CN113993771B - 移动装置 - Google Patents

移动装置 Download PDF

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Publication number
CN113993771B
CN113993771B CN201980096056.2A CN201980096056A CN113993771B CN 113993771 B CN113993771 B CN 113993771B CN 201980096056 A CN201980096056 A CN 201980096056A CN 113993771 B CN113993771 B CN 113993771B
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CN
China
Prior art keywords
mobile device
wheels
vehicles
base
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201980096056.2A
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English (en)
Chinese (zh)
Other versions
CN113993771A (zh
Inventor
菊地亨
村越尊雄
土屋憲司
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo Keiki Inc
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Tokyo Keiki Inc
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Publication date
Application filed by Tokyo Keiki Inc filed Critical Tokyo Keiki Inc
Publication of CN113993771A publication Critical patent/CN113993771A/zh
Application granted granted Critical
Publication of CN113993771B publication Critical patent/CN113993771B/zh
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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Bridges Or Land Bridges (AREA)
CN201980096056.2A 2019-05-30 2019-05-30 移动装置 Active CN113993771B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/021602 WO2020240791A1 (ja) 2019-05-30 2019-05-30 移動装置

Publications (2)

Publication Number Publication Date
CN113993771A CN113993771A (zh) 2022-01-28
CN113993771B true CN113993771B (zh) 2023-11-07

Family

ID=73552803

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980096056.2A Active CN113993771B (zh) 2019-05-30 2019-05-30 移动装置

Country Status (6)

Country Link
US (1) US12122467B2 (https=)
EP (1) EP3936419B1 (https=)
JP (1) JP7248789B2 (https=)
KR (1) KR102614992B1 (https=)
CN (1) CN113993771B (https=)
WO (1) WO2020240791A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112110391B (zh) * 2019-06-20 2024-11-22 杭州孚亚科技有限公司 一种作业系统
JP7288280B2 (ja) * 2019-07-03 2023-06-07 株式会社アトックス 移動体
US12072298B2 (en) * 2021-01-19 2024-08-27 Shandong University Wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices
US20240239426A1 (en) * 2021-04-28 2024-07-18 Bladeranger Ltd. System and method for moving on sloping surfaces
CN117144792A (zh) * 2023-08-31 2023-12-01 中交第二航务工程局有限公司 桥梁裂缝检测机器人及其工作方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005319973A (ja) * 2004-05-01 2005-11-17 Fukashi Uragami 物体表面に沿って移動可能な装置
CN102167102A (zh) * 2011-04-08 2011-08-31 上海电机学院 吸盘式气动爬壁机器人
CN103253314A (zh) * 2013-03-29 2013-08-21 华中科技大学 一种用于检测桥梁裂缝的负压吸附攀爬式机器人
CN103624765A (zh) * 2013-12-23 2014-03-12 哈尔滨工业大学 一种功能可重构的模块化搜救机器人
CN206384065U (zh) * 2016-12-02 2017-08-08 广东省智能制造研究所 一种轮式磁吸附爬壁机器人的转向装置

Family Cites Families (14)

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Publication number Priority date Publication date Assignee Title
JPS5832690B2 (ja) 1975-08-06 1983-07-14 セイコ−コウキ カブシキガイシヤ カメラヨウシヤツタノカイヘイソウチ
JPS59184071A (ja) 1983-03-31 1984-10-19 Jgc Corp 吸引式走行車輛
JPH04315586A (ja) 1991-04-10 1992-11-06 Akihiro Fujimura 階段や垂直壁面の走行装置
JPH08198104A (ja) 1995-01-25 1996-08-06 Hitachi Ltd 管内走行装置
JP2003062771A (ja) 2001-08-24 2003-03-05 Hitachi Engineering & Services Co Ltd 点検ロボット装置
US7520356B2 (en) * 2006-04-07 2009-04-21 Research Foundation Of The City University Of New York Modular wall climbing robot with transition capability
US9168786B2 (en) 2011-12-02 2015-10-27 Helical Robotics, Llc Mobile robot
ES2465790B1 (es) * 2012-11-06 2015-03-23 Universidade Da Coruña Sistema robótico para la limpieza de cascos de barcos y otras superficies sumergidas
JP5832690B1 (ja) 2015-08-11 2015-12-16 阪神高速技術株式会社 構造物点検ロボット
CN205034206U (zh) * 2015-10-25 2016-02-17 龚雷锋 一种新型组合式可转角爬壁机器人
CN205906090U (zh) 2016-07-23 2017-01-25 广东技术师范学院 智能转向六轮爬墙车
CN206218047U (zh) 2016-08-30 2017-06-06 湖南千智机器人科技发展有限公司 一种负压型爬壁机器人的负压自适应调节装置
JPWO2018131329A1 (ja) * 2017-01-13 2019-11-07 パナソニックＩｐマネジメント株式会社 壁面吸着走行装置
CN106945739B (zh) 2017-02-13 2019-06-25 上海大学 一种具有壁面转换功能的越障爬壁机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005319973A (ja) * 2004-05-01 2005-11-17 Fukashi Uragami 物体表面に沿って移動可能な装置
CN102167102A (zh) * 2011-04-08 2011-08-31 上海电机学院 吸盘式气动爬壁机器人
CN103253314A (zh) * 2013-03-29 2013-08-21 华中科技大学 一种用于检测桥梁裂缝的负压吸附攀爬式机器人
CN103624765A (zh) * 2013-12-23 2014-03-12 哈尔滨工业大学 一种功能可重构的模块化搜救机器人
CN206384065U (zh) * 2016-12-02 2017-08-08 广东省智能制造研究所 一种轮式磁吸附爬壁机器人的转向装置

Also Published As

Publication number Publication date
EP3936419A1 (en) 2022-01-12
US20220177060A1 (en) 2022-06-09
KR102614992B1 (ko) 2023-12-19
US12122467B2 (en) 2024-10-22
EP3936419A4 (en) 2022-04-20
EP3936419B1 (en) 2024-12-11
JPWO2020240791A1 (https=) 2020-12-03
KR20220016093A (ko) 2022-02-08
WO2020240791A1 (ja) 2020-12-03
CN113993771A (zh) 2022-01-28
JP7248789B2 (ja) 2023-03-29

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