CN201633804U - Climbing robot for descaling ship walls - Google Patents
Climbing robot for descaling ship walls Download PDFInfo
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- CN201633804U CN201633804U CN2009202478347U CN200920247834U CN201633804U CN 201633804 U CN201633804 U CN 201633804U CN 2009202478347 U CN2009202478347 U CN 2009202478347U CN 200920247834 U CN200920247834 U CN 200920247834U CN 201633804 U CN201633804 U CN 201633804U
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Abstract
The utility model discloses a climbing robot for descaling ship walls. The robot comprises a frame, a chain pedrail travel mechanism, a permanent-magnet absorption unit, a left-upper driving motor, a left-upper speed reducer, a right-lower driving motor and a right-lower speed reducer, wherein an LUL (Left Upper Lateral) mechanism and an RLL (Right Lower Lateral) mechanism are in a symmetric structure relative to the left and right diagonal center of the left side and the right side of the robot, the chain pedrail travel mechanism comprises a left chain pedrail and a right chain pedrail, the permanent magnet absorption unit is mounted on the chain pedrail travel mechanism, and an ultra-high pressure water jet vacuum descaling cleaner is externally connected with a vacuum source and the permanent magnet absorption unit to form vacuum permanent magnet mixed absorption. The climbing robot in the utility model is designed by employing a permanent magnet vacuum mixed absorption mode to effectively utilize the vacuum negative pressure of recovered rust residue and combine with permanent magnet absorption force so that the robot has reliable absorption, safe operation and compact absorption structure and can realize the aerial large-load operation of the climbing robot.
Description
Technical field
The utility model relates to a kind of climbing robot, the big and bigger wall-climbing robot for removing rust on wall surfaces of ships of this body weight of particularly a kind of load.
Background technology
The boats and ships rust cleaning is the important step of shipbuilding, also is the key link of shiprepair.Wall surfaces of ships climbing robot vacuum superhigh pressure water jet complete set technology is in one with ultra-high pressure water fluid jet rust cleaning, vacuum system absorption deslagging, climbing robot operation three coordinate design, water rust cleaning, vacuum are drained moisture and are reclaimed the rust cleaning waste residue, and climbing robot carries the operation of ultra-high pressure water fluid jet rust cleaning cleaning device.
Radical function based on the wall-climbing robot for removing rust on wall surfaces of ships of permanent magnetism vacuum mixing and absorption principle is to carry ultra-high pressure water fluid jet rust cleaning cleaning device and load pipeline thereof, makes it carry out hull steel surface derusting effectively at wall surfaces of ships.This cleaning device quality is very heavy, and minimum also has 11kg, generally can reach more than the 50kg.Simultaneously, according to climbing robot vacuum ultra-high pressure water fluid jet complete equipment functional requirement, climbing robot also will be born the gravity that the vacuum that is connected with the cleaning device that eliminates rust reclaims pipelines such as slagging-off pipe and ultra-high pressure water fluid jet pipe.Because pipeline gravity is bigger, when robot is climbed the wall height about 20 meters the time, load gravity will reach 60kg, bigger load has brought bigger difficulty for the development of climbing robot, according to institute's grasp data, this body weight of wall-climbing robot for removing rust on wall surfaces of ships is generally all more than 80kg, so load that robot carried and robot body gravity load will reach more than the 140kg.This load weight is heavy more a lot of than the present general climbing robot load weight of developing of China.
At present, domestic have the wall-climbing robot for removing rust on wall surfaces of ships of a kind of vacuum adsorption principle of development to adopt vacuum suction, it is less that body carries ultra-high pressure water fluid jet rust cleaning cleaning device quality, the load-carrying capacity that carries the load pipeline is lower, and the danger that exists the vacuum power down to come off is difficult to reach practical application effect in boats and ships rust cleaning field.
