CN110065547A - A kind of wall-climbing robot and its working method - Google Patents
A kind of wall-climbing robot and its working method Download PDFInfo
- Publication number
- CN110065547A CN110065547A CN201810070033.1A CN201810070033A CN110065547A CN 110065547 A CN110065547 A CN 110065547A CN 201810070033 A CN201810070033 A CN 201810070033A CN 110065547 A CN110065547 A CN 110065547A
- Authority
- CN
- China
- Prior art keywords
- controller
- electromagnet
- climbing
- climbing robot
- robot
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
-
- 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
Abstract
The present invention relates to a kind of wall-climbing robot and its working method, this climbing robot includes: ontology, and the electromagnet of body bottom portion, and the idler wheel for driving ontology mobile is arranged in；And controller；The controller is suitable for control electromagnet and is adsorbed in magnetizer surface, and controls idler wheel rotation by idler wheel drive module, so that wall movement is climbed in climbing robot realization；The present invention first calculates total weight bearing after loading article, then determines the operating current of electromagnet according to total bear a heavy burden, and then carries out roughness measurement to climbing surface, range sensor is selectively opened, so that product more steady operation, also avoids energy waste.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of working method of magnetic-type climbing robot.
Background technique
The automatic machinery people that climbing robot can be climbed and be fulfiled assignment on vertical wall.Climbing robot is also known as
Magnetizer surface mobile robot is also known as the limit in foreign countries because vertical magnetizer surface operation exceeds the limit of people
Work robot.Existing magnetic adsorption wall climbing robot, since its magnetic field is fixed, when robot loading operation tool or
After other articles, if Item Weight is larger, it may cause robot and cause to fall off during climbing, after causing seriously
Fruit, if, since magnet and magnetizer superficial attractive forces are larger, when robot motion needs to overcome absorption in light condition
Resistance to cause energy waste, while influencing the working time of robot.
Simultaneously as climbing magnetizer surface be not always it is smooth, when climb surface be smooth when, then keep constant
Electric current make robot be adsorbed on magnetizer realize climb wall movement, when climb surface be uneven when, may due to inhale
Attached power not enough causes robot to fall, job insecurity.
Summary of the invention
The object of the present invention is to provide a kind of wall-climbing robot and its working methods, not only can effectively prevent magnetic suck
Climbing robot falls, and ensures robot stabilized work, while energy waste can be effectively prevented.
In order to solve the above-mentioned technical problems, the present invention provides a kind of climbing robots, comprising:
The electromagnet of body bottom portion is arranged in ontology, the idler wheel for driving ontology mobile；
Controller, controller is suitable for control electromagnet and is adsorbed in magnetizer surface, and controls idler wheel by idler wheel drive module and turn
It is dynamic, so that wall movement is climbed in climbing robot realization；
Pressure sensor, the pressure sensor is connected with controller, and before climbing robot climbs wall, climbing robot is laid flat
To obtain total weight bearing of climbing robot by pressure sensor；The controller is suitable for according to the first of total weight bearing control electromagnet
Beginning electric current, so that climbing robot is adsorbed in magnetizer surface；
Light illuminating unit, the light illuminating unit are set to the middle position of body bottom portion and connect with controller, exist for issuing illumination
Surface is climbed, the controller is used to control the opening and closing of the light illuminating unit；
Photodetector, the end position that the photodetector is set to body bottom portion are connect with controller, the photodetection
Device obtains detection signal by the light of climbing surface reflection, and will test signal and feed back to the controller；
Range sensor is set to body bottom portion and is connected with the controller, and the range sensor is suitable for use in detection ontology
Distance between bottom and magnetizer surface of creeping, if when apart from increase, the controller is suitable for increasing electromagnet during exercise
Current value, to improve climbing robot adsorption capacity.
Preferably, the optical axis and climbing surface that the light illuminating unit is issued keep certain predetermined angle, and reflect
Optical axis injects the photodetector.
Preferably, the photoelectric detection unit array that the photodetector is made of multiple probe units.
