CN111216821A - Wall-climbing rust removal robot - Google Patents
Wall-climbing rust removal robot Download PDFInfo
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- CN111216821A CN111216821A CN202010131297.0A CN202010131297A CN111216821A CN 111216821 A CN111216821 A CN 111216821A CN 202010131297 A CN202010131297 A CN 202010131297A CN 111216821 A CN111216821 A CN 111216821A
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- rust removing
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 title claims abstract description 107
- 230000007246 mechanism Effects 0.000 claims abstract description 101
- 230000009194 climbing Effects 0.000 claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 241000252254 Catostomidae Species 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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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
- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The wall climbing rust removal robot comprises a rust removal integrated mechanism, and an attachment part and a rust removal part which are arranged on the rust removal integrated mechanism, wherein the attachment part is provided with two attachment parts, the first attachment part and the second attachment part are movably connected and can move relatively along the advancing direction, and the two attachment parts do relative movement and alternately adsorb to enable the rust removal integrated mechanism to advance. The first attachment part is firstly attached to the wall surface, the second attachment part is not attached, and the rust removal integrated mechanism advances relative to the first attachment part; then the second attachment part adsorbs and the first attachment part does not adsorb, and the rust removal integrated mechanism advances relative to the second attachment part, so that the two attachment parts adsorb alternately to enable the rust removal integrated mechanism to advance, and the wall climbing rust removal robot is driven to advance.
Description
Technical Field
The invention relates to the field of rust removal operation, in particular to a rust removal robot.
Background
In the related art, a rust removing robot capable of traveling on a vertical wall surface includes a rust removing portion, a magnet, and a traveling wheel, as shown in chinese patent publication No. 208682970U, and the rust removing robot is attracted to the wall surface by the magnet so that a proper frictional force is provided between the traveling wheel and the wall surface, and thus the rust removing robot can travel on the vertical wall surface by the traveling wheel.
Disclosure of Invention
The invention aims to provide a wall-climbing rust removing robot adopting another advancing mechanism, the technical concept of the advancing mechanism is different from the prior art, and the advancing effect of the advancing mechanism on the surface to be rust removed can be basically the level of the prior advancing mechanism.
The wall climbing rust removal robot comprises a rust removal integrated mechanism, and an attachment part and a rust removal part which are arranged on the rust removal integrated mechanism, wherein the attachment part is provided with two attachment parts, the first attachment part and the second attachment part are movably connected and can move relatively along the advancing direction, and the two attachment parts do relative movement and alternately adsorb to enable the rust removal integrated mechanism to advance.
The rust removal integrated mechanism comprises a frame, a left rust removal integrated mechanism and a right rust removal integrated mechanism, wherein the left rust removal integrated mechanism and the right rust removal integrated mechanism are movably arranged on the left side and the right side of the frame respectively, the movable installation enables the rust removal integrated mechanism to extend out and retract in the lateral direction, and each rust removal integrated mechanism is provided with two attachment parts.
Further, the movable mounting structure specifically: a pair of left and right force applying arms respectively extending towards the left and the right are hinged on the frame, and the left and the right derusting integrated mechanisms are respectively arranged on the left and the right force applying arms; the moving direction is vertical, the lifting piece is arranged on the machine frame and is provided with a driving mechanism, the lifting piece is connected with the left force applying arm and the right force applying arm through the left connecting rod and the right connecting rod respectively, and the driving mechanism drives the lifting piece to vertically move and then drives the force applying arm to swing around a hinged point of the force applying arm and the machine frame through the connecting rod, so that the derusting integration mechanism can laterally extend out and retract.
Further, the movable connection is specifically provided with a track which is fixed with the first attachment part and along the advancing direction, the second attachment part and the rust removal part are assembled together and then are fixedly provided with a driving wheel, and the driving wheel advances along the track.
Further, the rust removing surface of the rust removing portion and the attachment surface of the second attachment portion are oriented in the same direction.
Furthermore, a side supporting roller wheel is arranged in parallel with the second attachment part and extends out in the same direction, and the protruding degree of the side supporting roller wheel exceeds the second attachment part when the second attachment part moves along the advancing direction.
