CN113335409B - Wall-climbing robot based on roller type sucker - Google Patents
Wall-climbing robot based on roller type sucker Download PDFInfo
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- CN113335409B CN113335409B CN202110731576.5A CN202110731576A CN113335409B CN 113335409 B CN113335409 B CN 113335409B CN 202110731576 A CN202110731576 A CN 202110731576A CN 113335409 B CN113335409 B CN 113335409B
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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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Abstract
The invention discloses a wall-climbing robot based on a roller type sucker, which comprises a shell, a wheat wheel assembly, a roller type sucker assembly and a restraining assembly, wherein the wheat wheel assembly is fixedly arranged at the bottom of the shell; the invention has extremely high wall surface adaptability and obstacle crossing capability, adopts modular design, has clear boundaries of all components and is easy to assemble, maintain and overhaul.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot based on a roller type sucker.
Background
The wall-climbing robot is an automatic device capable of operating on a vertical surface, is used for replacing manual work to perform high-altitude operation, has wide application prospects in the building industry, fire fighting, nuclear industry, chemical industry and shipbuilding industry, and can remarkably improve the safety level and the economic benefit of related industries.
But still there are still a lot of work scenes at present and present wall climbing robot can't be competent, if magnetism adsorbs formula wall climbing robot only is applicable to the magnetic conduction wall, and vacuum adsorption formula wall climbing robot only is applicable to smooth level wall, and thrust adsorbs formula wall climbing robot stability is relatively poor difficult for keeping the precision.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that the wall-climbing robot based on the roller type sucker comprises a shell, a wheat wheel assembly, a roller type sucker assembly and a constraint assembly, wherein the wheat wheel assembly is fixedly arranged at the bottom of the shell, the roller type sucker assembly and the constraint assembly are both arranged on the shell, and the constraint assembly is arranged corresponding to the roller type sucker assembly.
Preferably, the roller type sucker component comprises a sucker mounting plate, a sucker base, an elastic support rod component and a vacuum generator, the sucker mounting plate is connected with the sucker base through the elastic support rod component, the sucker mounting plate is fixedly arranged on the shell, the vacuum generator is connected with the sucker base, the connection state between the sucker mounting plate and the sucker base is stabilized through the elastic support rod component, and the vacuum generator achieves vacuum adsorption of the sucker base.
Preferably, the elastic support rod assembly comprises a ball rod, a ball sleeve, a spring, a limit screw and two spherical hinge supports; one end of the ball head sleeve is provided with the ball hinge support, and the other end of the ball head sleeve is provided with a notch of the connecting cavity; the one end of bulb pole is passed through the notch is inserted connect the intracavity, and the other end sets up another the ball pivot support, two the ball pivot support is fixed the setting respectively and is in the sucking disc mounting panel with on the sucking disc base, the bulb sleeve corresponds notch position department is provided with spacing hole, stop screw threaded connection be in spacing downthehole, stop screw is used for setting up connect the intracavity bulb rod end carries on spacingly, the spring sets up connect the intracavity, just the spring both ends respectively with connect the intracavity wall with bulb rod end contact is connected, the spring provides elasticity and stabilizes the bulb pole with relative position between the bulb sleeve.
Preferably, the sucking disc base comprises a sucking disc frame, a roller cover plate and a sealing gasket, the sucking disc frame is provided with an adsorption cavity, the adsorption cavity is correspondingly provided with an adsorption port on the adsorption end face of the sucking disc frame, the sealing gasket is arranged on the adsorption end face and is enclosed around the adsorption port, and the roller passes through the roller cover plate and is fixedly arranged on the sucking disc frame.
Preferably, the thickness of the sealing gasket is greater than the maximum distance between the outer circular surface of the roller and the adsorption end surface.
The preferred, the restraint subassembly includes restraint subassembly support, restraint subassembly clamping jaw, lock nut and limiting plate, the restraint subassembly clamping jaw passes through lock nut is fixed to be set up on the restraint subassembly support, the limiting plate is fixed to be set up on the sucking disc frame, be provided with the spacing groove on the restraint subassembly clamping jaw, be provided with spacing muscle on the limiting plate, spacing muscle sets up the spacing inslot just can follow the spacing groove removes.
Preferably, the restraining component support is provided with a positioning hole, and the end part of the restraining component clamping jaw is arranged in the positioning hole and can freely rotate in the positioning hole.
