CN110116766A - A kind of crawler type magnetic adsorption wall climbing robot with wall surface transitive capability - Google Patents
A kind of crawler type magnetic adsorption wall climbing robot with wall surface transitive capability Download PDFInfo
- Publication number
- CN110116766A CN110116766A CN201910492240.0A CN201910492240A CN110116766A CN 110116766 A CN110116766 A CN 110116766A CN 201910492240 A CN201910492240 A CN 201910492240A CN 110116766 A CN110116766 A CN 110116766A
- Authority
- CN
- China
- Prior art keywords
- wheel
- vehicle body
- wall surface
- type magnetic
- crawler type
- 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.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 47
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 9
- 230000007704 transition Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000002708 enhancing effect Effects 0.000 claims 1
- 230000005389 magnetism Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of crawler type magnetic adsorption wall climbing robots with wall surface transitive capability, including chassis, deformable vehicle body and electrical equipment.Chassis uses rubber belt track, and permanent magnet is enclosed with inside crawler belt.Vehicle body and electrical equipment are installed on the top on chassis, and vehicle body includes modular four-bar linkage structure, and former bridge is rotation center, and the deformation of vehicle body is realized by driving wheel, auxiliary wheel and tensioning wheel.Compared with the prior art, running gear of the invention drives magnetic track using driving wheel, and completes with driven wheel, auxiliary wheel, tensioning wheel cooperation.Entirety uses symmetric configuration, flexible to operation using differential driving method.In addition, permanent magnet to be wrapped in the inside of crawler belt rubber material by customization magnetic track; using contactless suction type; it can be effectively protected permanent magnet and wall surface, the rigid contact for avoiding permanent magnet directly high-intensitive with wall surface causes to wear to wall surface, whole simple and beautiful.
Description
Technical field
The present invention relates to Machine Manufacturing Technologies and climbing robot designing technique, more particularly to one kind to have wall surface transition energy
The crawler type magnetic adsorption wall climbing robot of power.
Background technique
In the prior art, climbing robot is widely used in the necks such as wall surface cleaning, flaw detection, maintenance and anti-terrorism scouting
Domain can free manual operation from the dangerous wall surface operating environment such as high-altitude using climbing robot, while can also be big
Social production efficiency is improved to amplitude, there is very high researching value.However, traditional most climbing robots do not have still
Standby wall surface transitive capability, constrains robot and further develops and utilizes.This is because in actual use, climbing
The operating environment of wall robot often there is common non-single operation wall surfaces such as curved surface, the even concave-convex wall surfaces of right angle wall surface,
This just needs the design of climbing robot that must have the adaptive transitive capability from a wall surface to another wall surface.
Summary of the invention
Existing drawbacks described above when being applied to non-single operation wall surface for the climbing robot of the prior art, the present invention
A kind of crawler type magnetic adsorption wall climbing robot with wall surface transitive capability is provided.
According to one aspect of the present invention, a kind of crawler type magnetic adsorption wall climbing machine with wall surface transitive capability is provided
People, including chassis, deformable vehicle body and electrical equipment,
Wherein the chassis uses rubber belt track, and permanent magnet, the vehicle body and institute are enclosed with inside the rubber belt track
The top that electrical equipment is installed on the chassis is stated, the vehicle body includes modular four-bar linkage structure, and former bridge is rotation
Center, and realize by driving wheel, auxiliary wheel and tensioning wheel the deformation of the vehicle body, the electrical equipment includes onboard wireless
Camera, for monitoring operating position and the real-time pictures of crawler type magnetic suck robot in real time, when the robot is met
When to concave-convex wall surface or right angle wall surface, the crawler type magnetic adsorption wall climbing robot realizes wall surface by the four-bar linkage structure
Transition is crossed with obstacle.
In an embodiment wherein, the vehicle body is symmetrical structure, including the vehicle being made of four crossbeams and four stringers
To embrace folder connection between the stringer of frame, crossbeam and corresponding position, double-legged support is set, and determines position using circlip on stringer.
In an embodiment wherein, the electrical equipment is installed on the inside of control cabinet, and control cabinet is arranged in aluminum profile
Top, motor cabinet connected with auxiliary beam and be connected with aluminum profile so that it is determined that motor cabinet spacing, servo motor is fixed on motor
On seat, drive shell is set, and is equipped with fan on the outside of drive shell and radiates among aluminum profile.