Summary of the invention
Be to solve the problems referred to above of prior art, the purpose of this utility model is to provide that a kind of load-carrying capacity is higher, the bigger wall-climbing robot for removing rust on wall surfaces of ships of rust cleaning efficient.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of wall-climbing robot for removing rust on wall surfaces of ships comprises framework, chain creeper undercarriage, permanent magnetism absorbing unit, upper left drive motor, upper left reductor, bottom right drive motor, bottom right reductor, its upper left side mechanism and lower right side mechanism are symmetrical structure with respect to center, diagonal angle, the left and right sides, robot both sides, described upper left drive motor is connected with upper left reductor, is installed on the adapter plate of framework upper left side; Described upper left reductor is connected with upper left drive sprocket by upper left coupler, upper left drive sprocket is installed on the upper left drive sprocket axle by antifriction-bearing box, upper left drive sprocket axle is fixed on the framework by holding screw, at upper left reductor and framework junction upper left reinforcement gusset is housed; Described bottom right drive motor is connected with the bottom right reductor, be installed on the adapter plate of framework lower right side, the bottom right reductor is connected with the bottom right drive sprocket by the bottom right coupler, the bottom right drive sprocket is installed on the drive sprocket axle of bottom right by antifriction-bearing box, the bottom right drive sprocket axle is fixed on the framework by holding screw, at bottom right reductor and framework junction reinforcement gusset in bottom right is housed; Described upper left drive sprocket and bottom right drive sprocket are fixed by sprocket sleeve respectively; Described chain creeper undercarriage by about two chain crawler belts form, the left chain crawler belt is installed on upper left drive sprocket and the lower-left driven chain wheel shaft, the right chain crawler belt is installed on bottom right drive sprocket axle and the upper right driven sprocket; Be respectively arranged with tensioning screw on described lower-left driven chain wheel shaft and upper right driven chain wheel shaft, described tensioning screw is installed on the chain wheel support, and described chain wheel support is installed in the driven sprocket both sides, its two ends also are separately installed with jam nut; The lower-left driven sprocket is installed on the driven chain wheel shaft of lower-left by antifriction-bearing box, lower-left driven chain wheel shaft is fixed on the framework by holding screw, upper right driven sprocket is installed on the upper right driven chain wheel shaft by antifriction-bearing box, and upper right driven chain wheel shaft is fixed on the framework by holding screw; Described ultra-high pressure water fluid jet vacuum rust cleaning cleaning device is installed in the center of framework by the cleaning device adapter plate, described permanent magnetism absorbing unit is installed on the chain creeper undercarriage, and ultra-high pressure water fluid jet vacuum rust cleaning external vacuum source of cleaning device and permanent magnetism absorbing unit form the vacuum and permanent magnet mixing and absorption; Described left safety cock, right safety cock, left and right sides chain guard and cleaning device adapter plate are installed on the framework respectively.
Be provided with the water jet vaccum seal ring below the ultra-high pressure water fluid jet vacuum rust cleaning cleaning device described in the utility model.
Upper left drive sprocket described in the utility model, bottom right drive sprocket, lower-left driven sprocket, upper right driven sprocket, two chain crawler belts are waterproof construction, are equipped with in the chain guard on described framework to advance wheel.
Cleaning device adapter plate described in the utility model is the adjustable height structure.
Compared with prior art, the beneficial effects of the utility model are as follows:
1, because the utility model adopts permanent magnetism vacuum mixing and absorption mode to design climbing robot, effectively utilize the negative pressure pressure that reclaims the anvil cinder vacuum, and in conjunction with the permanent magnetism adsorption affinity, make robot adsorption reliability, work safety, adsorption structure compactness, can realize the heavy load operation of climbing robot high-altitude.
2, because the utility model is provided with the water jet vaccum seal ring below ultra-high pressure water fluid jet vacuum rust cleaning cleaning device, realizes jet safety and ensure vacuum effectiveness.
3, because cleaning device adapter plate of the present utility model is the adjustable height structure, by regulating cleaning device adapter plate height adjustment ultra-high pressure water fluid jet vacuum rust cleaning cleaning device rust cleaning height of jet;
4, since upper left side mechanism of the present utility model and lower right side mechanism about center, diagonal angle, the left and right sides, robot both sides symmetric arrangement mounting means, reduced the height of robot to greatest extent, simultaneously, reduced the bigger height of gravitational center of climbing robot adsorption power influence, the robot load-carrying capacity is strengthened, climb the wall height and increase.
5, the utility model is based on that load-carrying capacity is big, rust cleaning efficient height, absorption property is good, driving is flexible, operation is simple and easy, has broad application prospects at aspects such as wall surfaces of ships rust cleaning.
Description of drawings
3 in the total accompanying drawing of the utility model, wherein:
Fig. 1 is a wall-climbing robot for removing rust on wall surfaces of ships bulk junction composition.
Fig. 2 is the wall-climbing robot for removing rust on wall surfaces of ships left side view.
Fig. 3 is the chain stretching device structural representation of wall-climbing robot for removing rust on wall surfaces of ships.
