CN110182334A - A kind of climbing robot of magnetic suck - Google Patents
A kind of climbing robot of magnetic suck Download PDFInfo
- Publication number
- CN110182334A CN110182334A CN201910441853.1A CN201910441853A CN110182334A CN 110182334 A CN110182334 A CN 110182334A CN 201910441853 A CN201910441853 A CN 201910441853A CN 110182334 A CN110182334 A CN 110182334A
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- magnetic
- cover
- shaft
- wheel
- climbing robot
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 91
- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 238000001179 sorption measurement Methods 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims abstract description 5
- 239000002184 metal Substances 0.000 abstract description 36
- 229910052751 metal Inorganic materials 0.000 abstract description 36
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 32
- 229910052742 iron Inorganic materials 0.000 abstract description 16
- 239000002699 waste material Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000001186 cumulative effect Effects 0.000 description 3
- 230000005294 ferromagnetic effect Effects 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 238000005202 decontamination Methods 0.000 description 2
- 230000003588 decontaminative effect Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of climbing robots of magnetic suck, its structure includes driving motor, driving device, body, movable support, spring blade holder, scraper plate, exhausted magnetic support, magnetic adsorption device, the effect that the present invention has: it is matched by driving device and magnetic adsorption device, magnetic suck climbing robot can be made to carry out in the derusting course of work to metal surface, it can prevent metal iron filings from being attracted by permanent magnet, avoid that permanent magnet gradually weakens the magnetic attraction of metal surface and iron filings are removed from permanent magnet and need to waste the plenty of time by the later period, the stability that magnetic suck climbing robot is creeped in marine surface is improved with this, to improve working time and the operating efficiency of magnetic suck climbing robot.
Description
Technical field
The present invention relates to robot fields, particularly with regard to a kind of climbing robot of magnetic suck.
Background technique
Magnetic suck climbing robot is applied relatively broad in shipping cleaning at present, and magnetic suck climbing robot is on chassis
Driving, which provides, increases permanent magnet or electromagnet to be adsorbed onto ship or metal surface, is total to using magnetic adsorbability and frictional force
Robot self gravity is overcome under same-action, and robot is allow to do crawling exercises on inclination, even vertical metal surface,
Derusting decontamination is carried out to large ship outer wall with this, existing magnetic suck climbing robot carrying out derusting work to metal surface
During work, metal iron filings cause magnetic suck climbing robot in metal surface because the magnetic effect of permanent magnet can be attracted
Permanent magnet surfaces iron filings are cumulative in crawling process, so that permanent magnet gradually weakens the magnetic attraction of metal surface, to drop
The working time of low magnetic suck climbing robot and operating efficiency, and after magnetic suck climbing robot operation, permanent magnetism
The metal iron filings of body adsorption need to waste plenty of time removing, it is therefore desirable to develop a kind of creeper of novel magnetic suck
Device people, solved with this: existing magnetic suck climbing robot carries out in the derusting course of work to metal surface, metal iron filings
Because the magnetic effect of permanent magnet can be attracted, so that permanent magnet gradually weakens the magnetic attraction of metal surface, to reduce magnetic
Working time and the operating efficiency for adsorbing climbing robot, after magnetic suck climbing robot operation, permanent magnet surfaces are inhaled
Attached metal iron filings need to waste the problem of plenty of time removing.
The content of present invention
In view of the deficiencies of the prior art, the present invention is to realize by the following technical solutions: a kind of magnetic suck creeps
Robot, structure include driving motor, driving device, body, movable support, spring blade holder, scraper plate, exhausted magnetic support, magnetic
Adsorbent equipment, the body top center are equipped with driving device, and the driving device is fitted and fixed in body center
On the notch of position, the center at the top of the driving device is equipped with driving motor, and the body rear and front end is equipped with
Movable support and axisymmetricly structure, the movable support bottom end are equipped with spring blade holder, the spring blade holder bottom
Portion is equipped with scraper plate, and the body two sides are uniformly equidistantly equipped with exhausted magnetic support, and the exhausted magnetic support and body use interference
The center of cooperation, the exhausted magnetic support outer is equipped with magnetic adsorption device.
