CN114074724B - It is applicable in different curvature radius's storage tank interior outer wall climbing robot - Google Patents
It is applicable in different curvature radius's storage tank interior outer wall climbing robot Download PDFInfo
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- CN114074724B CN114074724B CN202210063378.0A CN202210063378A CN114074724B CN 114074724 B CN114074724 B CN 114074724B CN 202210063378 A CN202210063378 A CN 202210063378A CN 114074724 B CN114074724 B CN 114074724B
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- 230000005540 biological transmission Effects 0.000 claims description 3
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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
Abstract
The invention discloses a wall climbing robot suitable for inner and outer walls of storage tanks with different curvature radiuses, which comprises a vehicle body unit, a directional wheel driving unit, a universal wheel following unit and a replaceable magnetic wheel unit, wherein the directional wheel driving unit and the universal wheel following unit are sequentially and symmetrically arranged at two sides of the vehicle body unit from front to back; the vehicle body unit is of a cuboid box-shaped structure, an array permanent magnet is arranged on a lower cover plate of the vehicle body unit and is matched with the replaceable magnetic wheel unit, a camera mounting box used for fixing a front camera is arranged on a front side plate of the vehicle body unit, and a rear camera is fixed on the rear portion of an upper cover plate of the vehicle body unit through a camera mounting plate; according to the invention, the vehicle body unit, the directional wheel driving unit and the universal wheel follow-up unit are combined according to the specific connection relationship and position relationship defined by the invention, so that the inclination angle can be adjusted according to different wall surface conditions, the effective adsorption area and distance of the permanent magnet on the surface of the tank body are ensured, and the adsorption effectiveness and safety of the robot on the surfaces with different curvatures are improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wall climbing robot suitable for inner and outer walls of storage tanks with different curvature radiuses.
Background
In recent years, the development of national economic prop industries such as petrochemical industry, nuclear power industry, thermal power industry and the like in China presents a blowout situation, and the development of national economic prop industries such as petrochemical industry, nuclear power industry, thermal power industry and the like depends on the safe operation of core equipment such as petrochemical industry, radioactive storage tanks, boilers and the like to a great extent. The regular development of vertical face maintenance operations such as polishing, painting and detection on the equipment becomes an important measure for guaranteeing the safe operation of the equipment, and accordingly, the vertical face maintenance industry with annual average production value of hundreds of billions is brought about. The facade maintenance industry relies on manual work to carry out high-altitude operation for a long time, and the intelligent and automatic degrees are not high. Due to the restrictions of environmental protection pressure, manpower shortage and other external conditions, the current global facade maintenance industry is in the key period of maintenance operation process and equipment upgrading, so a wall-climbing robot moving body capable of replacing manual detection, polishing and other operations needs to be developed.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a wall climbing robot which can be suitable for storage tanks with different curvature radiuses and can be suitable for tank bodies with different curvature radiuses, such as spherical tanks and column tanks, and can be used on large vertical surfaces of magnetic metal storage tanks and the like, particularly for the inner and outer walls of the spherical tanks and the column tanks, the front end of the robot is a directional wheel driving unit, the rear end of the robot is a universal wheel follow-up unit, the wall surface is flexible to steer, the robot can adapt to curvature change of the inner and outer walls of the same tank by utilizing a permanent magnet adsorption technology and matching with a replaceable magnetic wheel unit, large-range safe and stable movement can be realized, different operation modules can be carried, and multifunctional operation on the wall surface can be realized.