Among the figure, 1, the bottom right drive sprocket axle, 2, the bottom right drive sprocket, 3, the bottom right coupler, 4, gusset, 5 are strengthened in the bottom right, the bottom right reductor, 6, the bottom right drive motor, 7, the lower-left driven sprocket, 8, lower-left driven chain wheel shaft, 9, robot frame, 10, left side safety cock, 11, upper left drive sprocket axle, 12, upper left drive sprocket, 13, chain guard, 14, upper left coupler, 15, upper left reinforcement gusset, 16, upper left reductor, 17, upper left drive motor, 18, ultra-high pressure water fluid jet vacuum rust cleaning cleaning device, 19, the cleaning device adapter plate, 20, upper right driven sprocket, 21, upper right driven chain wheel shaft, 22, right safety cock, 23, the permanent magnetism absorbing unit, 24, the chain creeper undercarriage, 25, jam nut, 26, tensioning screw, 27, the chain wheel support.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.As Figure 1-3, a kind of wall-climbing robot for removing rust on wall surfaces of ships comprises framework 9, chain creeper undercarriage 24, permanent magnetism absorbing unit 23, upper left drive motor 17, upper left reductor 16, bottom right drive motor 6, bottom right reductor 5, its upper left side mechanism and lower right side mechanism are symmetrical structure with respect to center, diagonal angle, the left and right sides, robot both sides, described upper left drive motor 17 is connected with upper left reductor 16, is installed on the framework 9 upper left side adapter plates; Described upper left reductor 16 is connected with upper left drive sprocket 12 by upper left coupler 14, upper left drive sprocket 12 is installed on the upper left drive sprocket axle 11 by antifriction-bearing box, upper left drive sprocket axle 11 is fixed on the framework 9 by holding screw, with framework 9 junctions upper left reinforcement gusset 15 is housed at upper left reductor 16; Described bottom right drive motor 6 is connected with bottom right reductor 5, be installed on the framework 9 lower right side adapter plates, bottom right reductor 5 is connected with bottom right drive sprocket 2 by bottom right coupler 3, bottom right drive sprocket 2 is installed on the bottom right drive sprocket axle 1 by antifriction-bearing box, bottom right drive sprocket axle 1 is fixed on the framework 9 by holding screw, in bottom right reductor 5 and framework 9 junctions the bottom right is housed and strengthens gusset 4; Described upper left drive sprocket 12 and bottom right drive sprocket 2 are fixed by sprocket sleeve respectively; Described chain creeper undercarriage 24 by about two chain crawler belts form, the left chain crawler belt is installed on upper left drive sprocket 12 and the lower-left driven chain wheel shaft 8, the right chain crawler belt is installed on bottom right drive sprocket axle 1 and the upper right driven sprocket 20; On described lower-left driven chain wheel shaft 8 and upper right driven chain wheel shaft 21, be respectively arranged with tensioning screw 26, described tensioning screw 26 is installed on the chain wheel support 27, and described chain wheel support 27 is installed in the driven sprocket both sides, its two ends also are separately installed with jam nut 25; Lower-left driven sprocket 7 is installed on the lower-left driven chain wheel shaft 8 by antifriction-bearing box, lower-left driven chain wheel shaft 8 is fixed on the framework 9 by holding screw, upper right driven sprocket 20 is installed on the upper right driven chain wheel shaft 21 by antifriction-bearing box, and upper right driven chain wheel shaft 21 is fixed on the framework 9 by holding screw; Described ultra-high pressure water fluid jet vacuum rust cleaning cleaning device 18 is installed in the center of framework 9 by cleaning device adapter plate 19, described permanent magnetism absorbing unit 23 is installed on the chain creeper undercarriage 24, and ultra-high pressure water fluid jet vacuum rust cleaning cleaning device 18 external vacuum sources and permanent magnetism absorbing unit 23 form the vacuum and permanent magnet mixing and absorption; Described left safety cock 10, right safety cock 22, left and right sides chain guard 13 and cleaning device adapter plate 19 are installed in respectively on the framework 9.Be provided with the water jet vaccum seal ring below the described ultra-high pressure water fluid jet vacuum rust cleaning cleaning device 18.Described upper left drive sprocket 12, bottom right drive sprocket 2, lower-left driven sprocket 7, upper right driven sprocket 20, two chain crawler belts are waterproof construction, are equipped with in the chain guard 13 on described framework 9 to advance wheel.Described cleaning device adapter plate 19 is the adjustable height structure.