Preferably, the controller is connected with a memory, and it is matched with electromagnet current to be suitable for prestoring always weight bearing
Distance and matched second database of electromagnet current between first database and body bottom portion and magnetizer surface of creeping；Institute
Controller is stated to be suitable for obtaining the matched initial current from first database according to total weight bearing；And the controller is further adapted for
The current value of matched electromagnet is obtained from the second database according to distance between body bottom portion and magnetizer surface of creeping.
Preferably, distance of the electromagnet apart from magnetizer surface is 5-8mm；And the climbing robot is total negative
Weight is G, then adsorption capacity T=KG of the electromagnet, and wherein K is adsorption coefficient, and 3 < K < 10.
The present invention also provides a kind of working methods of climbing robot, comprising the following steps:
Step S01, when robot preparation, first robot is arranged on level land, detects the data and biography of pressure sensor
Transport to controller, the controller loaded according to the data computer device people of pressure sensor the total force after article and store to
Memory；
Wherein, total weight bearing and the matched first database of electromagnet current and body bottom portion are prestored in the memory and are climbed
Distance and matched second database of electromagnet current between row magnetizer surface；
Step S02, robot is adsorbed on vertically disposed magnetizer, controller passes through according to the total force determination of robot
The initial current of electromagnet, so that robot be made to be adsorbed on magnetizer；
Step S03, the described controller control light illuminating unit is opened, so that light illuminating unit issues illumination on climbing surface；Wherein, institute
The optical axis and climbing surface for stating light illuminating unit sending keep certain predetermined angle；
Step S04, idler wheel drive module control idler wheel rotation, so that wall movement is climbed in climbing robot realization；
Step S05, the described photodetector detects signal by the photogenerated of climbing surface reflection, and the controller is to detection signal
Judged；Wherein, when the photodetector within a preset time can constant reception to the light of reflection, then controller is according to logical
The initial current for crossing electromagnet is adsorbed on robot on magnetizer；When the photodetector within a preset time cannot be constant
The light of reflection is received, then controller command range detection is opened；
Step S06, the distance of the described range finder detection body distance from bottom magnetizer, and distance information transmission is extremely controlled
Device；
Step S07, when the distance changes, the controller passes through according to the second database adjusting in memory
The electric current of electromagnet.
Preferably, the preset time in the step S05 is 3-10s.
Preferably, distance of the electromagnet apart from magnetizer surface is 5-8mm；And the climbing robot is total negative
Weight is G, then adsorption capacity T=KG of the electromagnet, and wherein K is adsorption coefficient, and 3 < K < 10.
Beneficial effects of the present invention are as follows:
1, this climbing robot and its working method first calculate total weight bearing after loading article, then determine electromagnetism according to total bear a heavy burden
The operating current of iron, so that product more steady operation；Then roughness measurement, light illuminating unit hair are carried out to climbing surface
Out illumination climbing surface, photodetector by climbing surface reflection photogenerated detect signal, as can constant reception to reflect
Light be such as unable to constant reception then without opening range finder to the light reflected, then range finder opened, to change
Adsorption capacity effectively prevent climbing robot caused by magnetizer alligatoring to fall；
2, climbing motion is carried out on the climbing surface of relatively flat, it, can without adsorption capacity is changed without opening range finder
To effectively prevent energy waste, climbing motion is carried out on rough climbing surface, then range finder is opened, when described
When distance changes, controller adjusts the electric current by electromagnet according to the second database in memory, to change suction
Attached power effectively prevent climbing robot caused by magnetizer alligatoring to fall；And electric current is dynamic regulation, so that absorption
Power is not too big, and the movement of climbing robot not will cause energy waste.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of one climbing robot of the present embodiment.
Fig. 2 is the work flow diagram of one climbing robot crawling process of the present embodiment.
In figure: ontology 1, electromagnet 2, idler wheel 3, pressure sensor 4, range finder 5, controller 6, memory 7, illumination
Unit 8, photodetector 9.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As depicted in figs. 1 and 2, a kind of climbing robot is present embodiments provided, comprising:
The electromagnet 2 of body bottom portion is arranged in ontology 1, the idler wheel 3 and controller 6 for driving ontology mobile；The control
Device processed is suitable for control electromagnet 2 and is adsorbed in magnetizer surface, and controls idler wheel rotation by idler wheel drive module, so that described climb
Wall movement is climbed in the realization of wall robot.