As advanced optimizing for the technical program, the driving device is by convection current scrap collection mechanism, driving wheel, master
Driving wheel locating rack, shaft, driven angular wheel composition, the shaft are set to below convection current scrap collection mechanism, the axis
Bar both ends are equipped with driving wheel and the two using being flexibly connected, and the axle center position sets that there are two driven angular wheels simultaneously
And axisymmetricly structure, the driving wheel outside are equipped with driving wheel locating rack, the driving wheel locating rack and shaft activity
Connection, the driving wheel locating rack rear and front end is fixed on exhausted magnetic support.
As advanced optimizing for the technical program, the convection current scrap collection mechanism by shaft, collecting cover, impeller,
It shunts and inhales bits bottom cover, active taper gear set at the collecting cover bottom, which is equipped with to shunt, inhales bits bottom cover, in the collecting cover
Heart position is equipped with shaft, and the center inside the collecting cover is equipped with impeller, and the impeller is connected with shaft, described
It shunting the center inhaled below the cover of bits bottom and is equipped with active angular wheel, the active angular wheel is connected with shaft bottom end,
The active angular wheel and driven angular wheel are meshed.
As advanced optimizing for the technical program, the shunting is inhaled bits bottom cover and is inhaled by side suction nozzle, cover, bottom
Mouth, bearing holder (housing, cover) composition, the center of the cover bottom are equipped with bearing holder (housing, cover), and the bearing holder (housing, cover) and shaft are flexibly connected,
The cover bottom is equipped with bottom suction nozzle, is uniformly equidistantly equipped with side suction nozzle on the cover outer ring.
As advanced optimizing for the technical program, the magnetic adsorption device is by magnetic wheel, rubber belt track, side support
Composition, the rubber belt track inside are uniformly equidistantly equipped with magnetic wheel, and the rubber belt track two sides are equipped with side support, institute
The side support and magnetic wheel stated are flexibly connected.
As advanced optimizing for the technical program, the magnetic wheel is made of permanent magnet, the gear teeth, positioning ring, wheel body,
The outer ring outer wall of the wheel body is equipped with more than two gear teeth, and the gear teeth and wheel body are integrated, the wheel
Body two sides are equipped with positioning ring, and the positioning ring and the gear teeth are interlocked, and the wheel tooth tip is equipped with permanent magnet, the permanent magnetism
Body and the gear teeth are flexibly connected, and the permanent magnet and positioning ring are using interference fit.
As advanced optimizing for the technical program, transverse concave groove is uniformly equidistantly equipped on the rubber belt track inner wall,
The rubber belt track outer wall surface is smooth straight and even, and the transverse concave groove and the gear teeth are meshed.
As advanced optimizing for the technical program, each permanent magnet surrounds ringwall structure along positioning ring.
Beneficial effect
A kind of climbing robot of magnetic suck of the present invention, rationally, functional has the advantages that for design
Each permanent magnet of the present invention surrounds ringwall structure along positioning ring and is separately mounted to each wheel tooth tip, so
Wheel body can make permanent magnet generate magnetic active force with ship metal surface one by one during scrolling, so as to realize machine
People is in ship metal surface creep；
It is uniformly equidistantly set inside rubber belt track of the present invention there are three magnetic wheel, it is uniformly equidistant on rubber belt track inner wall to be equipped with cross
To groove, transverse concave groove and the gear teeth are meshed, so permanent magnet is contacted by rubber belt track with ship metal surface, can prevent
The iron filings struck off on ship metal surface are directly attracted by permanent magnet, cause iron filings cumulative in permanent magnet surfaces, cause forever
The case where magnet gradually weakens the magnetic attraction of metal surface；
The frictional force that driving wheel of the present invention is formed in rotation with ship metal surface drives magnetic wheel rotation, so that magnetic
The climbing robot of absorption can be moved forward or back in marine surface, be equipped with scraper plate, body front and back two using body rear and front end
Hold the scraper plate being equipped with towards being consistent, the forward force provided using driving wheel can efficiently root out ship metal surface