Further, among the two attaching portions, the second attaching portion is movably installed in a laterally telescopic manner, and the second attaching portion retracts to move along the traveling direction.
Further, the first attachment portion and/or the second attachment portion is a negative pressure suction cup mechanism.
Furthermore, the first attachment part is a negative pressure sucker mechanism and is provided with an air exhaust mechanism, the air exhaust mechanism is provided with a plurality of air passages which are connected to the first attachment part in parallel, the first attachment part is provided with pressure exhaust holes respectively for the air passages, and the pressure exhaust holes of different air passages are not communicated with each other in the first attachment part.
Further, the two attachment portions are oriented differently.
Has the advantages that: the first attachment part is firstly attached to the wall surface, the second attachment part is not attached, and the rust removal integrated mechanism advances relative to the first attachment part; then the second attachment part adsorbs and the first attachment part does not adsorb, and the rust removal integrated mechanism advances relative to the second attachment part, so that the two attachment parts adsorb alternately to enable the rust removal integrated mechanism to advance, and the wall climbing rust removal robot is driven to advance.
Drawings
FIG. 1 is an overall schematic view of a rust removing machine;
FIG. 2 is a partial schematic view of a derusting robot;
FIG. 3 is a schematic view of a deformation mechanism;
FIG. 4 is a schematic view of a back chuck;
fig. 5 is a schematic view of the connection of the rust removing portion and the deforming mechanism.
In the figure: 2. a frame; 3. a pulley arrangement; 4. a lifting member; 5. a first nut; 6. a connecting rod; 7. applying a force arm; 8. an auxiliary arm; 9. a lifting motor; 10. a deformation mechanism; 20. a derusting integrated mechanism; 21. a rust removal part; 210. derusting the warhead; 22. a side suction cup; 23. side support rollers; 24. a telescopic motor; 241. a second nut; 242. a second lead screw; 243. a substrate; 30. a back suction cup; 31. a traveling motor; 32. a traction ring; 33. a track; 34. a driving wheel; 35. erecting a beam; 36. drawing and pressing the hole; 37. a connecting plate; 370. and a screw hole.
Detailed Description
The rust removing robot provided by the invention comprises a middle deformation mechanism 10 and a left rust removing integrated mechanism and a right rust removing integrated mechanism 20, wherein the two rust removing integrated mechanisms 20 are respectively arranged on the deformation mechanism 10, the deformation mechanism 10 can drive the two rust removing integrated mechanisms 20 to jointly extend and retract in the lateral direction (the lateral direction in the figure indicates the left side and the right side) through self deformation, and the two extended rust removing integrated mechanisms 20 can remove rust on surfaces to be subjected to rust removal in the respective directions.
The specific structure of the deformation mechanism 10 according to the direction in fig. 1 is shown in fig. 3, the deformation mechanism 10 includes a frame 2 and a lifting motor 9 fixedly mounted on the frame 2, a first nut 5 and a vertically arranged first lead screw (the first lead screw is omitted in the drawing) are arranged in the frame 2, and the first nut 5 is screwed on the first lead screw; the upper end of frame 2 is equipped with belt pulley device 3, and the output of elevator motor 9 and belt pulley device 3 link together, and the upper end of first lead screw also links with belt pulley device 3, so elevator motor 9 can control first lead screw through belt pulley device 3 and rotate thereby control first nut 5 and go up and down. The frame 2 is provided with a pair of auxiliary arms 8 and a pair of force applying arms 7, the upper end of the frame 2 is respectively hinged with the near ends of the two auxiliary arms 8, and the far ends of the two auxiliary arms 8 face left and right respectively; the lower end of the frame 2 is respectively hinged with the near ends of the two force applying arms 7, and the far ends of the two force applying arms 7 face to the left and the right respectively. The lower extreme rigid coupling of first nut 5 has lifting member 4, is equipped with a distal end towards right connecting rod 6 and a distal end towards left connecting rod 6 on lifting member 4 (the distal end towards left connecting rod 6 is sheltered from in the picture), and the near-end of two connecting rods 6 all articulates on lifting member 4, and the middle part of two arm of force 7 of exerting oneself articulates respectively on the distal end of two connecting rods 6. The auxiliary arm 8 with the far end facing right and the force applying arm 7 with the far end facing right are a first group, and the far ends of the auxiliary arm and the force applying arm are fixedly connected with a rust removing integrated mechanism 20; and the other auxiliary arm 8 and the other force applying arm 7 are a second group, and the far ends of the two are fixedly connected with another derusting integrated mechanism 20. When the first nut 5 drives the lifting piece 4 to vertically ascend, the lifting piece 4 drives the two connecting rods 6 to ascend so as to pull up the two force applying arms 7, so that the two rust removing integrated mechanisms 20 are folded, and the two auxiliary arms 8 can swing upwards along with the lateral folding of the two rust removing integrated mechanisms 20. In a similar way, when the first nut 5 drives the lifting piece 4 to vertically descend, the two connecting rods 6 descend to respectively drive the two force applying arms 7 to swing downwards, so that the two derusting integrated mechanisms 20 laterally extend out, and the two auxiliary arms 8 swing downwards along with the two derusting integrated mechanisms. (Note that "lateral" means a left-right direction in the direction of FIG. 1.)