In order to achieve the purpose, the invention provides a wall climbing robot suitable for inner and outer walls of storage tanks with different curvature radiuses, which comprises a vehicle body unit, a directional wheel driving unit, a universal wheel following unit and a replaceable magnetic wheel unit, wherein the directional wheel driving unit and the universal wheel following unit are sequentially and symmetrically arranged on two sides of the vehicle body unit from front to back; the vehicle body unit is of a cuboid box-shaped structure, and the lower cover plate of the vehicle body unit is provided with an array type permanent magnet which is matched with the replaceable magnetic wheel unit; a camera mounting box for fixing a front camera is arranged on a front side plate of the vehicle body unit, and a rear camera is fixed on the rear part of an upper cover plate of the vehicle body unit through a camera mounting plate; the upper cover plate and the lower cover plate are provided with a plurality of mechanical and electrical quick interfaces;
the directional wheel driving unit comprises a servo motor, a motor fixing plate, a commutator fixing plate, a reducer input flange, a harmonic reducer, a reducer output flange, a directional wheel driving flange, a limiting disc and a directional wheel; the servo motor is fixed on the lower cover plate through a motor fixing plate, the commutator is installed on the lower cover plate through a commutator fixing plate, the output end of the commutator and the input flange of the speed reducer are input through a shaft, the servo motor transmits driving torque to the input flange of the speed reducer through the commutator, and the servo motor drives the harmonic speed reducer to rotate so as to drive the directional wheel to rotate; the output flange of the speed reducer and the directional wheel driving flange are in special-shaped hole transmission; the limiting disc is used for limiting the compression amount of the directional wheel;
the universal wheel follow-up unit comprises a rear wheel hinged plate I, a rear wheel hinged plate II, a universal wheel connecting plate, a bearing fixing plate, a thrust bearing, a small bearing end cover, an axial fixing shaft, a universal wheel bracket, a stop nut, a universal wheel connecting shaft, an elastic pad, a fixing nut and a universal wheel; the rear wheel hinged plate I is fixed on the left side plate and the right side plate through screws, the universal wheel connecting plate is fixed on the rear wheel hinged plate II through screws, the bearing fixing plate is connected with the universal wheel connecting plate through a thrust bearing, the thrust bearing is respectively embedded into the bearing fixing plate and the universal wheel connecting plate and is fixed through a small bearing end cover and an axial fixing shaft, the universal wheel support is connected with the bearing fixing plate through screws, the universal wheel is a two-degree-of-freedom follow-up universal wheel, the eccentrically arranged universal wheel is connected with the universal wheel support through a universal wheel connecting shaft, a fixing nut and an elastic pad, and the stop nut is used for mechanically locking the universal wheel; the universal wheel can adjust the inclination angle according to different surface conditions;
the replaceable magnetic wheel unit comprises an aluminum alloy wheel hub, a magnet fixing shaft, a fan-shaped magnet and a wheel cover; the fan-shaped magnet is fixed on the magnet fixing shaft and rotates around the center of the magnet fixing shaft, the magnet fixing shaft is fixed on the wheel cover, and the wheel cover is fixed on the aluminum alloy wheel hub.
Preferably, a transparent baffle is arranged on the front camera;
preferably, handles convenient for manual carrying are arranged on the front side plate, the rear side plate and/or the left side plate and the right side plate of the vehicle body unit;
preferably, the axial fixed shaft is connected with the small bearing end cover through double screws;
preferably, the aluminum alloy hub is externally provided with rubber encapsulation for preventing slippage in the movement process.
The invention provides a wall climbing robot suitable for inner and outer walls of storage tanks with different curvature radiuses, which has the following beneficial effects:
1. the invention effectively solves the technical problem that the vertical face maintenance industry of the tank body depends on manual work for long time to carry out aloft work in the prior art. The invention combines the vehicle body unit, the directional wheel driving unit and the universal wheel follow-up unit according to the specific connection relation and the position relation limited by the invention to form the robot which is suitable for the inner and outer walls of the storage tank with different curvature radiuses to climb the walls, and aiming at the inner and outer wall surfaces of the magnetic conduction tank body to work, the directional wheel is arranged in front of the universal wheel with two degrees of freedom follow-up, the inclination angle can be adjusted according to different wall surface conditions, the effective adsorption area and distance of the permanent magnet on the surface of the tank body are ensured, the robot can safely and stably move on a spherical tank and a cylindrical tank with the diameter of more than or equal to 10 meters, and the adsorption effectiveness and the safety of the robot body on the surfaces with different curvatures are greatly improved; meanwhile, the universal wheel is in an eccentric installation form, the center of the rotating shaft is not overlapped with the axle center of the wheel, the steering flexibility is improved, in addition, a stop nut is designed on the universal wheel structure, when a detection module is carried for detection or other operations with higher requirements on motion precision, mechanical locking is carried out, the vehicle body is prevented from being deviated in the robot reversing process, the robot reversing precision is ensured to realize the curvature adaptation of the wall climbing robot on the inner wall and the outer wall of the spherical tank and the column tank, the cross stable operation of the wall climbing robot is achieved by carrying different operation modules, and the operation efficiency is improved.