In an embodiment wherein, the chassis includes power train.The power train provides power by servo motor, and motor is defeated
The first synchronous pulley of axis connection out, via the first synchronous band connection transfer wheel, then the input terminal by the second synchronous belt and retarder
The second synchronous pulley on axis is connected, and retarder is fixed on the vehicle body by anchor ear, across hollow driving wheel, output shaft
It is connect via flange shaft with driving wheel, flange shaft is arranged in bearing block and by baffle with the screw hole on screw connection output shaft
To be positioned to retarder, the second connecting rod and tensioning wheel connected on pin joint first connecting rod on bearing block, with double-legged support
Bracket is arranged in together on the first pin shaft, and tension spring pillar is arranged on preceding bridge plate, connects the first pin shaft and tension spring with the first tension spring
Tension spring pillar is arranged on second connecting rod, it is connected with tension pulley support with the second tension spring, to pull tensioning wheel pair for pillar
Magnetic track is tensioned, and driven wheel is directly connected to wheel shaft and is fixed on bearing block.
In an embodiment wherein, the chassis includes running gear.The running gear drives magnetic track by driving wheel, and with
Driven wheel, auxiliary wheel, tensioning wheel cooperation are completed, and generally symmetric configuration, driving wheel and driven wheel configure auxiliary wheel group, this is auxiliary
It helps wheel group symmetrically placed two-by-two by four wheels respectively, is connected with wheel carrier interval and by the second pin shaft, auxiliary wheel uses irony
Material, it is attracting with magnetic track and roll on it.
In an embodiment wherein, permanent magnet is set to the inside of the wheel group of driving wheel and the wheel group of driven wheel, vehicle body
Two sides also set up backplate, to enhance the resistance to capsizing of climbing robot and to protect wheel.
Using crawler type magnetic adsorption wall climbing robot of the invention comprising chassis, deformable vehicle body and electrical equipment,
Vehicle body and electrical equipment are installed on the top on chassis.Chassis uses rubber belt track, is enclosed with permanent magnet in the inside of rubber belt track.
Vehicle body includes modular four-bar linkage structure, and former bridge is rotation center, and real by driving wheel, auxiliary wheel and tensioning wheel
The deformation of existing vehicle body.When robot encounters concave-convex wall surface or right angle wall surface, crawler type magnetic adsorption wall climbing robot connects by four
Rod structure realizes that wall surface transition and obstacle are crossed.Compared with the prior art, climbing robot of the invention includes at least as follows
Several advantages:
1) running gear drives magnetic track using driving wheel, and completes with driven wheel, auxiliary wheel, tensioning wheel cooperation.It is whole
It is flexible to operation using differential driving method using symmetric configuration；
2) by customization magnetic track, permanent magnet is wrapped in the inside of crawler belt rubber material, using contactless suction
Subsidiary formula formula can be effectively protected permanent magnet and wall surface, and the rigid contact for avoiding permanent magnet directly high-intensitive with wall surface makes wall surface
It is whole simple and beautiful at abrasion；
3) modularized design wheel group, using four-bar linkage structure, car body can be deformed adaptively, cross the complicated wall such as big turning
Face greatly improves the obstacle climbing ability of the robot.
Detailed description of the invention
Reader is after having read a specific embodiment of the invention referring to attached drawing, it will more clearly understands of the invention
Various aspects.Wherein,
Fig. 1 shows the one aspect according to the application, the crawler type magnetic adsorption wall climbing robot with wall surface transitive capability
Exterior contour schematic diagram；
Fig. 2 shows the body structure schematic diagrames of the crawler type magnetic adsorption wall climbing robot of Fig. 1；
Fig. 3 shows the active wheels top view of the crawler type magnetic adsorption wall climbing robot of Fig. 1；
Fig. 4 shows the active wheels side view of the crawler type magnetic adsorption wall climbing robot of Fig. 1；
Fig. 5 shows the structural schematic diagram of the driven wheel group of the crawler type magnetic adsorption wall climbing robot of Fig. 1；And
Fig. 6 shows the chassis structure schematic diagram of the crawler type magnetic adsorption wall climbing robot of Fig. 1.
Specific embodiment
In order to keep techniques disclosed in this application content more detailed with it is complete, can refer to attached drawing and of the invention following
Various specific embodiments, identical label represents the same or similar component in attached drawing.However, those skilled in the art
It should be appreciated that embodiment provided hereinafter is not intended to limit the invention covered range.In addition, attached drawing is used only for
It is schematically illustrated, and is drawn not according to its full size.
With reference to the accompanying drawings, the specific embodiment of various aspects of the present invention is described in further detail.