As shown in fig. 2, taking the left-facing rust removal integrated mechanism 20 as an example, the rust removal integrated mechanism 20 includes a traction ring 32 at the upper end, a left-facing rust removal part 21, a left-facing side support roller 23, a side suction cup 22 as a second attachment part in the present embodiment, and a first attachment part back suction cup 30, wherein the side support roller 23 is arranged in parallel with the side suction cup 22, and the protruding degree of the side support roller 23 exceeds the side suction cup 22. The side suction cup 22 is a negative pressure suction cup mechanism, and a plurality of soft suction cups are arranged on the attachment surface of the side suction cup mechanism; the back suction cup 30 is also a negative pressure suction cup mechanism, but the attachment surface of the back suction cup 30 is not provided with a soft suction cup, the back suction cup 30 is provided with an air exhaust mechanism, the air exhaust mechanism is provided with a plurality of air passages connected to the back suction cup 30 in parallel, as shown in fig. 4, the back suction cup 30 is provided with a pressure exhaust hole 36 for each air passage, and the pressure exhaust holes 36 of different air passages are not communicated with each other in the back suction cup 30. The attachment surface of the back suction cup 30 is a flat surface, and even if the attachment surface is not flat, only part of the suction holes 36 are attached to the attachment surface, and each suction hole 36 is provided with an independent air passage, only part of the suction holes 36 are attached to the attached surface, so that the back suction cup 30 can be attached to the attachment surface. Of course, it is preferable that the surface to be attached is a plane, and all the suction holes 36 are tightly attached to the surface to be attached, so that the best adsorption effect is achieved. The side suction cup 22 is arranged on a base plate 243, the base plate 243 is fixedly provided with a telescopic motor 24 and a second nut 241, a second lead screw 242 is screwed on the second nut 241, the left end part of the second lead screw 242 is fixedly connected with the side suction cup 22, the telescopic motor 24 can control the side suction cup 22 to extend towards the left and retract towards the right by controlling the relative rotation of the second lead screw 242 and the second nut 241 (the left and the right refer to the left and the right in the direction shown in fig. 1, namely the side suction cup 22 extends laterally), and the side suction cup 22 retracts towards the right when moving along the advancing direction along with the derusting integrated mechanism 20, so that the protruding degree of the side suction cup 22 is not as much as that of the side support roller 23. The back surface of the back suction cup 30 is provided with a track 33, the rust removing part 21 and the base plate 243 are fixedly connected with each other through a vertical beam 35, both of which are provided with a driving wheel 34 and a traveling motor 31 (the driving wheel 34 provided in the rust removing part 21 is shielded by the traveling motor 31), the driving wheel 34 is installed on the track 33, and the traveling motor 31 drives the driving wheel 34 to rotate so as to make the driving wheel 34 move along the track 33, thereby driving the side suction cup 22 and the rust removing part 21 to move together relative to the back suction cup 30 (i.e. the side suction cup 22 is movably connected with the back suction cup 30 so as to move relatively along the traveling. The surface of the rust removing part 21 facing the left is provided with a plurality of rust removing bullets 210, the rust removing bullets 210 are in the prior art, the rust removing bullets 210 are provided with an air pressure driving mechanism, when the rust removing bullets 210 are driven by the air pressure driving mechanism to move in a reciprocating and lifting mode, the surface to be subjected to rust removing can be repeatedly knocked to remove rust, and the specific working process and the working principle refer to Chinese patent document with publication number of CN 209754923U. In the left-facing rust removal integrated mechanism 20, the right end of the rust removal part 21 is fixedly connected with the far end of the auxiliary arm 8, and the right end of the base plate 243 is fixedly connected with the far end of the force application arm 7. The right derusting integrated mechanism 20 and the left derusting integrated mechanism 20 are basically symmetrical in structure.