2. The invention also has a second combination form, which adopts a combination form of combined magnetic adsorption of the high-performance type permanent magnet and the replaceable magnetic wheel unit, and the angle-adjustable fan-shaped magnet is arranged in the replaceable magnetic wheel unit, so that the adsorption direction of the high-performance type permanent magnet is always vertical to the wall surface, the replacement and the combination can be carried out according to different operation states, the maximization of the adsorption force is realized, and the stability of the operation of the robot is ensured. In addition, the distance between the magnet and the wall surface can be adjusted by the high-performance type permanent magnet in a mode of adding a gasket, and the size of the adsorption force is further adjusted.
3. The front camera and the rear camera are adopted, real-time observation of the operation condition can be achieved, manual correction is conducted when necessary, the front camera is installed in an embedded mode, the stability of the cameras is improved, picture shaking caused by movement of the robot is prevented, and observation and operation of operating personnel are facilitated.
4. A plurality of mechanical and electrical quick interfaces are reserved on the upper cover plate and the lower cover plate, corresponding operation modules can be conveniently carried according to different operation requirements, and the effect of one machine with multiple purposes is achieved.
5. On the drive arrangement of robot, because right angle reduction gear size and weight are great, and the problem is more outstanding during the in-service use, and the break-in time is longer relatively, what chooseed for use in this patent is that the form of commutator with the harmonic reduction gear replaces traditional right angle reduction gear, has reduced the overall size of robot, has alleviateed weight, can realize on-the-spot dress promptly and use and limit operation.
6. Choose the combination form of directional wheel with spacing dish for use, through the atmospheric pressure of the tire of adjusting directional wheel, satisfy different motion demands, when atmospheric pressure crosses lowly, spacing dish can contact the wall with directional wheel simultaneously, prevents firstly that the automobile body from scratching the wall, secondly provides frictional force simultaneously, guarantees the stable operation of robot.
Drawings
Fig. 1 is a schematic structural diagram of a wall climbing robot applicable to inner and outer walls of storage tanks with different curvature radii.
Fig. 2 is an axis measuring diagram of the wall climbing robot applicable to the inner and outer walls of the storage tank with different curvature radii.
Fig. 3 is a schematic top view of a wall climbing robot applicable to inner and outer walls of a storage tank with different radii of curvature according to the present invention.
Fig. 4 is a schematic rear view of the wall climbing robot applicable to the inner and outer walls of the storage tank with different curvature radii.
Fig. 5 is a schematic diagram of an internal structure of a wall-climbing robot applicable to inner and outer walls of storage tanks with different curvature radii.
Fig. 6 is a schematic structural diagram of a universal wheel following unit applicable to the wall climbing robot for the inner and outer walls of the storage tank with different curvature radii.
Fig. 7 isbase:Sub>A sectional view taken alongbase:Sub>A-base:Sub>A of fig. 5 and 6.
Fig. 8 is a schematic structural diagram of a replaceable magnetic wheel unit applicable to the wall climbing robot for the inner and outer walls of the storage tank with different curvature radii.
In the figure:
1. the device comprises a vehicle body unit 101, an upper cover plate 102, a lower cover plate 103, a front side plate 104, a rear side plate 105, a left side plate 106, a right side plate 106, a front camera mounting box 107, a front camera baffle 108, a rear camera mounting plate 109, a front camera 110, a rear camera 111, a permanent magnet 112, a permanent magnet fixing plate 113 and a metal handle;
2. the drive unit 201 of the directional wheel, servo motor 202, motor dead plate 203, commutator 204, commutator dead plate 205, decelerator input flange 206, harmonic decelerator 207, decelerator output flange 210, directional wheel drive flange 211, spacing disc 212, directional wheel;
3. the universal wheel follow-up unit 301, the rear wheel hinge plate I302, the rear wheel hinge plate II 303, the universal wheel connecting plate 304, the bearing fixing plate 305, the thrust bearing 306, the small bearing end cover 307, the axial fixing shaft 308, the universal wheel bracket 309, the stop nut 310, the universal wheel connecting shaft 311, the elastic pad 312, the fixing nut 313 and the universal wheel;
4. replaceable magnetic wheel unit 401, aluminum alloy wheel hub 402, rubber coating 403, magnet fixing shaft 404, bearing 405, sector magnet 406 and wheel cover.