Preferably, the shell comprises a shell frame, a shell cover plate and a bearing flange, two stepped circular holes are respectively arranged at two sides of the shell frame, and a first through hole is formed at the bottom of the shell frame; the shell cover plate is fixed at the top of the shell frame and provided with second through holes, and the second through holes and the first through holes are concentrically arranged in a one-to-one correspondence manner; the roller type sucker component is arranged in the corresponding second through hole and the first through hole, and the bearing flange is arranged at the circular hole with the step of the shell frame.
Preferably, the wheat wheel assembly comprises a Mecanum wheel, a bearing and a driving motor, an output shaft of the driving motor is inserted into a central hole of a rotating shaft of the Mecanum wheel, an inner ring of the bearing is connected with an outer ring of the rotating shaft of the Mecanum wheel, is placed in the circular hole with the step and is pressed by the bearing flange; the drive motor is arranged inside the shell, and the Mecanum wheel is arranged outside the shell.
Preferably, the wall-climbing robot based on the roller type sucker further comprises an electric cabinet assembly, the electric cabinet assembly is arranged in the shell, and the electric cabinet assembly is connected with the left wheat wheel assembly, the right wheat wheel assembly and the roller type sucker assembly.
Compared with the prior art, the invention has the beneficial effects that: the invention uses the rotatable roller to bear the adsorption pressing force, converts most of the sliding friction force between the sucker and the wall into the rolling friction force, effectively reduces the running resistance and reduces the material abrasion, and therefore, softer sealing materials can be selected to ensure that the sucker still has enough tightness on a rougher wall surface, and simultaneously, the rotatable roller has more excellent obstacle crossing capability compared with the traditional sucker; 2, the suckers are mounted on the elastic mechanism, each vacuum generator works independently, and the suckers are arranged in an array manner, so that wheels can still land on the ground simultaneously when obstacles are crossed, a stable fulcrum is provided, and the robot is prevented from overturning; 3, after a spring in the sucker elastic suspension naturally extends, pushing the spherical hinge rod to a limit position, and limiting by combining a constraint component to ensure that the position between the sucker component and the frame is fixed, so that the whole machine can be conveniently arranged on a vertical wall; 4, the invention has extremely high wall surface adaptability and obstacle crossing capability, and simultaneously adopts modular design, the boundaries of all components are clear, and the assembly, the maintenance and the overhaul are easy.
Drawings
Fig. 1 is a top perspective view of the roller-type suction cup-based wall-climbing robot;
FIG. 2 is a bottom perspective view of the wall-climbing robot based on the roller-type sucker;
FIG. 3 is a structural view of the housing;
FIG. 4 is a structural view of the left-hand wheel assembly;
FIG. 5 is a structural view of the roller type chuck assembly;
FIG. 6 is a structural view of the base of the suction cup;
FIG. 7 is a structural view of the spring strut assembly;
fig. 8 is a structural view of the restraint assembly.
The figures in the drawings represent:
1-a shell; 2-a left-hand wheat wheel assembly; 3-right type wheat wheel assembly; 4-roller type sucker assembly; 5-a restraining component; 6-an electronic control box assembly; 11-a housing frame; 12-a housing cover plate; 13-a bearing flange; 21-left mecanum wheel; 22-a bearing; 23-a drive motor; 41-a sucker mounting plate; 42-a suction cup base; 43-a resilient strut assembly; 44-a vacuum generator; 51-a restraint assembly mount; 52-a restraint assembly jaw; 53-lock nuts; 54-a limiting plate; 421-a suction cup frame; 422-roller; 423-roller cover plate; 424-a gasket; 431-ball rod; 432 a ball socket; 433 a spring; 434 a limit screw; 435 ball pivot mount.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, fig. 1 is a top perspective structural view of the wall climbing robot based on the roller type suction cup; fig. 2 is a bottom perspective structural view of the wall-climbing robot based on the roller type suction cup. The wall-climbing robot based on the roller type sucker comprises a shell 1, a left type wheat wheel assembly 2, a right type wheat wheel assembly 3, a roller type sucker assembly 4, a restraining assembly 5 and an electric cabinet assembly 6.