Fig. 1 shows the one aspect according to the application, the crawler type magnetic adsorption wall climbing robot with wall surface transitive capability
Exterior contour schematic diagram.Fig. 2 to Fig. 6 be shown respectively the vehicle body of the crawler type magnetic adsorption wall climbing robot of Fig. 1, active wheels,
The respective structural schematic diagram of driven wheel group and chassis.
Before the technical solution of expansion description the application, the correspondence between each component and its figure numbers label is sequentially listed
Relationship.1- control cabinet；2- aluminum profile；3- motor cabinet；4- crossbeam；5- servo motor；6- stringer；7- both feet support；8- first is embraced
Folder；9- second embraces folder；10- drive shell；11- fan；12- tensioning wheel；13- tension pulley support；The first pin shaft of 14-；15- first
Connecting rod；16- second connecting rod；The first tension spring of 17-；The second tension spring of 18-；19- bearing block；20- driving wheel；21- anchor ear；22- slows down
Device；23- permanent magnet；The second synchronous belt of 24-；The second synchronous pulley of 25-；26- input terminal axis；Runner in 27-；28- first is synchronous
Band；The first synchronous pulley of 29-；30- baffle；Bridge before 31-；Bridge plate before 32-；33- auxiliary wheel；34- wheel carrier；The second pin shaft of 35-；
36- driven wheel；37- wheel shaft；38- magnetic track.
Referring to figs. 1 to Fig. 6, in this embodiment, the crawler type magnetic adsorption wall climbing robot with wall surface transitive capability
Including chassis, deformable vehicle body and electrical equipment.Vehicle body and electrical equipment are installed on the top on chassis.
Specifically, chassis uses rubber belt track, permanent magnet 23 is enclosed with inside rubber belt track, vehicle body includes modularization
Four-bar linkage structure, former bridge 31 is rotation center, and realizes vehicle body by driving wheel 20, auxiliary wheel 33 and tensioning wheel 12
Deformation.When robot encounters concave-convex wall surface or right angle wall surface, crawler type magnetic adsorption wall climbing robot is by four-bar linkage structure reality
Existing wall surface transition is crossed with obstacle.Electrical equipment includes onboard wireless camera, real time monitoring crawler type magnetic suck robot
Operating position and real-time pictures, use dead reckoning, in conjunction with onboard wireless camera, so as to freely control machine
The operation of people.
The vehicle body of crawler type magnetic adsorption wall climbing robot is symmetrical structure comprising You Sigen crossbeam 4 and four 6 groups of stringer
At vehicle frame, as shown in Figure 2.To embrace folder connection between crossbeam 4 and the stringer of corresponding position 6.For example, stringer 6 passes through first armful
Folder 8 is connected to crossbeam 4.Crossbeam 4 is connected to stringer 6 by second armful of folder 9.It is provided with double-legged support 7 on stringer 6, and uses card
Spring determines position.
The electrical equipment of crawler type magnetic adsorption wall climbing robot is installed on the inside of control cabinet 1, and control cabinet 1 is arranged in aluminium
The top of profile 2.Motor cabinet 3 with the connection of auxiliary beam and be connected with aluminum profile 2 so that it is determined that motor cabinet 3 spacing.Servo motor 5 is solid
Be scheduled on motor cabinet 3, drive shell 10 be set among aluminum profile 2, and be equipped on the outside of drive shell 10 fan 11 carry out it is scattered
Heat, specific structure and positional relationship are as shown in Figure 2.
Referring to Fig. 3 and Fig. 4, the chassis of crawler type magnetic adsorption wall climbing robot includes power train and running gear.Power train purport
In the power transmission for providing motor to wheel group, it is that power is provided by servo motor 5, and motor output shaft connects the first synchronous belt
Wheel 29, via runner 27 in the connection of the first synchronous belt 28, then by the input terminal axis 26 of the second synchronous belt 24 and retarder 22
Second synchronous pulley 25 is connected.Retarder 22 is fixed on vehicle body by anchor ear 21, across hollow driving wheel 20, output shaft warp
It is connect by flange shaft with driving wheel 20, flange shaft is arranged in bearing block 19 and by baffle 30 on screw connection output shaft
Screw hole is to position retarder 22.Second connected on pin joint first connecting rod 15 on bearing block 19, with double-legged support 7 connects
Bar 16 and tension pulley support 13 are arranged in together on the first pin shaft 14, tension spring pillar are arranged on preceding bridge plate 32, with the first tension spring
17 connection the first pin shafts 14 and tension spring pillar, are arranged tension spring pillar on second connecting rod 16, with the second tension spring 18 by itself and tensioning
Wheel support 13 is connected, so that tensioning wheel 12 be pulled to be tensioned magnetic track 38.Driven wheel 36 is directly connected to wheel shaft 37 and consolidates
Due to bearing block 19.