Rusty scale；
Because impeller rotate clockwise during formed air-flow from bottom to top move, using shunt inhale bits bottom cover side and
Bottom surrounds the side suction nozzle and bottom suction nozzle that ringwall structure is equipped with, and makes to inhale the range expansion considered to be worth doing, bear to the iron filings rooted out
Receipts are pushed back, using the multi-faceted convection current suction generated in branching process, the climbing robot for increasing magnetic suck is climbed in marine surface
Capable stability；
The present invention is matched by driving device and magnetic adsorption device, and magnetic suck climbing robot can be made to metal watch
Face carries out in the derusting course of work, can prevent metal iron filings from being attracted by permanent magnet, avoids permanent magnet to the magnetic of metal surface
Suction gradually weakens and iron filings are removed from permanent magnet and need to waste the plenty of time by the later period, is creeped with this to improve magnetic suck
The stability that robot creeps in marine surface, to improve working time and the operating efficiency of magnetic suck climbing robot.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of the climbing robot of magnetic suck of the present invention；
Fig. 2 is the positive structure diagram of driving device of the present invention；
Fig. 3 is the schematic diagram of the section structure of convection current scrap collection of the present invention mechanism；
Fig. 4 is that the present invention shunts the bottom overlooking structure diagram for inhaling bits bottom cover；
Fig. 5 is the side structure schematic view of magnetic adsorption device of the present invention；
Fig. 6 is the side structure schematic view of magnetic wheel of the present invention.
In figure: driving motor -1, driving device -2, convection current scrap collection mechanism -2a, shaft -2a1, collecting cover -2a2, leaf
Wheel -2a3, it shunts and inhales bits bottom cover -2a4, side suction nozzle -2a41, cover -2a41, bottom suction nozzle -2a43, bearing holder (housing, cover) -2a44, master
Dynamic angular wheel -2a5, driving wheel -2b, driving wheel locating rack -2c, shaft -2d, driven angular wheel -2e, body -3, activity
Bracket -4, spring blade holder -5, scraper plate -6, exhausted magnetic support -7, magnetic adsorption device -8, magnetic wheel -8a, permanent magnet -8a1, the gear teeth -
8a2, positioning ring -8a3, wheel body -8a4, rubber belt track -8b, side support -8c.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment and Detailed description of the invention, the preferred embodiment that the present invention is further explained.
Embodiment
Fig. 1-6 is please referred to, the present invention provides a kind of specific embodiment of the climbing robot of magnetic suck；
Referring to Fig. 1, a kind of climbing robot of magnetic suck, structure include driving motor 1, driving device 2, body 3,
Movable support 4, spring blade holder 5, scraper plate 6, exhausted magnetic support 7, magnetic adsorption device 8, the body 3 are rectangular configuration and push up
Portion center is equipped with driving device 2, and the driving device 2 is fitted and fixed on the notch of 3 center of body, described
The center at 2 top of driving device is equipped with driving motor 1, and 3 rear and front end of body is equipped with movable support 4 and is in axis
Symmetrical structure, 4 bottom end of movable support are equipped with spring blade holder 5, and 5 bottom of spring blade holder is equipped with scraper plate 6,
The scraper plate 6 that 3 rear and front end of body is equipped with can be improved the flexible of scraper plate 6 by spring blade holder 5 towards being consistent
Property, increase the derusting decontamination efficiency of metal surface, 3 two sides of body are uniformly equidistantly set there are four exhausted magnetic support 7, described
Using interference fit, the center in 7 outside of exhausted magnetic support is equipped with magnetic adsorption device 8 for exhausted magnetic support 7 and body 3.
Referring to Fig. 2, the driving device 2 is by convection current scrap collection mechanism 2a, driving wheel 2b, driving wheel locating rack
2c, shaft 2d, driven angular wheel 2e composition, the shaft 2d are set to below convection current scrap collection mechanism 2a, the axis
The both ends bar 2d are equipped with driving wheel 2b and the two using being flexibly connected, and the center shaft 2d sets that there are two driven tapers
Gear 2e and axisymmetricly structure, the outside driving wheel 2b are equipped with driving wheel locating rack 2c, the driving wheel positioning
Frame 2c and shaft 2d is flexibly connected, and the rear and front end driving wheel locating rack 2c is fixed on exhausted magnetic support 7.
