CN110341828A - A kind of curved surface running gear and its magnetic cleaner device people - Google Patents
A kind of curved surface running gear and its magnetic cleaner device people Download PDFInfo
- Publication number
- CN110341828A CN110341828A CN201910682145.7A CN201910682145A CN110341828A CN 110341828 A CN110341828 A CN 110341828A CN 201910682145 A CN201910682145 A CN 201910682145A CN 110341828 A CN110341828 A CN 110341828A
- Authority
- CN
- China
- Prior art keywords
- vehicle frame
- curved surface
- running gear
- trolley body
- working face
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
-
- 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
A kind of curved surface running gear provided by the invention and its magnetic cleaner device people, belong to cleaning robot field, wherein curved surface running gear includes: trolley body；Driving device is mounted in trolley body, for driving vehicle wheel rotation；Trolley body includes: vehicle frame, is at least two groups, and at least two groups vehicle frame is oppositely disposed in the width direction of trolley body and is hinged and connected by articulation piece.Curved surface running gear provided by the invention, rotates vehicle frame along the axis direction of articulation piece, the different working face of Lai Shiying radius of curvature, guarantees that magnetic cleaner device people can effectively be bonded with working face, firmly carries out cleaning.
Description
Technical field
The present invention relates to cleaning robot technical fields, and in particular to a kind of curved surface running gear and its magnetic cleaner device
People.
Background technique
The selection that wind-power electricity generation is first developed as important clean energy resource as the low-carbon economy epoch, wind-driven generator group
Quantity be continuously increased.It is influenced by the long-term exposing to the weather in field, gravel friction, saline and alkaline erosion etc., outer wall of wind power tower takes off
Paint even corrosion phenomena, not only making, which influences beauty, possibly even jeopardizes fan operation safety, therefore wind-power tower needs to clear up.Tradition
Cleaning way carry out manual cleaning dependent on cleaning personnel, this cleaning way is not only time-consuming and laborious, and cleans and be not thorough,
Also dangerous.
Existing wall cleaning robot of climbing includes the robot body being connected, crawler attachment and cleaning device, crawler belt dress
It sets including driving wheel, track member and magnetic devices, the surface of track member is arranged in magnetic devices, and track member passes through magnetic devices energy
It is enough adsorbed on working face, in addition, track member is arranged on the drive wheel and engages with driving wheel, driving wheel is for driving track member
Operating so that crawler attachment be enable to walk on working face, and then drives robot body to move drive cleaning along working face
Device completes cleaning.
However, existing climbing robot when walking on curved surface, does not adapt to the different curved surface of radius of curvature, to make
Magnetic devices can not be effectively bonded with working face, to reduce magnetic devices to the adsorption capacity of working face, be easy track-face de-
From working face, the reliability that climbing robot uses is reduced.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is that climbing robot in the prior art is overcome not adapt to curvature
The defect of the different working face of radius, to provide a kind of curved surface running gear and its magnetic cleaner device people.
In order to solve the above technical problem, the present invention provides curved surface running gear, comprising:
Trolley body；
Driving device is mounted in the trolley body, for driving vehicle wheel rotation；
The trolley body includes:
Vehicle frame, is at least two groups, vehicle frame described at least two groups be oppositely disposed in the width direction of the trolley body and
It is hinged and connected by articulation piece.
Preferably, actuator is equipped between the adjacent vehicle frame, the actuator makes to vehicle frame application
Its biasing force to fit with working face.
Preferably, the vehicle frame has two groups, is separately positioned on the two sides of the trolley body.
Preferably, the middle part of the medial surface of vehicle frame described in two groups and close to working face side be equipped with connecting shaft,
The connecting shaft is hinged by the articulation piece.
Preferably, the actuator is push rod, and the both ends of the push rod are respectively and in the adjacent vehicle frame
Be hinged at it is connected, driving two groups described in vehicle frame towards or away from movement.
Preferably, adjacent its medial surface of the vehicle frame, the position far from the working face is arranged in the push rod
It sets.
Preferably, the push rod is electric oil cylinder, by free bearing be installed on two groups described between vehicle frame, the hinge
Seat is fixed on the middle part in the frame inside face.
Preferably, there are four the wheel tools, it is Mecanum wheel, is respectively arranged in the front and back of the vehicle frame
Both ends.
Preferably, the driving device is motor, and there are four tools, is separately mounted to the medial surface of the vehicle frame
Above and with the Mecanum wheel it is oppositely arranged.