The running gear on chassis drives magnetic track 38 by driving wheel 20, and matches with driven wheel 36, auxiliary wheel 33, tensioning wheel 12
It closes and completes.When crawler type magnetic adsorption wall climbing robot is after wall surface is in stable state, starts the control system of electrical equipment, allow
Robot carries out self-test operation.After self-test passes through, two main motor same-direction-driving motor vehicles bodies are moved forward or back or differential drives vehicle
Body turns to.When robot motion stops, main motor is enabled to lock robot.The generally symmetric configuration of running gear, driving
Wheel 20 configures auxiliary wheel group with driven wheel 36.As shown in figure 5, the auxiliary wheel group is symmetrically placed two-by-two by four wheels respectively,
It is connected with 34 interval of wheel carrier and by the second pin shaft 35, auxiliary wheel 33 uses ferrous material, attracting with magnetic track 38 and at it
Upper rolling.
In a specific embodiment, permanent magnet 23 is set on the inside of the wheel group of driving wheel 20 and the wheel group of driven wheel 36, vehicle
The also settable backplate in the two sides of body, to enhance the resistance to capsizing of climbing robot and protect wheel.
Using crawler type magnetic adsorption wall climbing robot of the invention comprising chassis, deformable vehicle body and electrical equipment,
Vehicle body and electrical equipment are installed on the top on chassis.Chassis uses rubber belt track, is enclosed with permanent magnet in the inside of rubber belt track.
Vehicle body includes modular four-bar linkage structure, and former bridge is rotation center, and real by driving wheel, auxiliary wheel and tensioning wheel
The deformation of existing vehicle body.When robot encounters concave-convex wall surface or right angle wall surface, crawler type magnetic adsorption wall climbing robot connects by four
Rod structure realizes that wall surface transition and obstacle are crossed.Compared with the prior art, climbing robot of the invention at least has following
Advantage: running gear drives magnetic track using driving wheel, and completes with driven wheel, auxiliary wheel, tensioning wheel cooperation.Integrally use pair
Claim layout, it is flexible to operation using differential driving method；By customizing magnetic track, permanent magnet is wrapped in crawler belt rubber
The inside of material can be effectively protected permanent magnet and wall surface using contactless suction type, avoid permanent magnet straight with wall surface
It connects high-intensitive rigid contact wall surface is caused to wear, it is whole simple and beautiful；Modularized design wheel group, using four-bar linkage structure,
Car body can be deformed adaptively, crossed the complicated wall surface such as big turning, greatly improved the obstacle climbing ability of the robot.
Above, a specific embodiment of the invention is described with reference to the accompanying drawings.But those skilled in the art
It is understood that without departing from the spirit and scope of the present invention, can also make to a specific embodiment of the invention each
Kind change and replacement.These changes and replacement are all fallen within the scope of the invention as defined in the claims.
Claims (6)
1. a kind of crawler type magnetic adsorption wall climbing robot with wall surface transitive capability, which is characterized in that the crawler type magnetic
Attached climbing robot includes chassis, deformable vehicle body and electrical equipment,
Wherein, the chassis uses rubber belt track, and permanent magnet (23), the vehicle body and institute are enclosed with inside the rubber belt track
The top that electrical equipment is installed on the chassis is stated, the vehicle body includes modular four-bar linkage structure, and former bridge (31) is
Rotation center, and by driving wheel (20), the deformation of auxiliary wheel (33) and tensioning wheel (12) the realization vehicle body, it is described electrical
Equipment includes onboard wireless camera, operating position and picture in real time for monitoring crawler type magnetic suck robot in real time
Face, when the robot encounters concave-convex wall surface or right angle wall surface, the crawler type magnetic adsorption wall climbing robot is by described four
Link mechanism realizes that wall surface transition and obstacle are crossed.
2. crawler type magnetic adsorption wall climbing robot according to claim 1, which is characterized in that the vehicle body is symmetrical junction
Structure is connected including the vehicle frame being made of four crossbeam (4) He Sigen stringers (6) between crossbeam and the stringer of corresponding position with embracing folder
It connects, double-legged support (7) is set on stringer (6), and determines position using circlip.