Wherein controller can use single-chip microcontroller, and the controller is suitable for one current regulating module of control, to change electromagnetism
The operating current of iron, such as current regulating module can use switching tube, the single-chip microcontroller output pwm signal, with control switch
The shutdown period of pipe realizes that operating current is adjusted in turn；Lithium battery is carried on the ontology also to provide electric energy；And it is described
Electromagnet can be using DC-AC module be additionally provided on DC electromagnet or ontology, the electromagnet uses alternating electromagnet；
The idler wheel drive module can use four-wheel drive module, interior to be equipped with direct current generator, be controlled by controller.
The climbing robot further include: the pressure sensor 4 in portion on the body, the pressure sensor 4 and control are set
Device processed is connected；Before climbing robot climbs wall, climbing robot is laid flat to obtain climbing robot by pressure sensor
Total weight bearing；The controller is suitable for the initial current according to total weight bearing control electromagnet, so that climbing robot is adsorbed in magnetic conduction
Body surface face.
The pressure sensor 4 can use strain resistor sensor.
The middle position of body bottom portion is equipped with light illuminating unit 8 and connect with controller 6, and light illuminating unit 8 issues illumination and climbing
Surface is climbed, controller 6 is used to control the opening and closing of light illuminating unit 8.The end position of body bottom portion is equipped with photodetector 9, photoelectricity
Detector 9 is connect with controller 6, and photodetector 9 obtains detection signal by the light of climbing surface reflection, and it is anti-to will test signal
It is fed to controller 6；The optical axis and climbing surface that light illuminating unit 8 in the present embodiment is issued keep certain predetermined angle, and
The optical axis of reflection injects the photodetector 9；Wherein, the photodetection that photodetector 9 is made of multiple probe units
Cell array.
The body bottom portion is additionally provided with the range sensor 5 being connected with controller, and the range sensor 5 is suitable for use in spy
Survey distance between body bottom portion and magnetizer surface of creeping；When if apart from increase, the controller is suitable for increasing electricity during exercise
The current value of magnet, to improve climbing robot adsorption capacity.
The range sensor can be, but not limited to using high-precision infrared distance sensor or ultrasonic sensor.
Controller is connected with a memory 7, is suitable for prestoring total weight bearing and the matched first database of electromagnet current,
Distance and matched second database of electromagnet current between body bottom portion and magnetizer surface of creeping；
Controller is suitable for obtaining the matched initial current from first database according to total weight bearing；And
Controller is further adapted for obtaining matched electricity from the second database according to distance between body bottom portion and magnetizer surface of creeping
The current value of magnet.
This climbing robot first calculates total weight bearing after loading article, then determines the work electricity of electromagnet according to total bear a heavy burden
Stream, so that product more steady operation；When magnetic-type climbing robot moves, range finder detection body distance from bottom
The distance of magnetizer, and by distance information transmission to controller, when the distance changes, the controller foundation is deposited
The second database in reservoir, which is adjusted, effectively prevent magnetizer alligatoring to change adsorption capacity by the electric current of electromagnet
Caused by climbing robot fall；And electric current is dynamic regulation, so that adsorption capacity is not too big, the movement of climbing robot
It not will cause energy waste.
Distance of the electromagnet apart from magnetizer surface is 5-8mm.If it is greater than 8mm, then magnetic field is not enough concentrated, and is caused
Energy waste then may cause to interfere if it is less than 5mm due to the out-of-flatness on magnetizer surface.
Total weight bearing of the climbing robot is G, then adsorption capacity T=KG of the electromagnet, and wherein K is adsorption coefficient, and
3<K<10.If K < 3, climbing robot job insecurity may cause climbing robot to fall, such as due to certain accidental causes
Fruit K > 10, then climbing robot is larger along the resistance of magnetizer apparent motion, causes energy waste.
Preferably, in order to increase frictional force, the edge of the idler wheel 3 is made of anti-slip material, to increase idler wheel and lead
The coefficient of friction of magnet surface realizes energy conservation so as to reduce the value of adsorption coefficient K.