The rust removing robot can be used for rust removing operation of various occasions, such as rust removing of the inner wall of a cabin and the inner wall of a square pipe, and the working process is as follows by taking the square pipe as an example: a traction ring 32 is tightly bound by a traction wire, the derusting robot is hung in a vertically arranged square, and the back sucker 30 is contacted with the inner back wall surface of the square pipe; an operator starts the telescopic motor 24 to enable a left side sucker 22 and a right side sucker 22 to respectively extend out until the side suckers 22 protrude out of the derusting bullet 210 of the derusting part 21, so that the derusting bullet 210 and the side suckers 22 are prevented from being abraded due to accidental touch of the inner wall of the square pipe; in the concrete operation, operating personnel starts the elevator motor 9 of warp mechanism 10 and makes lift 4 descend, force connecting rod 6 to drive integrated rust cleaning mechanism 20 and stretch out until two side sucking discs 22 support on the inside wall of square pipe, operating personnel control side sucking disc 22 and control back sucking disc 30 and hold the interior back wall face of square pipe (whether control through side sucking disc 22 from the control valve of taking is adsorbed), the robot rigidity that derusts this moment, two rust cleaning portions 21 are respectively towards the left inside wall and the right-hand inside wall of square pipe, operating personnel control left and right two rust cleaning portions 21 respectively to the right-hand rust cleaning of the left inside wall and the right-hand inside wall of square pipe, the operation of derusting to two lateral walls of one section square pipe has been accomplished. The next step is to adjust the position of the derusting robot so as to carry out derusting operation on the next section of square pipe, which comprises the following steps: the operator controls the side sucker 22 to no longer suck the inner side wall of the square pipe and then starts the telescopic motor 24 to retract the side sucker 22, and then the derusting bullet 210 and the side sucker 22 both do not protrude to the same extent as the side support roller 23, so that the side support roller 23 abuts against the inner side wall of the square pipe to avoid abrasion of the soft sucker on the side sucker 22 (the soft suckers of the side sucker 22 are at the front end, i.e. in the left direction of fig. 2; the side sucker 22 is retracted preferably only when the side sucker 22 needs to move vertically relative to the square pipe; the side sucker 22 is retracted less preferably when one of the side sucker 22 and the back sucker 30 moves relative to the square pipe; this is advantageous in that the operation is convenient compared with the preferred mode), while the derusting robot position is still fixed because the back sucker 30 still sucks the inner back wall surface of the square pipe, then the operator starts the two traveling motors 31 to rotate the two driving wheels 34 forward, thereby driving the side sucker 22 and the derusting part 21 to move together along the square tube relative to the back sucker 30, in the moving process, the derusting integration mechanism 20 is in rolling contact with the inner wall of the square tube through the side support roller 23 until the side sucker 22 and the derusting part 21 reach the next section of square tube and the back sucker 30 is still left on the previous section of square tube, at this time, an operator stops the moving motor 31 and starts the telescopic motor 24 to control the side sucker 22 to extend out again, so that the two side suckers 22 respectively suck the left inner side wall and the right inner side wall of the square tube, then controls the back sucker 30 not to suck the inner back wall of the square tube through the air suction mechanism (the air suction mechanism is omitted in the figure) of the back sucker 30, fixes the side sucker 22 and the derusting part 21 on the next section of square tube together with other parts of the derusting integration mechanism 20, and then starts the moving motor 31 to enable the driving wheel 34 to rotate reversely, (since the attachment surface of the back suction cup 30 is a flat surface without a protruded