3. crawler type magnetic adsorption wall climbing robot according to claim 1, which is characterized in that the electrical equipment is installed on
The inside of control cabinet (1), and control cabinet (1) setting, in the top of aluminum profile (2), motor cabinet (3) is with the connection of auxiliary beam and and aluminium profiles
Material (2) be connected so that it is determined that motor cabinet (3) spacing, servo motor (5) is fixed on motor cabinet (3), sets among aluminum profile (2)
Set driver shell (10), and fan (11) is installed on the outside of drive shell (10) and is radiated.
4. crawler type magnetic adsorption wall climbing robot according to claim 1, which is characterized in that the chassis includes transmission
System,
The power train provides power by servo motor (5), and motor output shaft connects the first synchronous pulley (29), same via first
Runner (27) in step band (28) connection, then it is same by second on the input terminal axis (26) of the second synchronous belt (24) and retarder (22)
It walks belt wheel (25) to be connected, retarder (22) is fixed on the vehicle body by anchor ear (21), defeated across hollow driving wheel (20)
Shaft is connect via flange shaft with driving wheel (20), and flange shaft setting is inner in bearing block (19) and is connected by baffle (30) with screw
Screw hole on output shaft is connect to position to retarder (22), pin joint first connecting rod (15) on bearing block (19), with both feet
The second connecting rod (16) and tension pulley support (13) connected on support (7) is arranged in together on the first pin shaft (14), in preceding bridge plate
(32) tension spring pillar is set on, the first pin shaft (14) and tension spring pillar are connected with the first tension spring (17), on second connecting rod (16)
Tension spring pillar is set, it is connected with tension pulley support (13) with the second tension spring (18), to pull tensioning wheel (12) to magnetism
Crawler belt (38) is tensioned, and driven wheel (36) is directly connected to wheel shaft (37) and is fixed on bearing block (19).
5. crawler type magnetic adsorption wall climbing robot according to claim 1, which is characterized in that the chassis includes traveling
System,
The running gear by driving wheel (20) drive magnetic track (38), and with driven wheel (36), auxiliary wheel (33), tensioning wheel
(12) cooperation is completed, generally symmetric configuration, and driving wheel (20) and driven wheel (36) configure auxiliary wheel group, the auxiliary wheel component
It is not symmetrically placed two-by-two by four wheels, it is connected with wheel carrier (34) interval and by the second pin shaft (35), auxiliary wheel (33) uses
Ferrous material, it is attracting with magnetic track (38) and roll on it.
6. crawler type magnetic adsorption wall climbing robot according to claim 5, which is characterized in that permanent magnet (23) is set to drive
The inside of the wheel group of the wheel group and driven wheel (36) of driving wheel (20), the two sides of the vehicle body also set up backplate, described in enhancing
The resistance to capsizing of climbing robot simultaneously protects wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492240.0A CN110116766B (en) | 2019-06-06 | 2019-06-06 | Crawler-type magnetic adsorption wall climbing robot with wall surface transition capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492240.0A CN110116766B (en) | 2019-06-06 | 2019-06-06 | Crawler-type magnetic adsorption wall climbing robot with wall surface transition capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110116766A true CN110116766A (en) | 2019-08-13 |
| CN110116766B CN110116766B (en) | 2024-03-29 |
Family
ID=67523916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910492240.0A Active CN110116766B (en) | 2019-06-06 | 2019-06-06 | Crawler-type magnetic adsorption wall climbing robot with wall surface transition capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110116766B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861723A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Magnetic adsorption wall-climbing robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002002558A (en) * | 2001-05-14 | 2002-01-09 | Kubota Corp | Semi-crawler type traveling device |
| KR20060032373A (en) * | 2004-10-12 | 2006-04-17 | 주식회사 한울로보틱스 | Transformable track-type mobile system |
| CN101784433A (en) * | 2007-08-22 | 2010-07-21 | 克拉克设备公司 | Track vehicle having drive and suspension systems |
| KR101469019B1 (en) * | 2014-06-05 | 2014-12-05 | 주식회사 코인즈 | Wheel track device for autonomous driving vehicle and driving robot having the same for regenerating superannuated pipes |