Referring to Fig. 3, the convection current scrap collection mechanism 2a is inhaled by shaft 2a1, collecting cover 2a2, impeller 2a3, shunting
Consider bottom cover 2a4, active angular wheel 2a5 composition to be worth doing, the collecting cover 2a2 is hollow cylindrical structure and upper and lower surface is distinguished
Equipped with air outlet and air inlet, the bottom collecting cover 2a2, which is equipped with to shunt, inhales bits bottom cover 2a4, the center collecting cover 2a2
Position is equipped with shaft 2a1, and the center inside the collecting cover 2a2 is equipped with impeller 2a3, the impeller 2a3 and shaft
2a1 connection, the top shaft 2a1 are connect with driving motor 1, and shaft 2a1 generates driving torque, institute by driving motor 1
State shunting inhale bits bottom cover 2a4 below center be equipped with active angular wheel 2a5, the active angular wheel 2a5 and
The connection of the bottom end shaft 2a1, the active angular wheel 2a5 and driven angular wheel 2e are meshed.
Referring to Fig. 4, the shunting inhale bits bottom cover 2a4 by side suction nozzle 2a41, cover 2a41, bottom suction nozzle 2a43,
Bearing holder (housing, cover) 2a44 composition, the cover 2a41 are equipped with bearing holder (housing, cover) 2a44 for the center of hollow circle configuration and bottom,
The bearing holder (housing, cover) 2a44 and shaft 2a1 are flexibly connected, and the bottom cover 2a41 sets that there are four bottom suction nozzle 2a43, each institutes
It states bottom suction nozzle 2a43 and surrounds ringwall shape along bearing holder (housing, cover) 2a44, uniformly equidistantly set that there are four sides on the outer ring cover 2a41
Suction nozzle 2a41, each side suction nozzle 2a41 surround ringwall shape structure, the side bottom suction nozzle 2a41 along cover 2a41
Equipped with air inlet, it is equipped with from bottom to top inclined wind deflector inside the air inlet, can be guided in impeller 2a3 rotation process
Air-flow disperses to outside cover 2a41.
Referring to Fig. 5, the magnetic adsorption device 8 is made of magnetic wheel 8a, rubber belt track 8b, side support 8c, it is described
Rubber belt track 8b inside uniformly equidistantly set there are three magnetic wheel 8a, the two sides rubber belt track 8b are equipped with side support 8c,
The preferred material of side support 8c is non-ferromagnetic, and the side support 8c is living by circular shaft bolt and magnetic wheel 8a
It is dynamic to connect, transverse concave groove is uniformly equidistantly equipped on the rubber belt track 8b inner wall, the transverse concave groove is nibbled with gear teeth 8a2 phase
It closes.
Referring to Fig. 6, the magnetic wheel 8a is made of permanent magnet 8a1, gear teeth 8a2, positioning ring 8a3, wheel body 8a4, institute
The wheel body 8a4 stated is cylindrical structure and outer ring outer wall is preferred equipped with 16 gear teeth 8a2, the wheel body 8a4
Material is non-ferromagnetic, and the gear teeth 8a2 is lateral convex shape and is integrated with wheel body 8a4, the wheel
The two sides body 8a4 are equipped with positioning ring 8a3, and the positioning ring 8a3 and gear teeth 8a2 are interlocked, and the top gear teeth 8a2 is equipped with forever
Magnet 8a1, the permanent magnet 8a1 and gear teeth 8a2 are flexibly connected, and the permanent magnet 8a1 and positioning ring 8a3 are matched using interference
It closes, each permanent magnet 8a1 surrounds ringwall structure along positioning ring 8a3.