Embodiment 2
On that basis of example 1, the present embodiment 2 provides a kind of working method of climbing robot as described in Example 1.
The working principle of each section of magnetic-type welding robot, process have detailed opinion in embodiment 1 in the present embodiment
It states.
The present invention provides a kind of working method of climbing robot, comprising the following steps:
Step S01, when robot preparation, first robot is arranged on level land, detects the data and biography of pressure sensor
Transport to controller, the controller loaded according to the data computer device people of pressure sensor the total force after article and store to
Memory；
Wherein, total weight bearing and the matched first database of electromagnet current and body bottom portion are prestored in the memory and are climbed
Distance and matched second database of electromagnet current between row magnetizer surface；
Step S02, robot is adsorbed on vertically disposed magnetizer, controller passes through according to the total force determination of robot
The initial current of electromagnet, so that robot be made to be adsorbed on magnetizer；
Step S03, the described controller control light illuminating unit is opened, so that light illuminating unit issues illumination on climbing surface；Wherein, institute
The optical axis and climbing surface for stating light illuminating unit sending keep certain predetermined angle；
Step S04, idler wheel drive module control idler wheel rotation, so that wall movement is climbed in climbing robot realization；
Step S05, the described photodetector detects signal by the photogenerated of climbing surface reflection, and the controller is to detection signal
Judged；Wherein, when the photodetector within a preset time can constant reception to the light of reflection, then controller is according to logical
The initial current for crossing electromagnet is adsorbed on robot on magnetizer；When the photodetector within a preset time cannot be constant
The light of reflection is received, then controller command range detection is opened；Wherein, preset time 3-10s；
Step S06, the distance of the described range finder detection body distance from bottom magnetizer, and distance information transmission is extremely controlled
Device；
Step S07, when the distance changes, the controller passes through according to the second database adjusting in memory
The electric current of electromagnet.
In the present embodiment after setting initial current, roughness measurement is carried out to climbing surface, light illuminating unit issues illumination
On climbing surface, photodetector detects signal by the photogenerated of climbing surface reflection, as can light of the constant reception to reflection, then
Without opening range finder, energy waste is avoided, constant reception is such as unable to the light of reflection, then opens range finder, from
And change adsorption capacity, it effectively prevent climbing robot caused by magnetizer alligatoring to fall.
Controller is connected with a memory, is suitable for prestoring total weight bearing and the matched first database of electromagnet current,
Distance and matched second database of electromagnet current between body bottom portion and magnetizer surface of creeping；The controller is suitable for
The matched initial current is obtained from first database according to total weight bearing；And controller be further adapted for according to body bottom portion with climb
Distance obtains the current value of matched electromagnet from the second database between row magnetizer surface.
Distance of the electromagnet apart from magnetizer surface is 5-8mm.If it is greater than 8mm, then magnetic field is not enough concentrated, and is caused
Energy waste then may cause to interfere if it is less than 5mm due to the out-of-flatness on magnetizer surface.
Total weight bearing of the climbing robot is G, then adsorption capacity T=KG of the electromagnet, and wherein K is adsorption coefficient, and
3<K<10.If K < 3, climbing robot job insecurity may cause climbing robot to fall, such as due to certain accidental causes
Fruit K > 10, then climbing robot is larger along the resistance of magnetizer apparent motion, causes energy waste.
Preferably, in order to increase frictional force, the edge of the idler wheel 3 is made of anti-slip material, to increase idler wheel and lead
The coefficient of friction of magnet surface realizes energy conservation so as to reduce the value of adsorption coefficient K.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (8)
1. a kind of climbing robot characterized by comprising
The electromagnet of body bottom portion is arranged in ontology, the idler wheel for driving ontology mobile；
Controller, controller is suitable for control electromagnet and is adsorbed in magnetizer surface, and controls idler wheel by idler wheel drive module and turn
It is dynamic, so that wall movement is climbed in climbing robot realization；
Pressure sensor, the pressure sensor is connected with controller, and before climbing robot climbs wall, climbing robot is laid flat
To obtain total weight bearing of climbing robot by pressure sensor；The controller is suitable for according to the first of total weight bearing control electromagnet
Beginning electric current, so that climbing robot is adsorbed in magnetizer surface；
Light illuminating unit, the light illuminating unit are set to the middle position of body bottom portion and connect with controller, exist for issuing illumination
Surface is climbed, the controller is used to control the opening and closing of the light illuminating unit；
Photodetector, the end position that the photodetector is set to body bottom portion are connect with controller, the photodetection
Device obtains detection signal by the light of climbing surface reflection, and will test signal and feed back to the controller；
Range sensor is set to body bottom portion and is connected with the controller, and the range sensor is suitable for use in detection ontology
Distance between bottom and magnetizer surface of creeping, if when apart from increase, the controller is suitable for increasing electromagnet during exercise
Current value, to improve climbing robot adsorption capacity.