A kind of magnetic cleaner device people provided by the invention walks including curved surface described in any one of above scheme and fills
It sets.
Preferably, further includes:
Adsorbent equipment has two groups, be respectively arranged on two groups described on vehicle frame, and fixed two on vehicle frame described in being located at every group
Between a Mecanum wheel, for the trolley body to be adsorbed on the working face；
Clearing apparatus clears up the working face positioned at the front end of the trolley body.
The adsorbent equipment is permanent-magnet.
The clearing apparatus includes:
Bracket is cleaned, one end is connect with the vehicle frame, and the other end is connect with cleaning brush pedestal；
Clean brush device, have it is multiple, be distributed on the cleaning brush pedestal, for being cleaned to the working face；
Recyclable device is connected, for clearing up the recovery processing of soiling solution with the cleaning brush pedestal；
Water-feeding system is connect with the cleaning brush pedestal, for spraying cleaning agent on the working face.
The cleaning bracket includes:
Cross bar, one end are fixedly connected by the connecting plate stretched out on oscillating bearing and the vehicle frame, and the other end passes through joint
Bearing and the connecting plate floating connection.
Vertical bar, there are two tools, and one end is vertically fixed on the cross bar, the upper surface of the other end and the cleaning brush pedestal
Inclination is fixed；
Electric pushrod, one end are hinged on the center of the trolley body front end face, the other end and the cleaning brush bottom
Seat is hinged.
The cleaning brush device includes:
Cleaning brush is connected with the output shaft of decelerating motor；
Decelerating motor is connected on a mounting board by the end face of the output shaft, and the side of the mounting plate passes through adjusting
Bolt is connect with frame one, and the top surface of the frame one is connect by bolt with frame two；
Spring is bolted with described, provides the normal pressure that the decelerating motor is maintained at operating position.
The recyclable device includes:
Collecting tank is mounted on the cleaning brush pedestal and on the edge of the trolley body side；
Scraper is collected, is provided close on the collection groove edge of the working face side；
Collecting pipe is recycled, is connect with the middle part of the collecting tank, for the soiling solution inside the collecting tank is discharged.
Technical solution of the present invention has the advantages that
1. curved surface running gear provided by the invention drives the vehicle wheel rotation in trolley body to realize row by driving device
Movement is walked, includes wherein at least two groups vehicle frame in trolley body, is oppositely disposed in the width direction of trolley body and passes through hinge
Fitting is hinged and connected, and vehicle frame can be rotated around the axis of the articulation piece, to drive trolley body to adapt to radius of curvature
Different working curved surfaces guarantees that trolley body can firmly operate in working face.
2. curved surface running gear provided by the invention, the actuator installed between adjacent vehicle frame provides biasing force, driving
Vehicle frame bends to the cambered surface to fit with working face, and this biasing force has dispersed the partial pressure of vehicle frame in the vertical direction,
While guaranteeing that vehicle frame is bonded with working face, keep running resistance minimum.
3. curved surface running gear provided by the invention, vehicle frame has two groups, is separately positioned on the two sides of trolley body, increases
The width of running gear entirety, also increases its distance on working face between stress point, make in this way single unit system by
Power is more uniform, runs more stable.
4. the side of curved surface running gear provided by the invention, the middle part of the medial surface of two groups of vehicle frames and close working face is set
There is connecting shaft, and hinged by articulation piece, so that two groups of vehicle frames is arranged symmetrically in the two sides of articulation piece, two groups of vehicle frames are by external force
It can guarantee whole running gear smooth motion along the axis smooth rotation of articulation piece when effect.
5. curved surface running gear provided by the invention, actuator is push rod, both ends respectively with the medial surface of adjacent carrier
It being hinged and connected, drives two groups of vehicle frames towards or away from movement, pusher structure is simple, and it is easy for installation, make vehicle using its horizontal thrust
The cambered surface that frame is formed effectively is bonded with working face.
6. curved surface running gear provided by the invention, the medial surface of adjacent carrier is arranged in push rod, and far from working face
Position can meet work requirements using the push rod of smaller stroke in this way, not only make the structure of single unit system more compact, and
And it saves money.
7. curved surface running gear provided by the invention, push rod are electric oil cylinder, it is installed between two groups of vehicle frames by free bearing,
Wherein free bearing is fixed on the middle part in frame inside face, and electric oil cylinder utilizes the closed-loop control characteristic of servo motor, easily real
Now the precision of thrust, speed and position is controlled, guarantees that vehicle frame is effectively bonded with working face.