It is as follows that it implements principle:
The climbing robot of magnetic suck is placed on ship metal surface first, the climbing robot two sides of magnetic suck are equal
Even equidistantly to set there are four magnetic adsorption device 8, because uniformly equidistantly setting inside rubber belt track 8b, there are three magnetic wheel 8a, magnetic wheel 8a
16 gear teeth 8a2 are uniformly equidistantly equipped on outer ring, and the top each gear teeth 8a2 is sheathed with permanent magnet 8a1, utilizes permanent magnet
8a1 has magnetic attraction effect to ferromagnetic metal substance, allows the robot to be fixed on ship metal surface, because of each institute
The permanent magnet 8a1 stated surrounds ringwall structure along positioning ring 8a3, thus wheel body 8a4 can make during scrolling permanent magnet 8a1 by
It is a to generate magnetic active force with ship metal surface, so as to realize robot in ship metal surface creep, because of rubber
Transverse concave groove is uniformly equidistantly equipped on crawler belt 8b inner wall, transverse concave groove and gear teeth 8a2 are meshed, so permanent magnet 8a1 passes through rubber
Glue crawler belt 8b is contacted with ship metal surface, can prevent the iron filings struck off on ship metal surface from directly being inhaled by permanent magnet 8a1
Draw, causes iron filings cumulative on the surface permanent magnet 8a1, permanent magnet 8a1 is caused gradually to weaken the magnetic attraction of metal surface, because
The stability and speed that this climbing robot for reducing magnetic suck is creeped on ship metal surface, because rubber belt track 8b is non-
Ferromagnet, and rubber belt track 8b outer wall surface is smooth straight and even, so because magnetic acts on the iron sticked on the surface rubber belt track 8b
Bits, are easy to fall in rubber belt track 8b rotation process；The center collecting cover 2a2 of driving device 2 is equipped with shaft 2a1, and
Shaft 2a1 generates driving torque, because the bottom end shaft 2a1 is connect with active angular wheel 2a5, initiative taper by driving motor 1
Shape gear 2a5 and driven angular wheel 2e are meshed, so driven angular wheel 2e passes through shaft in shaft 2a1 rotation process
The driving wheel 2b that 2d drives both ends to be equipped with is rolled, the frictional force formed in rotation with ship metal surface by driving wheel 2b,
The climbing robot of magnetic suck is driven to move forward or back in marine surface, because 3 rear and front end of body is equipped with scraper plate 6, and body 3
The scraper plate 6 that rear and front end is equipped with is towards being consistent, and when robot advances, two pieces of scraper plates 6 cooperate, and utilizes driving wheel 2b
The forward force of offer roots out the rusty scale on ship metal surface, because collecting cover 2a2 inner hub location is equipped with impeller 2a3,
Driving wheel 2b rolls forward during shaft 2d is rotated clockwise, the air-flow formed in impeller 2a3 rotation process at this time by lower and
Upper movement considers suction to be worth doing using the side suction nozzle 2a41 and bottom suction nozzle 2a43 for inhaling the bits bottom cover side 2a4 and bottom and being equipped with is shunted
Range expands, to carry out negative pressure recycling to the iron filings rooted out, using the multi-faceted convection current suction generated in branching process, increases
The stability that the climbing robot of magnetic suck is creeped in marine surface.
The basic principles, main features and advantages of the present invention have been shown and described above, the technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention can not only be realized in other specific forms under the premise of not departing from spirit of that invention or essential characteristic
The present invention will also have various changes and improvements, these changes and improvements both fall within scope of the claimed invention, therefore this hair
Bright claimed range is defined by appended claims and its equivalent, rather than above description limits.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (3)
1. a kind of climbing robot of magnetic suck, structure includes driving motor (1), driving device (2), body (3), activity branch
Frame (4), spring blade holder (5), scraper plate (6), exhausted magnetic support (7), magnetic adsorption device (8), it is characterised in that:
Driving device (2) are equipped at the top of the body (3), are equipped with driving motor (1) at the top of the driving device (2), institute
Body (3) rear and front end stated is equipped with movable support (4), and the movable support (4) bottom end is equipped with spring blade holder (5), institute
Spring blade holder (5) bottom stated is equipped with scraper plate (6), and the body (3) two sides are equipped with exhausted magnetic support (7), and described is exhausted
Magnetic adsorption device (8) are equipped on the outside of magnetic support (7).