2. climbing robot according to claim 1, which is characterized in that the optical axis and climbing that the light illuminating unit is issued
Surface keeps certain predetermined angle, and the optical axis reflected injects the photodetector.
3. climbing robot according to claim 2, which is characterized in that the photodetector is by multiple probe units
The photoelectric detection unit array of composition.
4. climbing robot according to claim 1, which is characterized in that the controller is connected with a memory, with suitable
It always bears a heavy burden and distance between the matched first database of electromagnet current and body bottom portion and magnetizer surface of creeping in prestoring
With matched second database of electromagnet current；The controller is suitable for obtaining matched institute from first database according to total weight bearing
State initial current；And the controller is further adapted for according to distance between body bottom portion and magnetizer surface of creeping from the second data
Library obtains the current value of matched electromagnet.
5. climbing robot according to claim 1, which is characterized in that
Distance of the electromagnet apart from magnetizer surface is 5-8mm；And
Total weight bearing of the climbing robot is G, then
Adsorption capacity T=KG of the electromagnet, wherein K is adsorption coefficient, and 3 < K < 10.
6. a kind of working method of climbing robot, which comprises the following steps:
Step S01, when robot preparation, first robot is arranged on level land, detects the data and biography of pressure sensor
Transport to controller, the controller loaded according to the data computer device people of pressure sensor the total force after article and store to
Memory；
Wherein, total weight bearing and the matched first database of electromagnet current and body bottom portion are prestored in the memory and are climbed
Distance and matched second database of electromagnet current between row magnetizer surface；
Step S02, robot is adsorbed on vertically disposed magnetizer, controller passes through according to the total force determination of robot
The initial current of electromagnet, so that robot be made to be adsorbed on magnetizer；
Step S03, the described controller control light illuminating unit is opened, so that light illuminating unit issues illumination on climbing surface；Wherein, institute
The optical axis and climbing surface for stating light illuminating unit sending keep certain predetermined angle；
Step S04, idler wheel drive module control idler wheel rotation, so that wall movement is climbed in climbing robot realization；
Step S05, the described photodetector detects signal by the photogenerated of climbing surface reflection, and the controller is to detection signal
Judged；Wherein, when the photodetector within a preset time can constant reception to the light of reflection, then controller is according to logical
The initial current for crossing electromagnet is adsorbed on robot on magnetizer；When the photodetector within a preset time cannot be constant
The light of reflection is received, then controller command range detection is opened；
Step S06, the distance of the described range finder detection body distance from bottom magnetizer, and distance information transmission is extremely controlled
Device；
Step S07, when the distance changes, the controller passes through according to the second database adjusting in memory
The electric current of electromagnet.
7. working method according to claim 6, which is characterized in that the preset time in the step S05 is 3-10s.