The two left-type wheat wheel assemblies 2 and the two right-type wheat wheel assemblies 3 are respectively arranged on two sides of the shell 1, the same type wheat wheel assemblies are arranged on the same diagonal line of the shell 1, the roller type sucker assembly 4 is arranged on the lower side of the cover plate 12 of the shell 1 and penetrates through a corresponding hole in the bottom of the shell 1 to be connected with a wall, the electric cabinet assembly 6 is arranged in the shell, and the electric cabinet assembly 6 is connected with the left-type wheat wheel assemblies 2, the right-type wheat wheel assemblies 3 and the roller type sucker assembly 4 to realize the function control of each component.
As shown in fig. 3, fig. 3 is a structural view of the housing; the shell 1 comprises a shell frame 11, a shell cover plate 12 and a bearing flange 13, wherein two round holes with steps are respectively arranged at the left side and the right side of the shell frame 11, and two rows and two columns of four holes are formed in the bottom of the shell frame; the shell cover plate 12 is screwed on the top of the shell frame 11 and is also provided with two rows and two columns of four holes which are concentric with the holes at the bottom of the shell frame 11; the bearing flange 13 is screwed to the stepped circular hole of the housing frame 11.
As shown in fig. 4, fig. 4 is a structural view of the left-hand wheel assembly; the left-type microphone assembly 2 comprises a left-type microphone wheel 21, a bearing 22 and a driving motor 23, an output shaft of the driving motor 23 is inserted into a central hole in a rotating shaft of the left-type microphone wheel 21 and is locked by a fastening screw, an inner ring of the bearing 22 is connected with an outer ring of the rotating shaft of the left-type microphone wheel 21, is placed in a circular hole with steps of the shell frame 11 and is pressed by the bearing flange 13; the driving motor 23 is arranged inside the shell 1 and is screwed on the side wall of the shell frame 11; the left mecanum wheel 21 is placed outside the housing 1.
The right microphone assembly 3 comprises a right microphone wheel, a bearing 22 and a driving motor 23, an output shaft of the driving motor 23 is inserted into a central hole in a rotating shaft of the right microphone wheel and is locked by a fastening screw, an inner ring of the bearing 22 is connected with an outer ring of the rotating shaft of the right microphone wheel, is placed in a circular hole with steps of the shell frame 11 and is pressed by the bearing flange 13; the driving motor 23 is arranged inside the shell 1 and is screwed on the side wall of the shell frame 11; the right mecanum 31 wheel is placed outside the housing 1.
As shown in fig. 5, fig. 5 is a structural view of the roller type chuck assembly; roller formula sucking disc subassembly 4 includes sucking disc mounting panel 41, sucking disc base 42, elasticity vaulting pole subassembly 43 and vacuum generator 44, sucking disc mounting panel 41 passes through elasticity vaulting pole subassembly 43 with sucking disc base 42 is connected, sucking disc mounting panel 41 is fixed to be set up on the casing 1, vacuum generator 44 with sucking disc base 42 is connected, through elasticity vaulting pole subassembly 43 can be stable sucking disc mounting panel 41 with the connection status between the sucking disc base 42, vacuum generator 44 realizes sucking disc base 42's vacuum adsorption.
Specifically, open through-hole and spiro union in the middle of the sucking disc mounting panel 41 in 12 downside of casing apron, the through-hole size satisfies: in the working process of the wall climbing robot, the sucker mounting plate 41 does not interfere with the vacuum generator 44; the elastic support rod assemblies 43 are four groups in total, and are arranged between the suction cup mounting plate 41 and the suction cup base 42 for connecting the suction cup mounting plate and the suction cup base 42, the vacuum generator 44 is in threaded connection with the top surface of the suction cup base 42, and the air inlet of the vacuum generator 44 is communicated with the vent hole in the suction cup base 42.
