN CN201910109473.8A patent/CN110015354A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379670A (en) * | 2022-01-24 | 2022-04-22 | 哈尔滨工业大学 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
| CN114379670B (en) * | 2022-01-24 | 2022-12-20 | 哈尔滨工业大学 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
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