CN115675682A - Wall-climbing robot applicable to polishing operation of outer wall of storage tank - Google Patents
Wall-climbing robot applicable to polishing operation of outer wall of storage tank Download PDFInfo
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- CN115675682A CN115675682A CN202211546939.9A CN202211546939A CN115675682A CN 115675682 A CN115675682 A CN 115675682A CN 202211546939 A CN202211546939 A CN 202211546939A CN 115675682 A CN115675682 A CN 115675682A
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Abstract
The invention discloses a wall-climbing robot suitable for polishing the outer wall of a storage tank, which comprises a vehicle body, a directional wheel driving unit arranged at the bottom of the vehicle body and a front end functional unit arranged in front of the vehicle body, wherein the directional wheel driving unit is arranged at the front end of the vehicle body; the vehicle body comprises a vehicle body frame, permanent magnets are arranged on a bottom plate in an array manner, a front camera is fixedly connected to the front of the vehicle body, and a rear camera is fixedly connected to the rear of the vehicle body; the directional wheel driving unit is of a left-right completely symmetrical structure and comprises a servo motor, the servo motor transmits driving torque to a speed reducer input flange through a commutator so as to drive a harmonic speed reducer to rotate, a speed reducer output flange is in transmission connection with a rubber coating wheel driving flange, and the rubber coating wheel driving flange is connected with a rubber coating wheel; the sliding table motor of the front end functional unit is fixedly connected with the vehicle body through the L-shaped plate, the curvature adaptation of the wall-climbing robot to the outer wall of the storage tank is realized aiming at the outer wall surface operation of the magnetic conduction tank body, the operation efficiency is improved by carrying the polishing operation module, the application prospect is wide, and the popularization and the application are facilitated.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall-climbing robot suitable for polishing the outer wall of a storage tank.
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, and therefore, the development of a wall-climbing robot suitable for the grinding operation of the outer wall of the storage tank is urgently needed to solve the technical problems.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a wall-climbing robot suitable for polishing operation of the outer wall of a storage tank, aiming at the operation of the outer wall surface of a magnetic conduction tank body, the curvature adaptation of the wall-climbing robot to the outer wall of the storage tank is realized, the operation efficiency is improved by carrying a polishing operation module, the application prospect is wide, and the popularization and the application are facilitated.
In order to achieve the purpose, the invention provides a wall-climbing robot suitable for polishing the outer wall of a storage tank, which comprises a vehicle body, a directional wheel driving unit arranged at the bottom of the vehicle body and a front end functional unit arranged in front of the vehicle body;
the robot comprises a vehicle body, wherein the vehicle body comprises a vehicle body frame, the vehicle body frame is formed by fixedly connecting a front plate, an upper cover plate, a left side plate, a left L-shaped side plate, a rear plate and a bottom plate, the right L-shaped side plate and the right side plate are fixedly connected by screws, permanent magnets are arranged on the bottom plate in an array manner to provide safe and stable adsorption force for a wall-climbing robot, a front camera is fixedly connected to the front of the vehicle body to observe the operation condition of the wall surface and prevent large deviation, a rear camera is fixedly connected to the rear of the vehicle body to observe the environment around the robot and prevent collision, a power supply box, a safety catcher handle and a control box are arranged at the top of the upper cover plate, a metal handle is arranged on the outer side of the vehicle body to facilitate carrying of a worker, the rear plate is L-shaped, the vertical part of the rear plate is fixedly connected with a rear wheel mounting plate, a welding seam tracker is arranged above the horizontal part of the rear plate, and a follow-up universal wheel is arranged below the horizontal part of the rear plate through the universal wheel mounting plate;
the directional wheel driving unit is of a left-right completely symmetrical structure and comprises a servo motor, the servo motor is driven by a motor driver to be fixed on a vehicle body bottom plate, the output end of the servo motor is connected with the input end of a commutator, the commutator is fixed on the vehicle body bottom plate, the output end of the commutator is input with a speed reducer input flange through a shaft, the servo motor transmits driving torque to a speed reducer input flange through the commutator so as to drive a harmonic speed reducer to rotate, the speed reducer output flange is in transmission connection with a rubber coating wheel driving flange, the rubber coating wheel driving flange is connected with a rubber coating wheel, a large bearing end cover is arranged on the side surface of the harmonic speed reducer, and an angular contact ball bearing is sleeved on the outer side of the harmonic speed reducer output shaft;
the front end function unit comprises a rotating motor, a polishing piece is arranged at the front end of the rotating motor, the rotating motor is connected with a rotating motor support plate, a small cylinder II is fixed on a connecting plate, the front end of a telescopic rod of the small cylinder II is connected with the rotating motor support plate, the rotating motor support plate is controlled to extend and contract in a direction to move through the telescopic motion of the front end of the telescopic rod of the small cylinder II, and then the rotating motor is lifted up and down.