8. curved surface running gear provided by the invention, wheel are Mecanum wheel, it is separately mounted to the front and back two of vehicle frame
End, Mecanum wheel is not only compact-sized, can also realize the all-around mobiles function such as forward, traversing, diagonal, rotation and combinations thereof
Can, energy band moving surface running gear is flexibly run on working face.
9. curved surface running gear provided by the invention, driving device are motor, there are four tools, respectively in the inside of vehicle frame
It on face, and is oppositely arranged with Mecanum wheel, four motor are coupled with four Mecanum wheels respectively, can effectively be protected
Demonstrate,prove four wheels synchronous operation.
10. a kind of magnetic cleaner device people provided by the invention, as with curved surface described in any one of above scheme
Running gear, therefore described in any one of having the advantages that above scheme.
11. the present invention provides a kind of magnetic cleaner device people, further includes: adsorbent equipment and clearing apparatus, wherein absorption dress
Setting has two groups, is separately positioned on corresponding two groups of vehicle frames, and is located between 2 Mecanum wheels, adsorbs trolley body
On working face；Clearing apparatus is located at the front end of trolley body, is used to place cleaning；Two groups of adsorbent equipments are arranged symmetrically in two
On group vehicle frame, trolley body is guaranteed that it drives clearing apparatus to carry out working face along desired trajectory by balanced magneticaction
Effective cleaning work.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of magnetic cleaner device people of the invention；
Fig. 2 is the main view of curved surface running gear and its working face fit structure；
Fig. 3 is the structural schematic diagram of clearing apparatus；
Fig. 4 is to clean brush device along the cross-sectional view in its front and back plane of symmetry direction.
Description of symbols:
1, trolley body；2, vehicle frame；3, connecting shaft；4, articulation piece；5, electric oil cylinder；6, free bearing；7, Mecanum wheel；8,
Motor；9, adsorbent equipment；10, clearing apparatus；11, bracket is cleaned；12, cleaning brush pedestal；13, brush device is cleaned；14, horizontal
Bar；15 vertical bars；16, connecting plate；17 electric pushrods；18, cleaning brush；19, decelerating motor；20, frame one；21, frame two；22,
Spring；23, mounting plate；24, bolt is adjusted；25, collecting tank；26, collecting tank；27, scraper is collected；28, collecting pipe is recycled；29,
Working face；30, oscillating bearing.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In description of the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Curved surface running gear provided in this embodiment is transported for making rack 2 as shown in Figure 2 be bonded working face 29
It is dynamic；Wherein vehicle frame 2 has two groups, is respectively arranged in the two sides of trolley body 1；The medial surface of the vehicle frame 2 middle part and lean on
Connecting shaft 3 is installed, the connecting shaft 3 is connected by articulation piece 4 on the side of nearly working face 29；Every group of 2 medial surface of vehicle frame is solid
Surely there is a free bearing 6, electric oil cylinder 5 is connected between two groups of vehicle frames 2 by the free bearing 6, and is arranged far from working face 29
Side, the shorter electric oil cylinder 5 of stroke can be used in this way can reach work purpose；Electric oil cylinder 5 utilizes its servo electricity
The closed-loop control characteristic of machine, the accurate piston rod that controls stretch to drive two groups of vehicle frames 2 opposite along the axis direction of the articulation piece 4
Or be moved away from, meanwhile, the angle formed between two connecting shafts 3 also changes therewith, make two groups described in vehicle frame 2 formed and work
The joint face that face 29 fits, and the biasing force to fit with working face 29 is provided for vehicle frame 2；Pass through electric oil cylinder 5 in this way
It is flexible that trolley body 1 can be made to adapt to the different working face of radius of curvature in real time, guarantee and the working face moment is closely fitted, is steady
Admittedly operate in working face.
As shown in Fig. 2, the rear and front end of vehicle frame 2 described in every group is equipped with Mecanum wheel 7, the Mecanum wheel 7
Have the function of that all-around mobile may be implemented, trolley body 1 can be driven flexibly to run on working face；In the inside of vehicle frame 2
Face be equipped with motor 8, the motor 8 altogether there are four, it is positioned opposite with four Mecanum wheels 7 respectively, to drive
Dynamic four Mecanum wheels 7 operate synchronously.
