CN115257994B - 一种用于储罐内外壁无损检测的四足爬壁机器人 - Google Patents
一种用于储罐内外壁无损检测的四足爬壁机器人 Download PDFInfo
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- CN115257994B CN115257994B CN202211026260.7A CN202211026260A CN115257994B CN 115257994 B CN115257994 B CN 115257994B CN 202211026260 A CN202211026260 A CN 202211026260A CN 115257994 B CN115257994 B CN 115257994B
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- 238000003860 storage Methods 0.000 title claims abstract description 28
- 230000009194 climbing Effects 0.000 title claims abstract description 27
- 238000009659 non-destructive testing Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 77
- 238000001179 sorption measurement Methods 0.000 claims abstract description 32
- 238000011897 real-time detection Methods 0.000 claims abstract description 17
- 239000000523 sample Substances 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 239000002184 metal Substances 0.000 claims abstract description 8
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 48
- 210000000689 upper leg Anatomy 0.000 claims description 38
- 210000002414 leg Anatomy 0.000 claims description 31
- 230000000149 penetrating effect Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 8
- 239000011248 coating agent Substances 0.000 claims description 8
- 238000000576 coating method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 230000009193 crawling Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005555 metalworking Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000006056 electrooxidation reaction Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
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Claims (6)
Priority Applications (1)
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CN202211026260.7A CN115257994B (zh) | 2022-08-25 | 2022-08-25 | 一种用于储罐内外壁无损检测的四足爬壁机器人 |
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CN202211026260.7A CN115257994B (zh) | 2022-08-25 | 2022-08-25 | 一种用于储罐内外壁无损检测的四足爬壁机器人 |
Publications (2)
Publication Number | Publication Date |
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CN115257994A CN115257994A (zh) | 2022-11-01 |
CN115257994B true CN115257994B (zh) | 2024-01-30 |
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CN202211026260.7A Active CN115257994B (zh) | 2022-08-25 | 2022-08-25 | 一种用于储罐内外壁无损检测的四足爬壁机器人 |
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CN (1) | CN115257994B (zh) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016075428A1 (en) * | 2014-11-13 | 2016-05-19 | Gary Sewell | Unmanned vehicle |
CN105945890A (zh) * | 2016-05-13 | 2016-09-21 | 中国东方电气集团有限公司 | 一种曲面自适应吸附式全方位移动平台 |
CN111824283A (zh) * | 2020-08-06 | 2020-10-27 | 河北工业大学 | 自适应曲率装置、基于永磁吸附的立面作业机器人 |
CN212047633U (zh) * | 2020-04-20 | 2020-12-01 | 北京博清科技有限公司 | 一种爬行机器人 |
CN112744309A (zh) * | 2021-02-08 | 2021-05-04 | 高维智控机器人科技(苏州)有限公司 | 一种多运动模式三轮自适应磁力爬壁机器人 |
CN114084242A (zh) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | 一种曲面自适应轮式爬壁机器人及其工作方法 |
WO2022053821A1 (en) * | 2020-09-10 | 2022-03-17 | Bladebug Limited | A system and method of robot locomotion |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110405725A (zh) * | 2019-08-13 | 2019-11-05 | 舟山市质量技术监督检测研究院 | 一种用于立式金属罐容量检定的爬壁机器人 |
US11630025B2 (en) * | 2020-04-02 | 2023-04-18 | The Florida International University Board Of Trustees | Robotic inspection device |
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2022
- 2022-08-25 CN CN202211026260.7A patent/CN115257994B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016075428A1 (en) * | 2014-11-13 | 2016-05-19 | Gary Sewell | Unmanned vehicle |
CN105945890A (zh) * | 2016-05-13 | 2016-09-21 | 中国东方电气集团有限公司 | 一种曲面自适应吸附式全方位移动平台 |
CN212047633U (zh) * | 2020-04-20 | 2020-12-01 | 北京博清科技有限公司 | 一种爬行机器人 |
CN111824283A (zh) * | 2020-08-06 | 2020-10-27 | 河北工业大学 | 自适应曲率装置、基于永磁吸附的立面作业机器人 |
WO2022053821A1 (en) * | 2020-09-10 | 2022-03-17 | Bladebug Limited | A system and method of robot locomotion |
CN112744309A (zh) * | 2021-02-08 | 2021-05-04 | 高维智控机器人科技(苏州)有限公司 | 一种多运动模式三轮自适应磁力爬壁机器人 |
CN114084242A (zh) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | 一种曲面自适应轮式爬壁机器人及其工作方法 |
Non-Patent Citations (2)
Title |
---|
小型吸附式爬壁机器人机械结构及平衡性;刘明芹;戴永雄;黄文攀;范茂飞;乔斌;;机械设计与制造(05);全文 * |
桥梁检测的爬壁机器人足力优化方法设计;吴兴琪;崔世超;孙恒;钟永元;;汽车实用技术(08);全文 * |
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CN115257994A (zh) | 2022-11-01 |
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CB03 | Change of inventor or designer information |
Inventor after: Tan Dapeng Inventor after: Zhang Hongshuo Inventor after: Yang Yuanshan Inventor after: Li Lin Inventor after: Tan Yunfeng Inventor after: Yin Zichao Inventor after: Wang Tong Inventor before: Tan Dapeng Inventor before: Yang Yuanshan Inventor before: Li Lin Inventor before: Tan Yunfeng Inventor before: Yin Zichao Inventor before: Wang Tong |