Detailed Description
The present invention will be further described with reference to the following specific embodiments and accompanying drawings to assist in understanding the contents of the invention.
As shown in fig. 1-8, the robot suitable for climbing the inner and outer walls of the storage tank with different curvature radii provided by the invention comprises a vehicle body unit, a directional wheel driving unit and a universal wheel following unit which are symmetrically arranged on two sides of the vehicle body unit from front to back in sequence, and a replaceable magnetic wheel unit; the vehicle body unit is of a cuboid box-shaped structure and comprises an upper cover plate 101, a lower cover plate 102, a front side plate 103, a rear side plate 104, a left side plate 105, a right side plate 105, a front camera mounting box 106, a front camera baffle 107, a rear camera mounting plate 108, a front camera 109, a rear camera 110, a permanent magnet 111, a permanent magnet fixing plate 112 and a metal handle 113. The upper cover plate 101, the lower cover plate 102, the front side plate 103, the rear side plate 104 and the left and right side plates 105 are fixedly connected by screws to form a frame of the vehicle body unit 1, and the high-performance type permanent magnets 111 are arranged on the lower cover plate 102 in an array manner and can be matched with the replaceable magnetic wheel unit 4, so that safe and stable adsorption force is provided for the wall climbing robot; the front side plate 103 is fixedly provided with a front camera 109 through a front camera mounting box 106 for observing the operation condition of the wall surface and preventing large deviation, and a front camera baffle 107 is mounted in front of the front camera 109 to prevent the front camera 109 from being damaged in the operation process. A rear camera 110 is fixedly disposed at the rear of the upper cover plate 101 through a rear camera mounting plate 108 to observe the environment around the robot and prevent collision. Meanwhile, the front side plate 103, the rear side plate 104 and/or the left and right side plates 105 are provided with metal handles 113, so that the carrying by workers is convenient.
As shown in fig. 5, the directional wheel driving unit 2 includes a servo motor 201, a motor fixing plate 202, a commutator 203, a commutator fixing plate 204, a reducer input flange 205, a harmonic reducer 206, a reducer output flange 207, a directional wheel driving flange 210, a limiting disc 211, and a directional wheel 212. A servo motor 201 is fixed on a vehicle body bottom plate through a motor fixing plate 202, a commutator 203 is fixed on a lower cover plate 102 through a commutator fixing plate 204, the output end of the commutator 203 and a speed reducer input flange 205 are input through a shaft, the servo motor 201 transmits driving torque to the speed reducer input flange 205 through the commutator 203 so as to drive a harmonic speed reducer 206 to rotate, a speed reducer output flange 207 and a directional wheel driving flange 210 are in special-shaped hole transmission, a directional wheel 212 is a pneumatic tire, and a limiting disc 211 plays a role in limiting the directional wheel 212 so as to prevent the directional wheel 212 from being compressed too much due to overlarge magnetic force.
As shown in fig. 6 to 7, the universal wheel following unit 3 includes a first rear wheel hinge plate 301, a second rear wheel hinge plate 302, a universal wheel connecting plate 303, a bearing fixing plate 304, a thrust bearing 305, a small bearing end cover 306, an axial fixing shaft 307, a universal wheel bracket 308, a stop nut 309, a universal wheel connecting shaft 310, an elastic pad 311, a fixing nut 312 and a universal wheel 313. The universal wheel follow-up unit is of a bilaterally symmetrical structure relative to the vehicle body, and the structures are completely the same; the first rear wheel hinge plate 301 is fixed on the left side plate 105 and the right side plate 105 through screws, the universal wheel connecting plate 303 is fixed on the second rear wheel hinge plate 302 through screws, the bearing fixing plate 304 is connected with the universal wheel connecting plate 303 through a thrust bearing 305, the thrust bearing 305 is embedded into the bearing fixing plate 304 and the universal wheel connecting plate 303 respectively and is fixed through a small bearing end cover 306 and an axial fixing shaft 307, the axial fixing shaft 307 is in double-screw connection with the small bearing end cover 306 to prevent the universal wheel 313 from shaking or dropping during rotation, the universal wheel support 308 is connected with the bearing fixing plate 304 through screws, the universal wheel connecting shaft 310 and a fixing nut 312 are used for axially positioning the universal wheel 313 and are matched with an elastic pad 311 to prevent the fixing nut 312 from loosening due to mechanical vibration during movement, and the stop nut 309 is used for mechanically locking the universal wheel 313 under the condition that the detection module is carried on the wall climbing robot and the other conditions that the requirement on the precision of forward and backward movement is high, and deviation is prevented from occurring at the moment when the robot retreats.