soft suction cup, the back suction cup 30 is not easily abraded) and finally the whole rust removing robot reaches the next stage of the square pipe. The operator stops the traveling motor 31 and controls the back suction cup 30 to suck the inner back wall surface of the square tube through the air exhaust mechanism, and then the square tube is derusted according to the derusting step of the previous section of square tube. Repeating the steps to finish the derusting operation on the left inner side wall and the right inner side wall of the whole square pipe. And (3) when the other two inner side walls which are not derusted in the square tube need to be derusted, the derusting robot is rotated by 90 degrees along the circumferential direction of the square tube, and the derusting process is repeated. Besides the function of hanging the traction wire into the rust removal robot, the traction wire also plays a role in guiding when the rust removal robot moves to the next section of square pipe. When the travel process is simply considered, the side suction pad 22 and the back suction pad 30 may be changed to an electromagnet (the electromagnet is powered off to cancel the magnetic force, and the effect is equivalent to the negative pressure pad mechanism that the soft suction pad is not sucked to the sucked surface by not sucking air). When the rust removing bullet works, the negative pressure suction cup mechanism of the side suction cup 22 is used as the second attachment part, and the soft suction cup is made of elastic material, so that the vibration intensity transmitted from the rust removing part 21 to the surface to be rust removed can be reduced, and the soft suction cup is used as a damping part. The side suction plate of the negative pressure suction plate mechanism can be changed into a cushion pad made of elastic materials only from the viewpoint of shock absorption without considering the positioning function.
In order to be suitable for more occasions, the derusting integration mechanism 20 and the deformation mechanism 10 are detachably connected, as shown in fig. 5, the distal end of the force applying arm 7 is hinged with a connecting plate 37, the connecting plate 37 is provided with four screw holes 370, the vertical beam 35 is also provided with four screw holes 370 corresponding to the positions (the screw holes 370 on the vertical beam 35 are shielded by the connecting plate 37), and an operator uses screws (the screws are omitted in the figure) to detachably and fixedly connect the connecting plate 37 and the vertical beam 35. The original rust removal integrated mechanism 20 is replaced by the rust removal integrated mechanism with other specifications, and the rust removal integrated mechanism can be suitable for other different occasions. In addition, it can also be changed as follows: after the deformation mechanism 10 and the rust removal integrated mechanism 20 are detachably connected, the deformation mechanism and the rust removal integrated mechanism can be detachably mounted on other types of advancing power devices (such as linear motion mechanisms), so that after the rust removal integrated mechanism 20 is conveniently produced in a modularized manner, the deformation mechanism 10 and the advancing power devices can be combined with different rust removal integrated mechanisms 20 for use.
Claims (10)
1. Wall climbing rust cleaning robot, including rust cleaning integrated mechanism and dress attachment and rust cleaning (21) on rust cleaning integrated mechanism, its characterized in that: the two attachment parts are movably connected with the second attachment part so as to move relatively along the advancing direction, and the two attachment parts do relative movement and alternately adsorb so as to enable the rust removal integrated mechanism to advance.
2. The wall-climbing rust removing robot as claimed in claim 1, characterized in that: the integrated rust removal device comprises a frame (2), wherein the left and right rust removal integrated mechanisms are movably arranged on the left and right sides of the frame (2) respectively, the movable installation enables the integrated rust removal mechanisms to extend out and retract in the lateral direction, and each rust removal integrated mechanism is provided with two attachment parts.