Preferably, the permanent magnet is a high-performance type permanent magnet and is installed on the vehicle body bottom plate through a permanent magnet fixing plate.
Preferably, the transmission connection mode between the output flange of the speed reducer and the driving flange of the rubber coating wheel is special-shaped hole transmission or jackscrew transmission.
Preferably, a drag chain support for supporting a drag chain is arranged at the top of the sliding table motor.
Preferably, the installation mode of preceding camera is embedded, through preceding camera mounting box rigid coupling in automobile body the place ahead, back camera passes through back camera baffle rigid coupling in automobile body rear.
Preferably, a front camera baffle is arranged in front of the front camera to prevent the front camera from being damaged in the operation process.
Preferably, the rotating motor is fixedly connected with a rotating motor support plate through the rotating motor, and the rotating motor support plate is connected with the front end fixing plate through a connecting plate.
Preferably, the servo motor is fixed on the vehicle body bottom plate through a motor fixing plate.
Preferably, the commutator is fixed on the vehicle body bottom plate through a commutator fixing plate.
Preferably, a plurality of mechanical and electrical quick interfaces are reserved on the upper cover plate and the bottom plate, so that corresponding operation modules can be conveniently carried according to different operation requirements, and the effect of one machine with multiple purposes is achieved.
The wall-climbing robot applicable to the grinding operation of the outer wall of the storage tank has the following beneficial effects.
1. The invention is suitable for large vertical surfaces of magnetic conductive metal storage tanks and the like, particularly for the outer wall of the storage tank, the front end of the storage tank is provided with two directional driving wheels, the rear wheel is provided with two universal wheel structures, the wall surface is flexible to turn, the permanent magnetic adsorption technology is utilized, and the replaceable magnet module is matched, so that the curvature change of the outer wall of the same tank can be adapted, and the large-range safe and stable motion can be realized. The front end carries on the operation module of the welding seam of polishing, realizes the operation of polishing.
2. The front wheels are directional wheels, the rear wheels are follow-up universal wheels, the inclination angle can be adjusted according to different wall conditions, the effective adsorption area and distance of the permanent magnets on the surface of the tank body are ensured, the robot can safely and stably move on a spherical tank or a storage tank with the diameter being more than or equal to 10 m, and the adsorption effectiveness and safety of the robot body on the surfaces with different curvatures are greatly improved.
3. According to the invention, the magnet is arranged on the vehicle body bottom plate, and the distance between the magnet and the wall surface can be adjusted by adding the gasket, so that the adsorption force is adjusted.
4. The front driving wheel adopts a rubber covered wheel mode, so that the wall surface can be prevented from being scratched by a vehicle body, friction can be provided, and the stable operation of the robot is ensured.
5. The upper cover plate of the vehicle body is a large plane, the bottom plate is lower, and a plurality of mechanical and electrical quick interfaces are reserved on the upper cover plate, so that corresponding operation modules can be conveniently carried according to different operation requirements, and the effect of one machine with multiple purposes is achieved.
6. On the robot driving device, because the right-angle speed reducer has larger size and weight, more outstanding problems and longer running-in time, the invention adopts the mode of a commutator and a harmonic speed reducer to replace the traditional right-angle speed reducer, reduces the whole size of the robot, lightens the weight and can realize the on-site instant use and ultimate operation.
7. The invention adopts a front camera and a rear camera, can realize real-time observation of the operation condition so as to carry out manual correction when necessary, and the front camera is installed in an embedded manner, thereby increasing the stability of the cameras, preventing the pictures from shaking due to the movement of the robot and facilitating the observation and operation of operators.
Drawings
FIG. 1 is a schematic structural view of a wall-climbing robot applicable to a tank outer wall grinding operation according to the present invention;
fig. 2 (a) and 2 (b) are schematic wall surface adsorption diagrams of a wall-climbing robot applicable to a tank outer wall grinding operation provided by the invention;
3-4 are schematic axial views of a wall-climbing robot applicable to the polishing operation of the outer wall of the storage tank provided by the invention;
FIG. 5 is a left side view of a wall-climbing robot applicable to a tank outer wall grinding operation provided by the present invention;
fig. 6 (a) and 6 (b) are schematic internal structural diagrams of a wall-climbing robot applicable to a tank outer wall grinding operation provided by the invention;
fig. 7 (a), 7 (b) and 7 (c) are schematic diagrams of front functional units of a wall-climbing robot applicable to a tank outer wall grinding operation provided by the invention.
In the figure:
1. the fishing tackle comprises a tackle body 2, a directional wheel driving unit 3, a front end functional unit 101, a front camera 102, a front camera mounting box 103, a front camera baffle plate 104, a front plate 105, a metal handle 106, a cover plate upper 107, a side plate left 108, an L-shaped side plate left 109, a driven universal wheel 110, a universal wheel mounting plate 111, a weld tracker 112, a power box 113, a safety catcher handle 114, a control box 115, a rear plate 116, a rear wheel mounting plate 117, a bottom plate 118, an L-shaped side plate right 119, a side plate right 120, a rear camera 121, a rear camera baffle plate 122, a permanent magnet fixing plate 123, a permanent magnet 201, a servo motor 202, a motor driver 203, a motor fixing plate 204, a commutator fixing plate 205, a reducer input flange 206, a harmonic reducer output flange 208, a rubber-coated wheel 209, a commutator 210, a large bearing end cover 211, a ball bearing 212, a rubber-coated flange 301, a drag chain 302, a drag chain support 303, a drag chain support 304, a sliding table motor 305, a small cylinder II, a rotary motor 307, a rotary motor support plate 310, a rubber-rotary motor support plate 308, a swing joint 312, a swing joint 313, a swing joint 312, a swing joint 311 and a swing joint.
Detailed Description
The present invention will be further described with reference to specific examples and figures to assist in understanding the invention.
As shown in fig. 1,3,4,5,6 (a) and 6 (b), there are respectively a schematic structural diagram, an axial schematic diagram, a left side view and an internal structural diagram of a wall-climbing robot applicable to a tank outer wall grinding operation provided by the present invention. The wall-climbing robot applicable to the grinding operation of the outer wall of the storage tank comprises a vehicle body 1, a directional wheel driving unit 2 arranged at the bottom of the vehicle body 1 and a front end functional unit 3 arranged in front of the vehicle body 1.
The vehicle body 1 comprises a vehicle body frame, wherein the vehicle body frame is formed by fixedly connecting a front plate 104, an upper cover plate 106, a left side plate 107, a left L-shaped side plate 108, a rear plate 115, a bottom plate 117, a right L-shaped side plate 118 and a right side plate 119 through screws, and permanent magnets 123 are arranged on the bottom plate 117 in an array mode through permanent magnet fixing plates 122. The wall climbing robot is provided with safe and stable adsorption force, and the permanent magnet 123 is preferably a high-performance type permanent magnet. The front camera 101 is fixedly connected to the front of the vehicle body 1 through a front camera mounting box 102, and is used for observing the operation condition of a wall surface and preventing large deviation, and the front camera 101 is embedded. A front camera baffle 103 is arranged in front of the front camera 101 to prevent the front camera 101 from being damaged in the operation process. The rear camera 120 is fixedly connected to the rear of the vehicle body 1 through a rear camera baffle 121 and used for observing the environment around the robot and preventing collision. The top of the upper cover plate 106 is provided with a power supply box 112, a falling protector handle 113 and a control box 114, the outer side of the vehicle body 1 is provided with a metal handle 105, so that workers can carry the falling protector conveniently, the rear plate 115 is L-shaped, the vertical part of the rear plate is fixedly connected with a rear wheel mounting plate 116, a welding seam tracker 111 is arranged above the horizontal part of the rear plate, and a follow-up universal wheel 109 is arranged below the horizontal part through a universal wheel mounting plate 110. A plurality of mechanical and electrical quick interfaces are reserved on the upper cover plate 106, so that corresponding operation modules can be conveniently carried according to different operation requirements, and the effect of one machine with multiple purposes is achieved.
The directional wheel driving unit 2 is of a left-right completely symmetrical structure and comprises a servo motor 201, wherein the servo motor 201 is driven by a motor driver 202 and is fixed on a bottom plate 117 of the vehicle body 1 through a motor fixing plate 203. The servo motor 201 is fixed on a bottom plate 117 of the vehicle body 1, the output end of the servo motor 201 is connected with the input end of a commutator 209, and the commutator 209 is fixed on the bottom plate 117 of the vehicle body 1 through a commutator fixing plate 204. The output end of the commutator 209 and the input flange 205 of the speed reducer are input through a shaft, the servo motor 201 transmits driving torque to the input flange 205 of the speed reducer through the commutator 209 to further drive the harmonic speed reducer 206 to rotate, the output flange 207 of the speed reducer is in transmission connection with the driving flange 212 of the rubber coating wheel, and preferably, the transmission connection mode between the output flange 207 of the speed reducer and the driving flange 212 of the rubber coating wheel is special-shaped hole transmission or jackscrew transmission. The rubber-covered wheel driving flange 212 is connected with the rubber-covered wheel 208, the side surface of the harmonic reducer 206 is provided with a large bearing end cover 210, and the outer side of the output shaft of the harmonic reducer 206 is sleeved with an angular contact ball bearing 211.
Fig. 7 (a), 7 (b) and 7 (c) are schematic diagrams of front functional units of a wall-climbing robot applicable to tank outer wall grinding operation provided by the invention. The front end functional unit 3 comprises a rotating motor 307, a polishing piece 310 is arranged at the front end of the rotating motor 307, the rotating motor 307 is connected with a rotating motor support plate 306 through a rotating motor fixing 308, a small cylinder II 305 is fixed on a connecting plate 313, the front end of an expansion rod of the small cylinder II 305 is connected with the rotating motor support plate 306, the expansion and contraction direction movement of the rotating motor support plate 306 is controlled through the expansion and contraction movement of the front end of the expansion rod of the small cylinder II 305, and then the lifting and descending of the rotating motor 307 are realized, a fisheye joint 311 is arranged at the front end of an expansion rod of a small cylinder I309, the fisheye joint 311 is connected with a fisheye swinging block 314, the fisheye swinging block 314 is connected with the connecting plate 313 through a shaft, the fisheye swinging block 314 is driven to rotate through the expansion and contraction movement of the front end of the expansion rod of the small cylinder I309, the fisheye swinging block 314 rotates and is transmitted to the connecting plate 313 through the shaft, the swinging of the connecting plate 313 at a specified angle can be realized, so that the swinging of the rotating motor 307 can be realized, the small cylinder I309 is fixed on a front end fixing plate 312, the sliding table 304 is fixed on a sliding table 304, the sliding table 304, and the mechanism can walk along the sliding table 304, and the sliding plate of the sliding table 304 is fixedly connected with the motor template through the sliding table 304. The top of the sliding table motor 304 is provided with a drag chain bracket 302 for supporting a drag chain 301.
The working principle of the invention is as follows:
the wall climbing robot moving mode part: 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 209, and a large-speed-ratio harmonic speed reducer 206 is decelerated to achieve the effect of increasing torque and drive a rubber coating wheel 208 to rotate. The turning is realized by means of differential rotation of the servo motor 201, the following universal wheel 109 of the robot is more beneficial to realizing the turning, and the wall-climbing robot can safely and stably move on a spherical tank or a storage tank with the diameter being more than or equal to 10 meters. As shown in fig. 2 (a) and 2 (b), the wall surface adsorption schematic diagram of the wall-climbing robot provided by the invention is applicable to the grinding operation of the outer wall of the storage tank.
After the wall climbing robot is electrified, the front end functional unit 3 can be electrified and inflated independently, the welding seam tracking is opened through the remote controller, and the left and right positions of the welding seam are adjusted by the wall climbing robot. Open front end functional unit 3, slip table motor 304 drives the whole device of front end and removes to the original point, rotating electrical machines 307 drives the front end rotatory to the right side after, slip table motor 304 drives the front end and removes the right-hand member by the left end, the rotation of cooperation polishing piece 310 realizes polishing to the welding seam, polish piece 310 polish to the spacing on slip table right side, rotating electrical machines 307 is rotatory to opposite position left, slip table motor 304 drives the front end and removes the left end by the right-hand member, the rotation of cooperation polishing piece 310 realizes polishing to the welding seam. The front end of the wall-climbing robot is ground one round trip to form a period, the robot is stepped downwards once after the period is ground, whether the center of the wall-climbing robot deviates from a welding seam or not is detected after the robot is stepped once, and the left position and the right position of the wall-climbing robot are automatically adjusted if the robot deviates. This process is repeated until the grinding operation is completed.
When the vehicle body 1 carries an operation module to operate, the front camera 101 observes the operation condition through the fixed-height installation, and whether the direction deviates or not can be observed through the front camera 101, so that the adjustment can be performed in time. The rear camera 120 is fixedly installed to observe the surrounding environment.
The invention is suitable for large vertical surfaces of magnetic conductive metal storage tanks and the like, particularly for the outer wall of the storage tank, the front end of the storage tank is provided with two directional driving wheels, the rear wheel is provided with two universal wheel structures, the wall surface is flexible to turn, the permanent magnetic adsorption technology is utilized, and the replaceable magnet module is matched, so that the curvature change of the outer wall of the same tank can be adapted, and the large-range safe and stable motion can be realized. The front end carries on the operation module of the welding seam of polishing, realizes the operation of polishing. The front wheels are directional wheels, the rear wheels are follow-up universal wheels 109, the inclination angle can be adjusted according to different wall conditions, the effective adsorption area and distance of the permanent magnets 123 on the surface of the tank body are ensured, the robot can safely and stably move on a spherical tank or a storage tank with the diameter being more than or equal to 10 m, and the adsorption effectiveness and safety of the robot body on the surfaces with different curvatures are greatly improved.
The invention arranges the magnet on the bottom plate 117 of the vehicle body 1, and can adjust the distance between the magnet and the wall surface by adding the gasket, thereby adjusting the magnitude of the adsorption force. The front driving wheel adopts the mode of the rubber covered wheel 208, so that the wall surface can be prevented from being scratched by the vehicle body 1, friction can be provided, and the stable operation of the robot can be ensured. The upper cover plate of the vehicle body 1 is a large plane, the bottom plate 117 is lower, and a plurality of quick mechanical and electrical connectors are reserved on the upper cover plate, so that corresponding operation modules can be conveniently carried according to different operation requirements, and the effect of one machine with multiple purposes is achieved. On the robot driving device, because the right-angle speed reducer has larger size and weight, more outstanding problems and longer running-in time, the invention adopts the mode of the commutator 209 and the harmonic speed reducer 206 to replace the traditional right-angle speed reducer, thereby reducing the whole size of the robot, lightening the weight and realizing the on-site instant use and ultimate operation. The invention adopts a front camera and a rear camera, can realize real-time observation of the operation condition so as to carry out manual correction when necessary, and the front camera 101 is installed in an embedded manner, thereby increasing the stability of the cameras, preventing the pictures from shaking caused by the motion of the robot and facilitating the observation and operation of operators.
The inventive concept is explained in detail herein using specific examples, which are only provided to help understanding the core idea of the present 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 all included in the scope of the present invention.
Claims (10)
1. A wall-climbing robot suitable for polishing the outer wall of a storage tank is characterized by comprising a vehicle body, a directional wheel driving unit arranged at the bottom of the vehicle body and a front end functional unit arranged in front of the vehicle body;
the car body comprises a car body frame, wherein the car body frame is formed by fixedly connecting a front plate, an upper cover plate, a side plate left, an L-shaped side plate left, a rear plate and a bottom plate, wherein the L-shaped side plate right and the side plate right are fixedly connected by screws;
the directional wheel driving unit is of a left-right completely symmetrical structure and comprises a servo motor, the servo motor is driven by a motor driver to be fixed on a vehicle body bottom plate, the output end of the servo motor is connected with the input end of a commutator, the commutator is fixed on the vehicle body bottom plate, the output end of the commutator is input with a speed reducer input flange through a shaft, the servo motor transmits driving torque to a speed reducer input flange through the commutator so as to drive a harmonic speed reducer to rotate, the speed reducer output flange is in transmission connection with a rubber coating wheel driving flange, the rubber coating wheel driving flange is connected with a rubber coating wheel, a large bearing end cover is arranged on the side surface of the harmonic speed reducer, and an angular contact ball bearing is sleeved on the outer side of the harmonic speed reducer output shaft;
the front end function unit comprises a rotating motor, a polishing piece is arranged at the front end of the rotating motor, the rotating motor is connected with a rotating motor support plate, a small air cylinder II is fixed on a connecting plate, the front end of a telescopic rod of the small air cylinder II is connected with the rotating motor support plate, the rotating motor support plate is controlled to extend and contract in direction to move through telescopic motion of the front end of the telescopic rod of the small air cylinder II, and then the rotating motor is lifted and descended.
2. The wall-climbing robot suitable for polishing the outer wall of the storage tank as claimed in claim 1, wherein the permanent magnet is a high-performance type permanent magnet and is mounted on the bottom plate of the vehicle body through a permanent magnet fixing plate.
3. The wall-climbing robot suitable for grinding the outer wall of the storage tank as claimed in claim 2, wherein the transmission connection mode between the output flange of the speed reducer and the driving flange of the rubber-covered wheel is a special-shaped hole transmission mode or a jackscrew transmission mode.
4. The wall-climbing robot suitable for grinding the outer wall of the storage tank as claimed in claim 3, wherein a drag chain support for supporting a drag chain is arranged at the top of the sliding table motor.
5. The wall-climbing robot suitable for grinding the outer wall of the storage tank as claimed in claim 4, wherein the front camera is mounted in an embedded manner and is fixedly connected to the front of the vehicle body through a front camera mounting box, and the rear camera is fixedly connected to the rear of the vehicle body through a rear camera baffle.
6. The wall-climbing robot suitable for grinding the outer wall of the storage tank as claimed in claim 5, wherein a front camera baffle is installed in front of the front camera to prevent the front camera from being damaged during the operation.
7. The wall-climbing robot suitable for polishing the outer wall of the storage tank as claimed in claim 6, wherein the rotating motor is fixedly connected with a rotating motor support plate through the rotating motor, and the rotating motor support plate is connected with the front end fixing plate through a connecting plate.
8. The wall-climbing robot suitable for polishing the outer wall of the storage tank as claimed in claim 7, wherein the servo motor is fixed on the bottom plate of the vehicle body through a motor fixing plate.
9. The wall-climbing robot suitable for polishing the outer wall of the storage tank as claimed in claim 8, wherein the commutator is fixed on the bottom plate of the vehicle body through a commutator fixing plate.
10. The wall-climbing robot suitable for polishing the outer wall of the storage tank as claimed in claim 9, wherein a plurality of mechanical and electrical quick interfaces are reserved on the upper cover plate and the bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211546939.9A CN115675682A (en) | 2022-12-05 | 2022-12-05 | Wall-climbing robot applicable to polishing operation of outer wall of storage tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211546939.9A CN115675682A (en) | 2022-12-05 | 2022-12-05 | Wall-climbing robot applicable to polishing operation of outer wall of storage tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115675682A true CN115675682A (en) | 2023-02-03 |
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ID=85055076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211546939.9A Pending CN115675682A (en) | 2022-12-05 | 2022-12-05 | Wall-climbing robot applicable to polishing operation of outer wall of storage tank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115675682A (en) |
-
2022
- 2022-12-05 CN CN202211546939.9A patent/CN115675682A/en active Pending
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