2. a kind of climbing robot of magnetic suck according to claim 1, it is characterised in that: the driving device (2)
By convection current scrap collection mechanism (2a), driving wheel (2b), driving wheel locating rack (2c), shaft (2d), driven angular wheel (2e)
Composition, the shaft (2d) are set to below convection current scrap collection mechanism (2a), and the shaft both ends (2d) are equipped with driving wheel
(2b), the shaft center (2d) are equipped with driven angular wheel (2e), are equipped with actively on the outside of the driving wheel (2b)
It takes turns locating rack (2c), the convection current scrap collection mechanism (2a) is by shaft (2a1), collecting cover (2a2), impeller (2a3), shunting
Bits bottom cover (2a4), active angular wheel (2a5) composition are inhaled, the collecting cover bottom (2a2), which is equipped with to shunt, inhales bits bottom cover
(2a4), the collecting cover center (2a2) are equipped with shaft (2a1), and impeller is equipped with inside the collecting cover (2a2)
(2a3), the impeller (2a3) and shaft (2a1) connection, the active angular wheel (2a5) and the shaft bottom end (2a1) connect
It connects.
3. a kind of climbing robot of magnetic suck according to claim 2, it is characterised in that: bits bottom cover is inhaled in the shunting
(2a4) is made of side suction nozzle (2a41), cover (2a41), bottom suction nozzle (2a43), bearing holder (housing, cover) (2a44), the cover
The bottom (2a41) is equipped with bearing holder (housing, cover) (2a44), and the cover bottom (2a41) is equipped with bottom suction nozzle (2a43), the cover
The outer ring (2a41) is equipped with side suction nozzle (2a41).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441853.1A CN110182334B (en) | 2019-05-24 | 2019-05-24 | Crawling robot with magnetic adsorption function |
| CN202011571113.9A CN112758272A (en) | 2019-05-24 | 2019-05-24 | Crawling robot and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441853.1A CN110182334B (en) | 2019-05-24 | 2019-05-24 | Crawling robot with magnetic adsorption function |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011571113.9A Division CN112758272A (en) | 2019-05-24 | 2019-05-24 | Crawling robot and using method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110182334A true CN110182334A (en) | 2019-08-30 |
| CN110182334B CN110182334B (en) | 2021-02-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011571113.9A Withdrawn CN112758272A (en) | 2019-05-24 | 2019-05-24 | Crawling robot and using method |
| CN201910441853.1A Active CN110182334B (en) | 2019-05-24 | 2019-05-24 | Crawling robot with magnetic adsorption function |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011571113.9A Withdrawn CN112758272A (en) | 2019-05-24 | 2019-05-24 | Crawling robot and using method |
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| Country | Link |
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| CN (2) | CN112758272A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111398411A (en) * | 2020-04-28 | 2020-07-10 | 秦皇岛市盛通无损检测有限责任公司 | Magnetic automatic check out system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405184B (en) * | 2021-06-02 | 2023-03-21 | 淮南师范学院 | Intelligent robot based on machine learning |
| NO20210954A1 (en) * | 2021-08-02 | 2023-02-03 | Watbots As | Magnetic cleaning device and method |
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| CN109466722A (en) * | 2019-01-03 | 2019-03-15 | 中国石油大学(华东) | A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting |
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2019
- 2019-05-24 CN CN202011571113.9A patent/CN112758272A/en not_active Withdrawn
- 2019-05-24 CN CN201910441853.1A patent/CN110182334B/en active Active
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| US3922991A (en) * | 1973-06-25 | 1975-12-02 | John W Woods | Apparatus for cleaning metallic surfaces |
| CN105835977A (en) * | 2016-05-24 | 2016-08-10 | 邵萌 | Crawler-type wall climbing robot |
| CN108438168A (en) * | 2018-02-12 | 2018-08-24 | 芜湖众维教研仪器研发有限责任公司 | A kind of hull cleaning vehicle |
| CN207931951U (en) * | 2018-02-27 | 2018-10-02 | 中国人民解放军海军工程大学 | A kind of ship rust removing robot of more suction type fusions |
| CN109466723A (en) * | 2019-01-03 | 2019-03-15 | 中国石油大学(华东) | A kind of climbing robot for marine surface cleaning derusting |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398411A (en) * | 2020-04-28 | 2020-07-10 | 秦皇岛市盛通无损检测有限责任公司 | Magnetic automatic check out system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112758272A (en) | 2021-05-07 |
| CN110182334B (en) | 2021-02-26 |
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