3. The wall-climbing rust removing robot as claimed in claim 2, characterized in that: the movable mounting structure specifically: a pair of left and right force application arms (7) respectively extending towards the left and the right are hinged on the frame (2), and a left and a right derusting integrated mechanisms (20) are respectively arranged on the left and the right force application arms (7); the advancing direction is vertical, the lifting piece (4) is arranged on the rack and is provided with a driving mechanism, the lifting piece (4) is connected with the left force applying arm and the right force applying arm (7) through the left connecting rod and the right connecting rod (6), and the driving mechanism drives the lifting piece (4) to vertically move so as to drive the force applying arm (7) to swing around the hinged point of the force applying arm and the rack (2) through the connecting rod (6) to enable the derusting integrated mechanism (20) to laterally extend and retract.
4. The wall-climbing rust removing robot as claimed in claim 1, characterized in that: the movable connection is characterized in that a track (33) which is fixed with the first attachment part and is along the advancing direction is arranged, the second attachment part and the derusting part (21) are assembled together and then a driving wheel (34) is fixedly arranged, and the driving wheel advances along the track (33).
5. The wall-climbing rust removing robot as claimed in claim 1, characterized in that: the rust removing surface of the rust removing portion and the attachment surface of the second attachment portion are oriented in the same direction.
6. The wall-climbing rust removing robot as claimed in claim 1, characterized in that: and side supporting rollers extend out of the second attachment portion in parallel and in the same direction, and the protruding degree of the side supporting rollers exceeds that of the second attachment portion when the second attachment portion moves along the traveling direction.
7. The wall-climbing rust removing robot as claimed in claim 1 or 6, characterized in that: among the two attaching parts, the second attaching part is movably installed in a laterally telescopic mode, and the second attaching part retracts to move along the advancing direction.
8. The wall-climbing rust removing robot as claimed in claim 1, characterized in that: the first attachment portion and/or the second attachment portion is a negative pressure suction cup mechanism.
9. The wall-climbing rust removing robot as claimed in claim 8, characterized in that: the first attachment part is a negative pressure sucker mechanism and is provided with an air exhaust mechanism, the air exhaust mechanism is provided with a plurality of air passages which are connected to the first attachment part in parallel, the first attachment part is provided with pressure exhaust holes for the air passages respectively, and the pressure exhaust holes of different air passages are not communicated with each other in the first attachment part.
10. The wall-climbing rust removing robot as claimed in claim 1, characterized in that: the two attachment portions are oriented differently.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010131297.0A CN111216821B (en) | 2020-02-28 | 2020-02-28 | Wall climbing rust removing robot |
| PCT/CN2020/079752 WO2020192500A1 (en) | 2019-03-27 | 2020-03-17 | Rust removal mechanism with bullet, and rust removal device |
| PCT/CN2020/079805 WO2020192502A1 (en) | 2019-03-27 | 2020-03-18 | Rust removal module and rust removal device |
| EP20778774.8A EP3936243A4 (en) | 2019-03-27 | 2020-03-18 | Rust removal module and rust removal device |
| US17/479,040 US12042905B2 (en) | 2019-03-27 | 2021-09-20 | Bullet-carried rust removal mechanism and rust removal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010131297.0A CN111216821B (en) | 2020-02-28 | 2020-02-28 | Wall climbing rust removing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111216821A true CN111216821A (en) | 2020-06-02 |
| CN111216821B CN111216821B (en) | 2024-07-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010131297.0A Active CN111216821B (en) | 2019-03-27 | 2020-02-28 | Wall climbing rust removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111216821B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987756A (en) * | 2021-04-21 | 2021-06-18 | 中国矿业大学(北京) | Blade detection robot, control method and controller |
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|---|---|---|---|---|
| CN112987756A (en) * | 2021-04-21 | 2021-06-18 | 中国矿业大学(北京) | Blade detection robot, control method and controller |
| CN112987756B (en) * | 2021-04-21 | 2021-09-24 | 中国矿业大学(北京) | Blade detection robot, control method and controller |
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| CN111216821B (en) | 2024-07-19 |
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