As shown in Figure 1, magnetic cleaner device people provided by the invention, further includes adsorbent equipment 9 and clearing apparatus 10.It is described
Adsorbent equipment 9 there are two groups, be respectively arranged on two groups of vehicle frames 2, and be located at two Mecanums fixed on every group of vehicle frame 2
Between wheel 7, trolley body 1 is adsorbed on working face 29, wherein adsorbent equipment uses permanent-magnet, and the permanent-magnet is made
Valence valence is low and smaller to surrounding environment influence；The clearing apparatus 10 is mounted on the front end of trolley body 1, is used to working face
29 are cleared up.
As shown in figure 3, clearing apparatus 10 include clean bracket 11, clean brush device 13, recyclable device and water-feeding system this
Four parts.
As shown in figure 3, cleaning brush bracket 11 includes: that cross bar 14, vertical bar 15 and electric pushrod 17 are constituted；Cross bar 14, one end
It is fixedly connected by oscillating bearing 30 with the connecting plate 16 that the edge of vehicle frame 2 is stretched out, the other end passes through oscillating bearing 30 and institute
State 16 floating connection of connecting plate, this connection type can to avoid cleaning brush bracket 11 vehicle frame 2 angle when changing
There is stuck phenomenon；Vertical bar 15 has two, and one end is vertically fixed on the cross bar 14, the other end and cleaning brush pedestal 12
Upper surface tilt fix；Electric pushrod 17, one end are hinged on the center of 1 front end face of trolley body, the other end with it is described
Cleaning brush pedestal 12 is hinged, is stretched by the electric pushrod 17 to drive 10 pitching of clearing apparatus to be promoted, to realize to working face
29 cleaning works.
Water-feeding system is connect with the cleaning brush pedestal 12, and for spraying cleaning agent on the working face, cooperation is cleaned
Brush device 13 cleans working face.
As shown in figure 3, recyclable device is connected with cleaning brush pedestal 12, comprising: collecting tank 26 collects scraper 27 and recycling
Collecting pipe 28；The collecting tank 26 is mounted on the cleaning brush pedestal 12 and the edge close to 1 side of trolley body
On, for collecting the soiling solution that cleaning generates, soiling solution adverse current is avoided to pollute working face again；The collection scraper 27, set on leaning on
On the edge of the collecting tank 26 of nearly 29 side of working face, when carrying out cleaning works, collects scraper 27 and is pressed on working face,
Prevent soiling solution trickling to the outside of collecting tank 26；The recycling collecting pipe 28, is mounted on the middle part of the collecting tank 26, be used to pair
The internal soiling solution of the collecting tank (26) is recycled.
As shown in figure 3, cleaning brush device 13, have multiple, is distributed on the cleaning brush pedestal 12, for the work
Face 29 is cleaned.The cleaning brush device 13 includes: cleaning brush 18, decelerating motor 19 and spring 22；Cleaning brush 18, and subtracts
The output shaft of speed motor is connected, and drives cleaning brush 18 to realize rotary cleaning by the rotation of output shaft；Decelerating motor 19 passes through institute
The end face for stating output shaft is connected on mounting plate 23, and the side of the mounting plate 23 is connected by adjusting bolt 24 and frame 1
It connects, the top surface of the frame 1 is connect by bolt 25 with frame 2 21；Spring 22 connect with the bolt 25, provides institute
State the normal pressure that decelerating motor 19 is maintained at operating position；Wherein the position of the cleaning brush 18 can be adjusted to adapt to song
The different working face 29 of rate radius, regulative mode is as follows: by the nut up and down adjustment to 25 top of the bolt, described in change
The position of cleaning brush 18 in radial directions；The adjusting bolt 24 is finely adjusted, 18 tangential direction of cleaning brush is changed
Position, the curvature of Lai Shiying working face.
Working principle: the angle rotated by adjusting two sides vehicle frame along the axis direction of articulation piece, to keep trolley body suitable
The working face that radius of curvature is different is answered, guarantees that magnetic cleaner device people can effectively be bonded with working face, is firmly cleaned
Work.