As shown in fig. 7, fig. 7 is a structural view of the elastic stay bar assembly; the elastic supporting rod assembly 43 comprises a ball head rod 431, a ball head sleeve 432, a spring 433, a limit screw 434 and two ball pivot supports 435, one end of the ball head sleeve 432 is provided with one ball pivot support 435, the other end of the ball head sleeve 432 is provided with a notch of a connection cavity, one end of the ball head rod 431 is inserted into the connection cavity through the notch, the other end of the ball pivot support 435 is provided with the other ball pivot support 435, the two ball pivot supports 435 are respectively and fixedly arranged on the suction cup mounting plate 41 and the suction cup base 42, the position of the ball head sleeve 432 corresponding to the notch is provided with a limit hole, the limit screw 434 is in threaded connection with the limit hole, the limit screw 434 is used for limiting the end part of the ball head rod 431 arranged in the connection cavity, the spring 433 is arranged in the connection cavity, and the two ends of the spring 433 are respectively in contact connection with the inner wall of the connection cavity and the end part of the ball head rod 431, the spring 433 provides an elastic repulsive force to stabilize the relative position between the ball rod 431 and the ball socket 432.
Specifically, one end of the ball rod 431 is spherical, and the other end of the ball rod 431 is a cylindrical shaft shoulder, which is inserted into the ball sleeve 432 during assembly; one end of the ball head sleeve 432 is spherical, a threaded hole is formed in the far end of the other end of the ball head sleeve, and the inner diameter of the sleeve is the same as the diameter of the cylindrical shaft shoulder of the ball head rod 431; the spring 433 is placed inside the ball socket 432 and abuts against the shoulder of the ball rod 431; the limit screw 434 is screwed into the threaded hole on the ball head sleeve 432, the length of the threaded section is slightly longer than the thickness of the sleeve, and the ball head rod 431 is ensured not to be separated from the ball head sleeve 432 because the spring 433 extends; the spherical hinge support 435 is concentrically mounted with the spherical ends of the spherical rod 431 and the spherical sleeve 432, respectively, and is screwed to the suction cup mounting plate 41 and the suction cup base 42, respectively.
FIG. 6 is a structural view of the base of the chuck; sucking disc base 42 includes sucking disc frame 421, roller 422, roller cover 423 and sealed pad 424, sucking disc frame 421 is provided with the absorption cavity, it is in to adsorb the cavity correspond on the absorption terminal surface of sucking disc frame 421 and be provided with the absorption mouth, sealed pad 424 sets up on the absorption terminal surface and enclose and locate absorption mouth is all around, in order to guarantee when absorption mouth adsorbs the laminating with the wall the leakproofness of absorption cavity, roller 422 passes through roller cover 423 is fixed to be set up on the sucking disc frame 421 on the absorption terminal surface, sealed pad 424 should be outstanding slightly roller 422's envelope, promptly sealed pad 424's thickness is greater than roller 422's outer disc with the maximum distance of absorption terminal surface, in order to guarantee sealed pad 424 is sealed with the laminating of wall.
Specifically, the sucker frame 421 is a square hollow cavity with a downward opening, a vent hole is formed at the top, and mounting holes are formed at four sides for mounting the roller 422; the number of the rollers 422 is four, and the rollers are mounted on four sides of the suction cup frame 421; the number of the roller cover plates 423 is four, the roller cover plates are respectively screwed on four side surfaces of the sucker frame 421, and the roller cover plates are used for providing support and limit for the rollers 422; the sealing pad 424 is adhered to the bottom of the sucker frame 421, and the projection of the sealing pad 424 in the vertical direction slightly protrudes from the envelope of the roller 422.
FIG. 8 is a structural view of the restraint assembly, as shown in FIG. 8; restraint subassembly 5 includes restraint subassembly support 51, restraint subassembly clamping jaw 52, lock nut 53 and limiting plate 54, restraint subassembly clamping jaw 52 passes through lock nut 53 is fixed to be set up on the restraint subassembly support 51, limiting plate 54 is fixed to be set up on the sucking disc frame 421, be provided with the spacing groove on the restraint subassembly clamping jaw 52, be provided with spacing muscle on the limiting plate 54, spacing muscle sets up the spacing inslot just can follow the spacing groove removes, thereby realizes restraint subassembly 5 is right the directional spacing removal of sucking disc base 42.
Preferably, the constraining assembly support 51 is provided with a positioning hole, and the end of the constraining assembly clamping jaw 52 is arranged in the positioning hole and can freely rotate in the positioning hole, so that the constraining assembly 5 can still realize a guiding function when the suction cup frame 421 inclines.