8. according to right want 6 described in working method, which is characterized in that
Distance of the electromagnet apart from magnetizer surface is 5-8mm；And
Total weight bearing of the climbing robot is G, then
Adsorption capacity T=KG of the electromagnet, wherein K is adsorption coefficient, and 3 < K < 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070033.1A CN110065547A (en) | 2018-01-24 | 2018-01-24 | A kind of wall-climbing robot and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070033.1A CN110065547A (en) | 2018-01-24 | 2018-01-24 | A kind of wall-climbing robot and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110065547A true CN110065547A (en) | 2019-07-30 |
Family
ID=67365690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810070033.1A Pending CN110065547A (en) | 2018-01-24 | 2018-01-24 | A kind of wall-climbing robot and its working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110065547A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228857A (en) * | 2021-12-31 | 2022-03-25 | 中国电子科技集团公司第十四研究所 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6011455A (en) * | 1996-11-19 | 2000-01-04 | Mitsubishi Heavy Industries, Ltd. | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| CN106627842A (en) * | 2016-12-21 | 2017-05-10 | 深圳怡丰机器人科技有限公司 | Mobile robot system |
| CN106926912A (en) * | 2017-03-23 | 2017-07-07 | 西北师范大学 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
| CN206551024U (en) * | 2017-02-27 | 2017-10-13 | 武汉科技大学 | Detect the walking robot control system of steel construction wall |
| CN107443402A (en) * | 2017-10-06 | 2017-12-08 | 南京中高知识产权股份有限公司 | Solar energy climbing robot and its method of work |
-
2018
- 2018-01-24 CN CN201810070033.1A patent/CN110065547A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6011455A (en) * | 1996-11-19 | 2000-01-04 | Mitsubishi Heavy Industries, Ltd. | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| EP0878381A4 (en) * | 1996-11-19 | 2000-03-29 | Mitsubishi Heavy Ind Ltd | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| CN106627842A (en) * | 2016-12-21 | 2017-05-10 | 深圳怡丰机器人科技有限公司 | Mobile robot system |
| CN206551024U (en) * | 2017-02-27 | 2017-10-13 | 武汉科技大学 | Detect the walking robot control system of steel construction wall |
| CN106926912A (en) * | 2017-03-23 | 2017-07-07 | 西北师范大学 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
| CN107443402A (en) * | 2017-10-06 | 2017-12-08 | 南京中高知识产权股份有限公司 | Solar energy climbing robot and its method of work |
Non-Patent Citations (1)
| Title |
|---|
| 姚秋平 等: ""永磁式油罐爬壁机器人研制"", 《广东石油化工学院学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228857A (en) * | 2021-12-31 | 2022-03-25 | 中国电子科技集团公司第十四研究所 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230264358A1 (en) | Handling gait disturbances with asynchronous timing | |
| US11369531B2 (en) | Variable speed patient transfer apparatus | |
| US9926025B1 (en) | Slip avoidance | |
| CN107443402A (en) | Solar energy climbing robot and its method of work | |
| CN107263486A (en) | A kind of robot overturning-preventing method, device and overturning-preventing robot | |
| CN107672684A (en) | Multi-functional climbing robot chassis and robot, method of work | |
| CN107632605A (en) | A kind of control method based on magnetic adsorption wall climbing robot | |
| CN110065547A (en) | A kind of wall-climbing robot and its working method | |
| CN207191297U (en) | Electric boosted slide plate | |
| CN105799806A (en) | Three-dimensional human-simulating walking device and control method thereof | |
| US11857050B2 (en) | Smart luggage case and a method for controlling the operation of an assisting luggage case | |
| CN107457512A (en) | Remote controlled magnetic-type welding robot and its method of work | |
| CN202203599U (en) | Adaptive pipeline trolley | |
| CN107651031A (en) | A kind of method of work of magnetic adsorption wall climbing robot | |
| CN109866839A (en) | Magnetic-type climbing robot and its working method | |
| CN113442114A (en) | Waist assistance exoskeleton and control method thereof | |
| CN110155196A (en) | A kind of intelligent barrow for upstairs and control method for transporting dustbin | |
| CN106612086B (en) | The electricity-saving control method and system on the motor driven chassis for PID control | |
| CN110069021A (en) | A kind of robot and its working method based on uneven climbing surface | |
| CN205105834U (en) | Automatic over -and -under type fruit supplies bagging apparatus | |
| CN113697717A (en) | Dead axle rises bearing structure soon based on AGV intelligent robot | |
| CN107685208A (en) | Universal detachable magnetic welding robot and its method of work | |
| CN112340373A (en) | High-rise garbage classification and collection system | |
| CN113977635A (en) | Anti-tilting device of industrial robot | |
| CN206705192U (en) | A kind of pitch control unit of logistics transmission |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190730 |
|
| RJ01 | Rejection of invention patent application after publication |