Certainly, the mode that the present patent application fits to driving its rack 2 of curved surface running gear with working face 29, which is not done, to be had
Body limitation, in other embodiments, the connecting shaft 3 of above-mentioned rack 2 is connected with driving motor, and driving motor driving two is adjacent
Connecting shaft 3 turns to the position to fit with working face with the rotation point of articulation piece 4.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (11)
1. a kind of curved surface running gear characterized by comprising
Trolley body (1)；
Driving device is mounted on the trolley body (1), for driving vehicle wheel rotation；
The trolley body (1) includes:
Vehicle frame (2), is at least two groups, and vehicle frame (2) described at least two groups is oppositely disposed in the width direction of the trolley body (1)
Above and by articulation piece (4) it is hinged and connected.
2. curved surface running gear according to claim 1, which is characterized in that be equipped with and drive between the adjacent vehicle frame (2)
Moving part, the actuator apply the biasing force for making it fit with working face (29) to the vehicle frame (2).
3. curved surface running gear according to claim 1 or 2, which is characterized in that the vehicle frame (2) has two groups, respectively
Two sides in the trolley body (1) are set.
4. curved surface running gear according to claim 3, which is characterized in that in the medial surface of vehicle frame described in two groups (2)
The side of portion and close working face (29) is equipped with connecting shaft (3), and the connecting shaft (3) is hinged by the articulation piece (4).
5. the curved surface running gear according to any one of claim 2~4, which is characterized in that the actuator is push rod,
Medial surface of the both ends of the push rod respectively with the adjacent vehicle frame (2) is hinged and connected, and vehicle frame (2) described in two groups of driving is opposite
Or it is moved away from.
6. curved surface running gear according to claim 5, which is characterized in that the adjacent vehicle frame is arranged in the push rod
(2) its medial surface, the position far from the working face (29).
7. curved surface running gear according to claim 5 or 6, which is characterized in that the push rod is electric oil cylinder (5), is led to
Cross free bearing (6) be installed on two groups described between vehicle frame (2), the free bearing (6) is fixed on the middle part of the vehicle frame (2) medial surface.
8. curved surface running gear according to claim 1, which is characterized in that there are four the wheel tools, is that Mike receives
Nurse wheel (7), is respectively arranged in the rear and front end of the vehicle frame (2).
9. curved surface running gear according to claim 8, which is characterized in that the driving device is motor (8), is had
It four, is separately mounted on the medial surface of the vehicle frame (2) and is oppositely arranged with the Mecanum wheel (7).
10. a kind of magnetic cleaner device people, which is characterized in that have curved surface according to any one of claims 1 to 9 walking dress
It sets.
11. magnetic cleaner device people according to claim 10, which is characterized in that further include:
Adsorbent equipment (9) has two groups, be respectively arranged on two groups described on vehicle frame (2), and it is solid on vehicle frame (2) described in being located at every group
Between the Mecanum wheel (7) of fixed two, for the trolley body (1) to be adsorbed on the working face (29)；
Clearing apparatus (10) is located at the front end of the trolley body (1), clears up the working face (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910682145.7A CN110341828B (en) | 2019-07-26 | 2019-07-26 | Curved surface running gear and magnetic force cleaning robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910682145.7A CN110341828B (en) | 2019-07-26 | 2019-07-26 | Curved surface running gear and magnetic force cleaning robot thereof |
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| Publication Number | Publication Date |
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| CN110341828A true CN110341828A (en) | 2019-10-18 |
| CN110341828B CN110341828B (en) | 2021-03-16 |
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| CN201910682145.7A Active CN110341828B (en) | 2019-07-26 | 2019-07-26 | Curved surface running gear and magnetic force cleaning robot thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112172954A (en) * | 2020-09-17 | 2021-01-05 | 深圳市行知行机器人技术有限公司 | Wall surface cleaning robot |
| CN112265590A (en) * | 2020-10-27 | 2021-01-26 | 苏州热工研究院有限公司 | Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, derusting robot and paint spraying robot |
| WO2021128623A1 (en) * | 2019-12-24 | 2021-07-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
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| US20190152544A1 (en) * | 2017-11-22 | 2019-05-23 | Ali Outa | Apparatus and related method for coating an irregular surface |
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| WO2021128623A1 (en) * | 2019-12-24 | 2021-07-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN112172954A (en) * | 2020-09-17 | 2021-01-05 | 深圳市行知行机器人技术有限公司 | Wall surface cleaning robot |
| CN112265590A (en) * | 2020-10-27 | 2021-01-26 | 苏州热工研究院有限公司 | Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, derusting robot and paint spraying robot |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN115682649B (en) * | 2022-10-24 | 2023-08-08 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
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