The restraint assembly support 51 is L-shaped, a bottom plate of the support is screwed to the bottom of the shell frame, a vertical plate of the support is close to the edge of a hole in the bottom of the shell frame 11, and a circular hole is formed in the vertical plate of the support; one end of the restraint component clamping jaw 52 is a threaded cylinder which penetrates through a circular hole in the vertical plate of the restraint component support 51 and is locked by a locking nut 53, and the other end of the restraint component clamping jaw is of an n-shaped structure; the limiting plate 54 is of a T-shaped structure and is screwed to the side surface of the suction cup frame 421, and the limiting plate 54 is always clamped at a nip of the n-shaped structure of the restraining component clamping jaw 52 to form a moving pair.
The wall climbing robot disclosed by the invention is climbed on a wall in a vacuum adsorption mode, most of sliding friction force between a sucker and the wall in the driving process of the wall climbing robot is converted into rolling friction force by using the rotatable roller in the roller type sucker component to bear adsorption pressing force, the operation resistance is effectively reduced, the material abrasion is reduced, and therefore, the roller type sucker component can still have sufficient sealing performance on a rough wall surface by selecting softer sealing materials, meanwhile, the rotatable roller has more excellent obstacle crossing capability compared with the traditional sucker, and meanwhile, the elastic support rod component 43 and the constraint component 5 are structurally arranged, so that the sucker base 42 can be ensured to perform inclined joint action on the wall surfaces in different states.
Specifically, before the wall climbing robot works, the spring in the elastic support rod assembly naturally extends to push the spherical hinge rod to the limit position, the limiting assembly is combined for limiting, the sucking disc assembly and the frame are kept fixed in position, then the sucking disc assembly and the frame are attached to the wall under the assistance of external force such as manpower or mechanical tools, the four vacuum generators start to work, negative pressure is generated in the roller type sucking disc assembly, and the wall climbing robot is adsorbed to the wall.
In operation, related devices in the electric cabinet assembly receive instructions and control a driving motor in the microphone assembly to work, so that the wall climbing robot travels on the wall surface along any direction; when an obstacle is encountered in the process of moving, as the suckers are mounted on the elastic mechanism and each vacuum generator works independently, and the plurality of groups of sucker assemblies are arranged in an array, wheels can still land simultaneously when the obstacle is crossed, so that a stable fulcrum is provided and the robot is prevented from overturning; the rotatable roller is used for bearing the adsorption pressing force, and most of sliding friction force between the sucker and the wall is converted into rolling friction force.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A wall-climbing robot based on a roller type sucker is characterized by comprising a shell, a wheat wheel assembly, a roller type sucker assembly and a restraining assembly, wherein the wheat wheel assembly is fixedly arranged at the bottom of the shell;
the roller type sucker assembly comprises a sucker mounting plate, a sucker base, an elastic stay bar assembly and a vacuum generator, wherein the sucker mounting plate is connected with the sucker base through the elastic stay bar assembly, the sucker mounting plate is fixedly arranged on the shell, the vacuum generator is connected with the sucker base, the connection state between the sucker mounting plate and the sucker base is stabilized through the elastic stay bar assembly, and the vacuum generator realizes vacuum adsorption of the sucker base;
the elastic support rod assembly comprises a ball head rod, a ball head sleeve, a spring, a limit screw and two spherical hinge supports; one end of the ball head sleeve is provided with the ball hinge support, and the other end of the ball head sleeve is provided with a notch of the connecting cavity; the one end of bulb pole is passed through the notch is inserted connect the intracavity, and the other end sets up another the ball pivot support, two the ball pivot support is fixed the setting respectively and is in the sucking disc mounting panel with on the sucking disc base, the bulb sleeve corresponds notch position department is provided with spacing hole, stop screw threaded connection be in spacing downthehole, stop screw is used for setting up connect the intracavity bulb rod end carries on spacingly, the spring sets up connect the intracavity, just the spring both ends respectively with connect the intracavity wall with bulb rod end contact is connected, the spring provides elasticity and stabilizes the bulb pole with relative position between the bulb sleeve.
2. The wall-climbing robot based on the roller type sucker according to claim 1, wherein the sucker base comprises a sucker frame, a roller cover plate and a sealing gasket, the sucker frame is provided with an adsorption cavity, the adsorption cavity is correspondingly provided with an adsorption port on an adsorption end surface of the sucker frame, the sealing gasket is arranged on the adsorption end surface and surrounds the adsorption port, and the roller is fixedly arranged on the sucker frame through the roller cover plate.