As shown in fig. 8, the replaceable magnet wheel unit 4 includes an aluminum alloy wheel hub 401, a rubber coating 402, a magnet fixing shaft 403, a bearing 404, a sector magnet 405, and a wheel cover 406. The fan-shaped magnet 405 is fixed on the magnet fixing shaft 403, a bearing is mounted on the magnet fixing shaft 403, so that the fan-shaped magnet 405 rotates around the magnet fixing shaft 403 under the action of magnetic force, the magnet fixing shaft 403 is fixed on wheel covers 406 on two sides, the wheel covers 406 are fixed on the aluminum alloy wheel hub 401, rubber coating 402 is performed on the outer portion of the aluminum alloy wheel hub 401, and slippage and the like are prevented in the moving process.
The working process of the invention is as follows:
the moving mode part of the wall climbing robot comprises: after the wall climbing robot is powered on, the wall climbing robot is manually conveyed to the wall surface of the tank body to carry out operation, the robot is in a front wheel dual-drive mode, two identical servo motors 201 are used as power and connected to a speed reducer input flange 205 through a commutator 203, a large-speed-ratio harmonic speed reducer 206 achieves the effect of increasing torque after speed reduction, a directional wheel 212 is driven to rotate, and a limiting disc 211 plays a role in limiting the compression amount of the directional wheel 212. The turning is realized by the differential rotation of the servo motor 201, the following universal wheels 313 of the robot are more beneficial to the realization of the turning due to the existence of two degrees of freedom, when the curvatures are different, the inclination angles of the following two following universal wheels 313 can be adjusted according to different surface conditions, and the robot can safely and stably move on a spherical tank and a storage tank with the diameter being more than or equal to 10 meters.
When an operation module is carried on the vehicle body for operation, the front camera 109 is installed at a fixed height to observe the operation condition, and whether the direction deviates or not can be observed through the front camera 109, so that the adjustment can be carried out in time; the rear camera 110 is fixedly installed to observe the surrounding environment.
Movement pattern of the replaceable magnetic wheel unit 4: magnetic force exists between the sector-shaped magnet 405 inside the magnetic wheel and the wall surface, the sector-shaped magnet 405 rotates in the direction perpendicular to the wall surface in the direction of the maximum magnetic force, so that the distance between the sector-shaped magnet 405 and the wall surface is the minimum, the magnetic force always keeps a large value, and particularly, when the wall climbing robot performs obstacle crossing in a small height, the sector-shaped magnet 405 is always perpendicular to the wall surface with the maximum magnetic force, and stable obstacle crossing can be realized. The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Claims (5)
1. A wall climbing robot suitable for inner and outer walls of storage tanks with different curvature radiuses is characterized by comprising a vehicle body unit, a directional wheel driving unit, a universal wheel following unit and a replaceable magnetic wheel unit, wherein the directional wheel driving unit and the universal wheel following unit are sequentially and symmetrically arranged on two sides of the vehicle body unit from front to back; the vehicle body unit is of a cuboid box-shaped structure, and the lower cover plate of the vehicle body unit is provided with an array type permanent magnet which is matched with the replaceable magnetic wheel unit; a camera mounting box for fixing a front camera is arranged on a front side plate of the vehicle body unit, and a rear camera is fixed on the rear part of an upper cover plate of the vehicle body unit through a camera mounting plate; the upper cover plate and the lower cover plate are provided with a plurality of mechanical and electrical quick interfaces;
the directional wheel driving unit comprises a servo motor, a motor fixing plate, a commutator fixing plate, a reducer input flange, a harmonic reducer, a reducer output flange, a directional wheel driving flange, a limiting disc and a directional wheel; the servo motor is fixed on the lower cover plate through a motor fixing plate, the commutator is installed on the lower cover plate through a commutator fixing plate, the output end of the commutator and the input flange of the speed reducer are input through a shaft, the servo motor transmits driving torque to the input flange of the speed reducer through the commutator, and the servo motor drives the harmonic speed reducer to rotate so as to drive the directional wheel to rotate; the output flange of the speed reducer and the directional wheel driving flange are in special-shaped hole transmission; the limiting disc is used for limiting the compression amount of the directional wheel;