| CN205769681U (en) * | 2016-05-24 | 2016-12-07 | 邵萌 | A kind of crawler-type wall climbing robot |
| US20170137078A1 (en) * | 2015-11-18 | 2017-05-18 | Hon Hai Precision Industry Co., Ltd. | Robotic vehicle |
| EP3222500A1 (en) * | 2016-03-24 | 2017-09-27 | Kässbohrer Geländefahrzeug AG | Chain drive and civil tracked vehicle |
| CN107387940A (en) * | 2017-09-22 | 2017-11-24 | 南京天创电子技术有限公司 | A kind of pipe robot magnetic suck caterpillar belt structure |
| CN207078219U (en) * | 2017-07-31 | 2018-03-09 | 广东省智能制造研究所 | A kind of caterpillar type robot |
| CN210063184U (en) * | 2019-06-06 | 2020-02-14 | 宁波介量机器人技术有限公司 | Crawler-type magnetic adsorption wall-climbing robot with wall surface transition capacity |
-
2019
- 2019-06-06 CN CN201910492240.0A patent/CN110116766B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002002558A (en) * | 2001-05-14 | 2002-01-09 | Kubota Corp | Semi-crawler type traveling device |
| KR20060032373A (en) * | 2004-10-12 | 2006-04-17 | 주식회사 한울로보틱스 | Transformable track-type mobile system |
| CN101784433A (en) * | 2007-08-22 | 2010-07-21 | 克拉克设备公司 | Track vehicle having drive and suspension systems |
| KR101469019B1 (en) * | 2014-06-05 | 2014-12-05 | 주식회사 코인즈 | Wheel track device for autonomous driving vehicle and driving robot having the same for regenerating superannuated pipes |
| US20170137078A1 (en) * | 2015-11-18 | 2017-05-18 | Hon Hai Precision Industry Co., Ltd. | Robotic vehicle |
| EP3222500A1 (en) * | 2016-03-24 | 2017-09-27 | Kässbohrer Geländefahrzeug AG | Chain drive and civil tracked vehicle |
| CN205769681U (en) * | 2016-05-24 | 2016-12-07 | 邵萌 | A kind of crawler-type wall climbing robot |
| CN207078219U (en) * | 2017-07-31 | 2018-03-09 | 广东省智能制造研究所 | A kind of caterpillar type robot |
| CN107387940A (en) * | 2017-09-22 | 2017-11-24 | 南京天创电子技术有限公司 | A kind of pipe robot magnetic suck caterpillar belt structure |
| CN210063184U (en) * | 2019-06-06 | 2020-02-14 | 宁波介量机器人技术有限公司 | Crawler-type magnetic adsorption wall-climbing robot with wall surface transition capacity |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861723A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Magnetic adsorption wall-climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110116766B (en) | 2024-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2931010Y (en) | Mobile robot capable of flexibly adjusting wheel center distance | |
| CN107472786B (en) | A kind of bilayer AGV vehicle and its driving method and robot transportation system | |
| EP1547843A4 (en) | In-wheel motor system for steering wheel | |
| CN108909880B (en) | Submerged traction type AGV | |
| CN102673671A (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN102673670A (en) | Novel full driving composite adsorption climbing robot | |
| CN107323192A (en) | A kind of air-ground amphibious mobile robot | |
| CN107554630A (en) | One kind wheel carries out the upset unmanned mobile platform of combined type | |
| CN108163481A (en) | A kind of damping type automated guided vehicle | |
| CN110116766A (en) | A kind of crawler type magnetic adsorption wall climbing robot with wall surface transitive capability | |
| CN110816646A (en) | All-directional mobile platform for automatic transportation and application thereof | |
| CN107031748A (en) | The universal drive module and its general driving unit of a kind of climbing robot | |
| CN208576596U (en) | A kind of omnidirectional's electric drive platform truck | |
| CN106364583B (en) | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module | |
| CN208432902U (en) | A kind of dual-drive dual-control transport vehicle based on AGV technology | |
| CN210063184U (en) | Crawler-type magnetic adsorption wall-climbing robot with wall surface transition capacity | |
| US10001779B1 (en) | Automatic guided vehicle | |
| CN213676350U (en) | Dual-motor four-wheel drive differential trolley chassis | |
| CN113104102A (en) | Vehicle wireless electromagnetic transmission omnidirectional driving device and system | |
| CN111319698B (en) | Intelligent logistics sorting platform car | |
| CN208347396U (en) | A kind of novel full Intelligent vertical ascending and descending parking device | |
| CN205891049U (en) | Transport vechicle chassis and AGV transport vechicle | |
| CN209956104U (en) | Wall-climbing crawler walking module with variable-curvature self-adaptive capacity | |
| CN110481687A (en) | A kind of wheel ball-type balance car | |
| CN202518370U (en) | Hedgehog-resembling transformation track mechanism |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |