CN111071358B - Climbing ladder robot - Google Patents
Climbing ladder robot Download PDFInfo
- Publication number
- CN111071358B CN111071358B CN202010027401.1A CN202010027401A CN111071358B CN 111071358 B CN111071358 B CN 111071358B CN 202010027401 A CN202010027401 A CN 202010027401A CN 111071358 B CN111071358 B CN 111071358B
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- claw
- profiling
- climbing
- steering engine
- front claw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Ladders (AREA)
Abstract
The invention relates to a climbing ladder robot which comprises a crawler trolley, an objective table, a profiling front claw mechanism, a profiling rear claw mechanism, a front claw lifting mechanism and a rear claw supporting frame, wherein the objective table is arranged on the crawler trolley, the profiling front claw mechanism comprises a replaceable profiling front claw and a front claw steering engine for adjusting the angle of the profiling front claw, the profiling rear claw mechanism comprises a replaceable profiling rear claw and a rear claw steering engine for adjusting the angle of the profiling rear claw, the profiling front claw and the profiling rear claw are provided with matching parts matched with the steps of a ladder in shape, the profiling front claw is sequentially arranged on the objective table through the front claw steering engine and the front claw lifting mechanism, and the profiling rear claw is sequentially arranged on the objective table through the rear claw steering engine and the rear claw supporting frame. Compared with the prior art, the invention can be used for occasions needing climbing the ladder, and solves the problems of low efficiency and potential safety hazard of manual climbing.
Description
Technical Field
The invention relates to the field of robots, in particular to a ladder climbing robot.
Background
Robots are robotic devices that automatically perform work to assist or replace human work. In actual production, the high-altitude construction is indispensable, the ladder is to the necessary instrument of stepping up by force of carrying out the operation from certain altitude on ground, no matter be people or mechanical device at high altitude construction, all need the process of certain reliable and stable and easy regulation's mode completion cat ladder, and traditional cat ladder mode is artifical cat ladder, the process is slow, and have certain altitude and have the potential safety hazard of falling apart from ground benchmark, adopt mechanical device even robot to accomplish the cat ladder process from bottom to top with replacing the people, it compares with artifical cat ladder, the advantage is obvious, safe laborsaving, easy operation, it is stable swift. The type of the machine in the domestic market is few, the efficiency is low, the functions are not perfect and reasonable, the demand of the market for the ladder climbing lifting device is large, and the ladder climbing robot is designed to supplement the corresponding gap of the product line.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the ladder climbing robot which can be used for occasions needing climbing a ladder and solves the problems of low efficiency and potential safety hazard of manual ladder climbing.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a climbing ladder robot, includes track dolly, objective table, profile modeling front-jaw mechanism, profile modeling rear-jaw mechanism, front-jaw elevating system and rear-jaw support frame, the objective table is located on the track dolly, profile modeling front-jaw mechanism includes the front-jaw of interchangeable profile modeling and is used for adjusting the front-jaw steering engine of imitative front-jaw angle, profile modeling rear-jaw mechanism includes the back-jaw of interchangeable profile modeling and is used for adjusting the rear-jaw steering engine of profile modeling rear-jaw angle, profile modeling front-jaw and profile modeling rear-jaw are according to being equipped with the cooperation portion with ladder step shape complex, profile modeling front-jaw is installed on the objective table through front-jaw steering engine and front-jaw elevating system in proper order, profile modeling rear-jaw is installed on the objective table through rear-jaw steering engine and rear-jaw support frame in proper order;
The robot also comprises a controller which is respectively connected with the crawler trolley, the front claw lifting mechanism, the front claw steering engine and the rear claw steering engine, and realizes the following steps:
after the front claw lifting mechanism is controlled to lift the profiling front claw to a first preset height, the angle of the profiling front claw is adjusted through the front claw steering engine, the matching part of the profiling front claw is located right above a ladder step, the front claw lifting mechanism is controlled to descend, the profiling front claw is driven to descend until the matching part of the profiling front claw is clamped with the ladder step, the profiling rear claw is reset, under the support of the ladder step, the objective table and the crawler trolley are lifted together with the profiling rear claw mechanism, after the profiling rear claw is lifted to a specified height, the angle of the profiling rear claw is adjusted through the rear claw steering engine, the profiling rear claw is located right above the ladder step, the front claw lifting mechanism is controlled to act, the profiling rear claw is lowered until the matching part of the profiling rear claw is clamped with the ladder step, the profiling front claw is reset, and next climbing is carried out until the climbing is finished.
Install the preceding section bar of objective table of vertical setting on the objective table, preceding claw elevating system includes elevator motor, fly leaf and climb linear guide, it installs on the section bar before the objective table to climb linear guide, be equipped with the rack on the fly leaf and with climb linear guide complex and climb the slider, elevator motor's output shaft has the gear, this gear with the rack cooperation, preceding claw steering wheel is installed on the fly leaf.
The two lifting linear guide rails are arranged on the front section of each objective table, two groups of lifting slide blocks on the movable plate are arranged, the two groups of lifting slide blocks are respectively connected with the two lifting linear guide rails in a corresponding mode and matched with the two lifting linear guide rails, and the rack is located in the center of the two groups of lifting slide blocks.
The lifting motor is characterized in that a motor support frame is further arranged on the objective table, the electrode support frame comprises a motor support frame section bar and a motor support frame plate, the motor support frame plate is fixed on the objective table through the motor support frame section bar, and a base of the lifting motor is arranged on the motor support frame plate.
The rear claw supporting frame comprises a rear claw supporting frame first section bar, a rear claw supporting frame first plate, a rear claw supporting frame second plate and a rear claw supporting frame second section bar, wherein the rear claw steering engine is fixed on the rear claw supporting frame second plate through a rear steering engine connecting piece, and the rear claw supporting frame second plate is arranged on the object stage through the rear claw supporting frame second section bar, the rear claw supporting frame first plate and the rear claw supporting frame first section bar.
The object stage is provided with an object stage profile which is transversely arranged on the object stage, and the first profile of the rear claw supporting frame is arranged on the object stage through the object stage profile.
The two groups of profiling rear claw mechanisms are arranged in total, the two groups of rear claw supporting frames are arranged in total and correspond to the two groups of profiling rear claw mechanisms respectively, and the two groups of profiling rear claw mechanisms are mounted on the object stage through the corresponding rear claw supporting frames respectively.
The profiling front claw mechanisms are provided with two groups.
The robot is still including being used for maintaining balanced focus stabilizing mean when the climbing, and this focus stabilizing mean includes slider-crank structure and fifth steering wheel, the fifth steering wheel is fixed in on the motor support frame section bar, the fifth steering wheel is connected to slider-crank structure's one end, and the section bar before the objective table is connected to the other end.
The gravity center stabilizing mechanism comprises a crank, a cylindrical connecting piece, a crank connecting piece, a sliding block connecting piece, a supporting rod and a second sliding block, wherein a second linear guide rail is further arranged on the section bar before the objective table, the crank, the cylindrical connecting piece, the crank connecting piece and the sliding block connecting piece are sequentially connected, the sliding block connecting piece is respectively connected with the supporting rod and the second sliding block, and the second sliding block is connected with and matched with the second linear guide rail.
Compared with the prior art, the invention has the following beneficial effects:
1) Can be used for the occasion that needs to climb the ladder, solved artifical cat ladder inefficiency and have the problem of potential safety hazard.
2) The gravity center stabilizing mechanism can ensure that the extension length of the robot is always longer than two sections of steps, ensure that the robot can not incline to have potential safety hazards due to gravity center problems, and the climbing device has reasonable design and adopts the gear-rack transmission.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a schematic left-hand view of the present invention;
FIG. 3 is a right side view of the present invention;
FIG. 4 is a schematic view of the internal structure of the present invention;
FIG. 5 is a schematic top view of the present invention;
FIG. 6 is a first climbing stage of the present invention;
FIG. 7 is a second ascent phase schematic of the present invention;
FIG. 8 is a schematic diagram of the steering engine and steering engine attachment assembly;
FIG. 9 is a schematic diagram of an apparatus for lifting a motor and gears;
FIG. 10 is a schematic view of a body portion of another embodiment;
FIG. 11 is a schematic view of a further embodiment;
In the figure: 1. the crawler trolley, 2, movable plate, 3, rack, 4, gear, 5, lifting motor, 6, stage, 601, stage plate, 602, stage profile, 603, stage front profile, 701, first front jaw, 702, second front jaw, 801, first rear jaw, 802, second rear jaw, 901, crank, 902, crank connector, 903, slider connector, 904, support bar, 905, second slider, 906, second linear guide, 907, cylindrical connector, 10, climbing slider, 11, fifth steering gear, 12, fifth steering gear connector, 13, motor connector, 14, spacer, 1501, third steering gear, 1502, fourth steering gear, 1601, first steering gear 1602, second steering gear, 17, front steering gear connector, 18, rear jaw support, 1801, rear jaw support first profile, rear jaw support first plate, 1803, rear jaw support second plate, 1804, rear jaw support second profile 1901, electrode support, steering gear, 1902, electrode support profile, 20, climbing guide, 21, fifth linear connector, 22, rear connecting plate.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
1-5, The climbing ladder robot comprises a crawler trolley 1, an objective table 6, a profiling front claw mechanism, a profiling rear claw mechanism, a front claw lifting mechanism and a rear claw supporting frame, wherein the objective table 6 is arranged on the crawler trolley 1 through a gasket 14, the profiling front claw mechanism comprises a replaceable profiling front claw and a front claw steering engine for adjusting the angle of the profiling front claw, the profiling rear claw mechanism comprises a replaceable profiling rear claw and a rear claw steering engine for adjusting the angle of the profiling rear claw, the profiling front claw and the profiling rear claw are provided with matching parts matched with the steps of a ladder according to the shape, the profiling front claw is arranged on the objective table 6 sequentially through the front claw steering engine and the front claw lifting mechanism, and the profiling rear claw is arranged on the objective table 6 sequentially through the rear claw steering engine and the rear claw supporting frame;
the robot still includes the controller, and this controller is connected with crawler-type trolley 1, front claw elevating system, front claw steering wheel and back claw steering wheel respectively to realize when the cat ladder:
After the front claw lifting mechanism is controlled to lift the profiling front claw to a first preset height, the angle of the profiling front claw is adjusted through the front claw steering engine, the matching part of the profiling front claw is located right above a ladder step, the front claw lifting mechanism is controlled to descend, the profiling front claw is driven to descend until the matching part of the profiling front claw is clamped with the ladder step, the profiling rear claw is reset, under the support of the ladder step, the object table 6 and the crawler trolley 1 are lifted together with the profiling rear claw mechanism, after the profiling rear claw is lifted to a specified height, the angle of the profiling rear claw is adjusted through the rear claw steering engine, the profiling rear claw is located right above the ladder step, the front claw lifting mechanism is controlled to act, the profiling rear claw is lowered until the matching part of the profiling rear claw is clamped with the ladder step, the profiling front claw is reset, and next climbing is carried out until the climbing is finished.
The objective table 6 is provided with an objective table front section 603 which is vertically arranged, the front claw lifting mechanism comprises a lifting motor 5, a movable plate 2 and a climbing linear guide 20, the climbing linear guide 20 is arranged on the objective table front section 603, the movable plate 2 is provided with a rack 3 and a climbing slide block 10 matched with the climbing linear guide 20, as shown in fig. 9, an output shaft of the lifting motor 5 is provided with a gear 4, the gear 4 is matched with the rack 3, and a front claw steering engine is arranged on the movable plate 2.
The two objective table front sectional materials 603 are arranged in total, each objective table front sectional material 603 is provided with a climbing linear guide rail 20, the climbing slide blocks 10 on the movable plate 2 are provided with two groups in total, the two groups are respectively correspondingly connected and matched with the two climbing linear guide rails 20, and the rack 3 is positioned in the center of the two groups of climbing slide blocks 10.
The objective table 6 is further provided with a motor support frame, the electrode support frame comprises a motor support frame section bar 1902 and a motor support frame plate 1901, the motor support frame plate 1901 is fixed on the objective table 6 through the motor support frame section bar 1902, and a base of the lifting motor 5 is installed on the motor support frame plate 1901.
The rear claw supporting frame comprises a rear claw supporting frame first section 1801, a rear claw supporting frame first plate 1802, a rear claw supporting frame second plate 1803 and a rear claw supporting frame second section 1804, as shown in fig. 8, a rear claw steering engine is fixed on the rear claw supporting frame second plate 1803 through a rear steering engine connecting piece 22, and the rear claw supporting frame second plate 1803 is mounted on the object stage 6 through the rear claw supporting frame second section 1804, the rear claw supporting frame first plate 1802 and the rear claw supporting frame first section 1801.
The stage 6 is provided with a stage profile 602, the stage profile 602 is transversely arranged on the stage 6, and the first profile 1801 of the rear jaw support frame is arranged on the stage 6 through the stage profile 602.
The two groups of profiling rear claw mechanisms are arranged in total, the two groups of rear claw supporting frames are arranged in total and correspond to the two groups of profiling rear claw mechanisms respectively, and the two groups of profiling rear claw mechanisms are arranged on the object stage 6 through the corresponding rear claw supporting frames respectively. The profiling rear claws in the two groups of profiling rear claw mechanisms are a first rear claw 801 and a second rear claw 802 respectively, and are fixed on a rear claw supporting frame second plate 1803 on the two rear claw supporting frames through a third steering engine 1501 and a fourth steering engine 1502 respectively.
The profiling front claw mechanisms are provided with two groups, the profiling front claws of the two groups of profiling front claw mechanisms are a first front claw 701 and a second front claw 702 respectively, the profiling front claws are fixed by a first steering engine 1601 and a second steering engine 1602 respectively, and the first steering engine 1601 and the second steering engine 1602 are fixed on the movable plate 2 by two front steering engine connecting pieces 17 respectively.
The robot still includes the focus stabilizing mean who is used for maintaining balance when the climbing, and this focus stabilizing mean includes slider-crank structure and fifth steering wheel 11, and fifth steering wheel 11 is fixed in on the motor support frame section bar 1902, and fifth steering wheel 11 is connected to slider-crank structure's one end, and the objective table front section bar 603 is connected to the other end, and fifth steering wheel 11 passes through fifth steering wheel connecting piece 12 to be fixed on fifth steering wheel connecting plate 21, and fifth steering wheel connecting plate 21 is then fixed on motor support frame section bar 1902.
The gravity center stabilizing mechanism comprises a crank 901, a cylindrical connecting piece 907, a crank connecting piece 902, a sliding block connecting piece 903 and a supporting rod 904, a second sliding block 905 is further arranged on the front section 603 of the object stage, the crank 901, the cylindrical connecting piece 907, the crank connecting piece 902 and the sliding block connecting piece 903 are sequentially connected, the sliding block connecting piece 903 is respectively connected with the supporting rod 904 and the second sliding block 905, and the second sliding block 905 is connected with and matched with the second linear guide 906.
When the crawler 1 is required to move to the front of the ladder, the first front jaw 701, the second front jaw 702, the first rear jaw 801, and the second rear jaw 802 are reset to bring the movable plate 2 close to the ladder.
After which a first ascent phase is carried out:
As shown in fig. 6, when the first front claw 701 and the second front claw 702 exceed the horizontal plane of the first step, the first steering engine 1601 and the second steering engine 1602 are controlled to simultaneously steer so that the small bosses of the first front claw 701 and the second front claw 702 are aligned with the grooves of the aluminum profile, and at the moment, the lifting motor 5 is controlled to reversely rotate so as to enable the movable plate 2 to descend, so that the small bosses of the first front claw 701 and the second front claw 702 can be deep into the grooves of the profile.
And then a second ascent phase is performed:
As shown in fig. 7, the lifting motor 5 is continuously controlled to rotate reversely based on the first ascending stage, and the first front claw 701 and the second front claw 702 are firmly gripping the first step at this time, the rack 3 is stationary relative to the ladder, the gear 4 moves upward relative to the rack 3 to drive the robot to integrally start ascending, and the fifth steering engine 11 is controlled to turn to drive the crank block structure to start running in the ascending process, so that the supporting rod 904 descends. When the first rear claw 801 and the second rear claw 802 exceed the first step level, the third steering engine 1501 and the fourth steering engine 1502 are controlled to steer to enable the small bosses of the first rear claw 801 and the second rear claw 802 to be aligned with the grooves of the aluminum profile, and the fine adjustment lifting motor 5 is rotated forward to enable the first rear claw 801 and the second rear claw 802 to descend so that the small bosses can penetrate into the grooves of the aluminum profile. At this time, the lower end of the support bar 904 is in contact with the ground (the support bar is kept in an extended state all the time during the following ascent, and when the front rear paw simultaneously grabs a certain step, the support bar abuts against the outer surface of the previous step, so that the lower half of the robot is not suspended). The same as the state of the initial preparation phase, one cycle of movement is completed.
Repeating the steps, so as to finish climbing one section of step and achieve the final purpose of climbing the ladder by the robot.
In another embodiment of the present application, as shown in FIG. 10, the contoured front and rear paws are of another design that fits another ladder shape.
As shown in fig. 11, some devices, such as a manipulator, may be mounted on the robot platform of the present application, so that the use of the robot is widened.
Claims (10)
1. The climbing ladder robot is characterized by comprising a crawler trolley (1), an objective table (6), a profiling front claw mechanism, a profiling rear claw mechanism, a front claw lifting mechanism and a rear claw supporting frame, wherein the objective table (6) is arranged on the crawler trolley (1), the profiling front claw mechanism comprises a replaceable profiling front claw and a front claw steering engine for adjusting an angle of the profiling front claw, the profiling rear claw mechanism comprises a replaceable profiling rear claw and a rear claw steering engine for adjusting an angle of the profiling rear claw, a matching part matched with a ladder step is arranged on the profiling front claw and the profiling rear claw, the profiling front claw is sequentially arranged on the objective table (6) through the front claw steering engine and the front claw lifting mechanism, and the profiling rear claw is sequentially arranged on the objective table (6) through the rear claw steering engine and the rear claw supporting frame;
The robot further comprises a controller, wherein the controller is respectively connected with the crawler trolley (1), the front claw lifting mechanism, the front claw steering engine and the rear claw steering engine, and is realized when climbing a ladder:
After the front claw lifting mechanism is controlled to lift the profiling front claw to a first preset height, the angle of the profiling front claw is adjusted through the front claw steering engine, the matching part of the profiling front claw is located right above the ladder step, the front claw lifting mechanism is controlled to descend, the profiling front claw is driven to descend until the matching part of the profiling front claw is clamped with the ladder step, the profiling rear claw is reset, under the support of the ladder step, the object table (6) and the crawler trolley (1) are lifted together with the profiling rear claw mechanism, after the profiling rear claw is lifted to a specified height, the angle of the profiling rear claw is adjusted through the rear claw steering engine, the profiling rear claw is located right above the ladder step, the front claw lifting mechanism is controlled to act, the profiling rear claw is lowered until the matching part of the profiling rear claw is clamped with the ladder step, the profiling front claw is reset, and next climbing is carried out until the ladder climbing is finished.
2. The climbing ladder robot according to claim 1, characterized in that a vertically arranged stage front section bar (603) is installed on the stage (6), the front claw lifting mechanism comprises a lifting motor (5), a movable plate (2) and a climbing linear guide rail (20), the climbing linear guide rail (20) is installed on the stage front section bar (603), a rack (3) and a climbing slide block (10) matched with the climbing linear guide rail (20) are arranged on the movable plate (2), a gear (4) is connected to an output shaft of the lifting motor (5), the gear (4) is matched with the rack (3), and the front claw steering engine is installed on the movable plate (2).
3. The climbing ladder robot according to claim 2, wherein two sections (603) are provided in total, each section (603) is provided with a climbing linear guide rail (20), two groups of climbing sliding blocks (10) on the movable plate (2) are provided in total, the two groups of climbing sliding blocks are respectively correspondingly connected and matched with the two climbing linear guide rails (20), and the rack (3) is located in the center of the two groups of climbing sliding blocks (10).
4. A climbing ladder robot according to claim 3, characterized in that the stage (6) is further provided with a motor support frame comprising a motor support frame section bar (1902) and a motor support frame plate (1901), the motor support frame plate (1901) is fixed on the stage (6) by the motor support frame section bar (1902), and the base of the lifting motor (5) is mounted on the motor support frame plate (1901).
5. The climbing ladder robot of claim 1, wherein the rear jaw support comprises a rear jaw support first section bar (1801), a rear jaw support first plate (1802), a rear jaw support second plate (1803), and a rear jaw support second section bar (1804), the rear jaw steering engine is fixed to the rear jaw support second plate (1803) through a rear steering engine connector (22), and the rear jaw support second plate (1803) is mounted on the stage (6) through the rear jaw support second section bar (1804), the rear jaw support first plate (1802), and the rear jaw support first section bar (1801).
6. The climbing ladder robot of claim 5 wherein the stage (6) is provided with a stage profile (602), the stage profile (602) being transverse to the stage (6), the rear jaw support frame first profile (1801) being mounted to the stage (6) by the stage profile (602).
7. The climbing ladder robot of claim 5, wherein the profiling rear jaw mechanisms are provided with two groups in total, the rear jaw support frames are provided with two groups in total, the two groups correspond to the two groups of profiling rear jaw mechanisms respectively, and the two groups of profiling rear jaw mechanisms are mounted on the object stage (6) through the corresponding rear jaw support frames respectively.
8. A climbing ladder robot according to claim 2, wherein the profiling front jaw mechanisms are provided in two groups.
9. The climbing ladder robot of claim 4 further comprising a center of gravity stabilizing mechanism for maintaining balance during climbing, the center of gravity stabilizing mechanism comprising a slider-crank structure and a fifth steering engine (11), the fifth steering engine (11) being fixed to the motor support frame profile (1902), one end of the slider-crank structure being connected to the fifth steering engine (11), the other end being connected to the stage front profile (603).
10. The climbing ladder robot of claim 9, wherein the gravity center stabilizing mechanism comprises a crank (901), a cylindrical connecting piece (907), a crank connecting piece (902), a slide block connecting piece (903) and a supporting rod (904), a second slide block (905), a second linear guide rail (906) is further arranged on the stage front section bar (603), the crank (901), the cylindrical connecting piece (907), the crank connecting piece (902) and the slide block connecting piece (903) are sequentially connected, the slide block connecting piece (903) is respectively connected with the supporting rod (904) and the second slide block (905), and the second slide block (905) is connected with and matched with the second linear guide rail (906).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010027401.1A CN111071358B (en) | 2020-01-10 | 2020-01-10 | Climbing ladder robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010027401.1A CN111071358B (en) | 2020-01-10 | 2020-01-10 | Climbing ladder robot |
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| CN111071358A CN111071358A (en) | 2020-04-28 |
| CN111071358B true CN111071358B (en) | 2024-09-24 |
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| CN202010027401.1A Active CN111071358B (en) | 2020-01-10 | 2020-01-10 | Climbing ladder robot |
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| CN111567359B (en) * | 2020-06-15 | 2022-02-15 | 中国计量大学 | Passive flexible profiling and cutting mechanism of automatic tapping robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211969612U (en) * | 2020-01-10 | 2020-11-20 | 上海工程技术大学 | A ladder climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101836922A (en) * | 2010-04-12 | 2010-09-22 | 王军 | Wheelchair capable of smoothly passing through ditch and pit and going up and down stairs |
| CN103240535B (en) * | 2013-04-28 | 2015-07-01 | 长城汽车股份有限公司 | Workpiece positioning device of three-dimensional laser cutting equipment |
| CN108942964B (en) * | 2018-08-15 | 2021-12-17 | 武汉科技大学 | Bionic robot for detecting surface of columnar structure |
| CN110179600B (en) * | 2019-05-09 | 2020-05-26 | 哈工大机器人（合肥）国际创新研究院 | Stair climbing and obstacle crossing robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211969612U (en) * | 2020-01-10 | 2020-11-20 | 上海工程技术大学 | A ladder climbing robot |
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