the universal wheel follow-up unit comprises a first rear wheel hinged plate, a second rear wheel hinged plate, a universal wheel connecting plate, a bearing fixing plate, a thrust bearing, a small bearing end cover, an axial fixing shaft, a universal wheel bracket, a stop nut, a universal wheel connecting shaft, an elastic pad, a fixing nut and a universal wheel; the rear wheel hinged plate I is fixed on the left side plate and the right side plate through screws, the universal wheel connecting plate is fixed on the rear wheel hinged plate II through screws, the bearing fixing plate is connected with the universal wheel connecting plate through a thrust bearing, the thrust bearing is respectively embedded into the bearing fixing plate and the universal wheel connecting plate and is fixed through a small bearing end cover and an axial fixing shaft, the universal wheel support is connected with the bearing fixing plate through screws, the universal wheel is a two-degree-of-freedom follow-up universal wheel, the eccentrically arranged universal wheel is connected with the universal wheel support through a universal wheel connecting shaft, a fixing nut and an elastic pad, and the stop nut is used for mechanically locking the universal wheel; the universal wheel can adjust the inclination angle according to different surface conditions;
the replaceable magnetic wheel unit comprises an aluminum alloy wheel hub, a magnet fixing shaft, a fan-shaped magnet and a wheel cover; the fan-shaped magnet is fixed on the magnet fixing shaft and rotates around the center of the magnet fixing shaft, the magnet fixing shaft is fixed on the wheel cover, and the wheel cover is fixed on the aluminum alloy wheel hub.
2. The robot of claim 1, wherein the front camera is provided with a transparent baffle.
3. The robot of claim 1, wherein the front side plate, the rear side plate and/or the left and right side plates of the vehicle body unit are provided with handles for manual carrying.
4. The robot of claim 1, wherein the fixed axial shaft is connected with the small bearing end cover by double screws.
5. The robot of claim 1, wherein the aluminum alloy hub is externally coated with rubber to prevent slippage during movement.
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| CN202210063378.0A CN114074724B (en) | 2022-01-20 | 2022-01-20 | It is applicable in different curvature radius's storage tank interior outer wall climbing robot |
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| CN202210063378.0A CN114074724B (en) | 2022-01-20 | 2022-01-20 | It is applicable in different curvature radius's storage tank interior outer wall climbing robot |
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| CN114838660A (en) * | 2022-05-07 | 2022-08-02 | 之江实验室 | Storage tank capacity metering device and method using laser tracker and robot |
| CN115157920A (en) * | 2022-06-23 | 2022-10-11 | 江苏镌极特种设备有限公司 | Magnet follow-up wheel and wall-climbing robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101475031A (en) * | 2009-02-12 | 2009-07-08 | 大连工业大学 | Robot climbing ladder apparatus |
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| CN106061825B (en) * | 2013-11-30 | 2018-12-07 | 沙特阿拉伯石油公司 | articulated vehicle chassis |
| CN204775574U (en) * | 2015-07-07 | 2015-11-18 | 华北电力大学 | Magnetism adsorbs formula adaptive wall face mobile robot |
| CN206719351U (en) * | 2016-12-30 | 2017-12-08 | 洛阳圣瑞智能机器人有限公司 | A kind of wheeled outstanding magnetic adsorption device |
| US10166672B1 (en) * | 2017-06-21 | 2019-01-01 | Deep Trekker Inc. | Magnetic robot crawler |
| CN109794390B (en) * | 2019-02-26 | 2020-07-14 | 青岛科技大学 | Small-volume roller spraying device suitable for narrow space |
| CN111661186B (en) * | 2020-06-04 | 2022-05-24 | 大连理工大学 | Eccentric universal translation magnetic wall-climbing robot and working mode thereof |
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| CN101475031A (en) * | 2009-02-12 | 2009-07-08 | 大连工业大学 | Robot climbing ladder apparatus |
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Denomination of invention: A climbing robot suitable for different curvature radii on the inner and outer walls of storage tanks Effective date of registration: 20231031 Granted publication date: 20221104 Pledgee: Bohai Bank Co.,Ltd. Tianjin Branch Pledgor: BHP robot (Tianjin) Co.,Ltd. Registration number: Y2023120000089 |