3. The wall-climbing robot based on the roller type suction cup according to claim 2, wherein the thickness of the sealing pad is larger than the maximum distance between the outer circumferential surface of the roller and the suction end surface.
4. The wall-climbing robot based on the roller type sucker is characterized in that the restraining component comprises a restraining component support, a restraining component clamping jaw, a locking nut and a limiting plate, the restraining component clamping jaw is fixedly arranged on the restraining component support through the locking nut, the limiting plate is fixedly arranged on the sucker frame, a limiting groove is formed in the restraining component clamping jaw, a limiting rib is arranged on the limiting plate, and the limiting rib is arranged in the limiting groove and can move along the limiting groove.
5. The wall climbing robot based on roller type suction cup according to claim 4, wherein the restraining member support is provided with a positioning hole, and the restraining member jaw end is provided in the positioning hole and can freely rotate in the positioning hole.
6. The wall-climbing robot based on the roller type suction cup according to claim 1, wherein the housing comprises a housing frame, a housing cover plate and a bearing flange, two stepped circular holes are respectively arranged at two sides of the housing frame, and a first through hole is arranged at the bottom of the housing frame; the shell cover plate is fixed at the top of the shell frame and provided with second through holes, and the second through holes and the first through holes are concentrically arranged in a one-to-one correspondence manner; the roller type sucker component is arranged in the corresponding second through hole and the first through hole, and the bearing flange is arranged at the circular hole with the step of the shell frame.
7. The wall climbing robot based on roller type suction cups as claimed in claim 6, wherein the wheel assembly comprises a Mecanum wheel, a bearing and a driving motor, the output shaft of the driving motor is inserted into the central hole of the rotating shaft of the Mecanum wheel, the inner ring of the bearing is connected with the outer ring of the rotating shaft of the Mecanum wheel, is placed in the stepped circular hole and is pressed by the bearing flange; the drive motor is arranged inside the shell, and the Mecanum wheel is arranged outside the shell.
8. The roller-type chuck based wall-climbing robot of claim 1, further comprising an electronic control box assembly disposed within the housing, the electronic control box assembly being connected to the wheat wheel assembly and the roller-type chuck assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110731576.5A CN113335409B (en) | 2021-06-28 | 2021-06-28 | Wall-climbing robot based on roller type sucker |
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| CN202110731576.5A CN113335409B (en) | 2021-06-28 | 2021-06-28 | Wall-climbing robot based on roller type sucker |
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| CN113335409A CN113335409A (en) | 2021-09-03 |
| CN113335409B true CN113335409B (en) | 2022-04-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114162230A (en) * | 2022-01-06 | 2022-03-11 | 上海圭目机器人有限公司 | Negative pressure wall climbing robot |
| CN115402435A (en) * | 2022-07-05 | 2022-11-29 | 港珠澳大桥管理局 | Wall-climbing robot and automatic repair equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07290608A (en) * | 1994-04-26 | 1995-11-07 | Sony Corp | Robot hand |
| CN106945740B (en) * | 2017-02-24 | 2019-03-05 | 南京理工大学 | A kind of wheel leg convolution climbing robot of multi-cavity absorption |
| CN109353419A (en) * | 2018-10-12 | 2019-02-19 | 桐城市立行电子科技有限公司 | A kind of magnetic-type climbing robot for secondary |
| CN209466254U (en) * | 2019-01-14 | 2019-10-08 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot |
| CN110757478B (en) * | 2019-11-04 | 2023-08-01 | 杭州埃欧珞机器人科技有限公司 | Sucker type snake-shaped curtain wall crawling robot |
| CN211439419U (en) * | 2019-12-09 | 2020-09-08 | 中国电子科技集团公司第二十八研究所 | Three-dimensional space wall climbing grinding and polishing robot |
| CN212149066U (en) * | 2020-04-10 | 2020-12-15 | 滁州贝安智能机器人科技有限公司 | Support for paint and rust removing intelligent cleaning robot with damping function |
| CN212529857U (en) * | 2020-06-30 | 2021-02-12 | 北京博清科技有限公司 | Running gear and cleaning robot |
| CN112224299A (en) * | 2020-10-16 | 2021-01-15 | 哈尔滨工程大学 | Abalone-imitating type sucking disc wall-climbing robot |
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