A kind of method of work of wall-climbing robot for removing rust on wall surfaces of ships may further comprise the steps:
The degree of tension of A, adjustment chain: when chain was too tight, the tensioning screw 26 that is positioned at the driven sprocket both sides by adjustment made driven sprocket move to the direction near drive sprocket, thereby reduces the width between centers of two sprocket wheels, and chain is loosened; When chain when pine too, be positioned at the tensioning screw 26 of driven sprocket both sides by adjustment, driven sprocket is moved to the direction away from drive sprocket, thereby increase the width between centers of two sprocket wheels, make chain tension;
B, adjusting height: regulate ultra-high pressure water fluid jet vacuum rust cleaning cleaning device 18 rust cleaning height of jet by the height of regulating cleaning device adapter plate 19;
C, motion control: control that upper left drive motor 17 is just changeing, bottom right drive motor 6 is during with identical speed counter-rotating, then robot advances; Control 17 counter-rotatings of upper left drive motor, when bottom right drive motor 6 is just changeing with identical speed, then robot retreats; Control that upper left drive motor 17 is just changeing, when bottom right drive motor 6 is just changeing with identical speed, then robot is turned right; When controlling 17 counter-rotatings of upper left drive motor, bottom right drive motor 6 with identical speed counter-rotating, then robot turns left.
Based on a wall-climbing robot for removing rust on wall surfaces of ships of the utility model principle design, oad 735mm * 752mm * 280mm, deadweight 84kg, load-carrying capacity 80kg.To climb the wall height lower when robot, and the traction vacuum reclaims the weight of pipelines such as slagging-off pipe and ultra-high pressure water fluid jet pipe less the time, can act on the ship wall surface by permanent magnetism absorbing unit 23 and realize absorption; To climb the wall height higher when robot, and the traction vacuum reclaims the weight of pipelines such as slagging-off pipe and ultra-high pressure water fluid jet pipe bigger the time, can adsorb simultaneously by permanent magnetism absorbing unit 23 and vacuum reclaim line.After permanent magnetism power and negative pressure produced, robot acted on the pressure major part of wall surfaces of ships and advances on the wheel, drove two drive motor this moment and can realize that robot advances, retreats and action such as rotation.
Claims (4)
1. wall-climbing robot for removing rust on wall surfaces of ships, it is characterized in that: comprise framework (9), chain creeper undercarriage (24), permanent magnetism absorbing unit (23), upper left drive motor (17), upper left reductor (16), bottom right drive motor (6), bottom right reductor (5), its upper left side mechanism and lower right side mechanism are symmetrical structure with respect to center, diagonal angle, the left and right sides, robot both sides, described upper left drive motor (17) is connected with upper left reductor (16), is installed on the adapter plate of framework (9) upper left side; Described upper left reductor (16) is connected with upper left drive sprocket (12) by upper left coupler (14), upper left drive sprocket (12) is installed on the upper left drive sprocket axle (11) by antifriction-bearing box, upper left drive sprocket axle (11) is fixed on the framework (9) by holding screw, in upper left reductor (16) and framework (9) junction upper left reinforcement gusset (15) is housed; Described bottom right drive motor (6) is connected with bottom right reductor (5), be installed on the adapter plate of framework (9) lower right side, bottom right reductor (5) is connected with bottom right drive sprocket (2) by bottom right coupler (3), bottom right drive sprocket (2) is installed on the bottom right drive sprocket axle (1) by antifriction-bearing box, bottom right drive sprocket axle (1) is fixed on the framework (9) by holding screw, in bottom right reductor (5) and framework (9) junction the bottom right is housed and strengthens gusset (4); Described upper left drive sprocket (12) and bottom right drive sprocket (2) are fixed by sprocket sleeve respectively; Described chain creeper undercarriage (24) by about two chain crawler belts form, the left chain crawler belt is installed on upper left drive sprocket (12) and the lower-left driven chain wheel shaft (8), and the right chain crawler belt is installed on bottom right drive sprocket axle (1) and the upper right driven sprocket (20); On described lower-left driven chain wheel shaft (8) and upper right driven chain wheel shaft (21), be respectively arranged with tensioning screw (26), described tensioning screw (26) is installed on the chain wheel support (27), and described chain wheel support (27) is installed in the driven sprocket both sides, its two ends also are separately installed with jam nut (25); Lower-left driven sprocket (7) is installed on the lower-left driven chain wheel shaft (8) by antifriction-bearing box, lower-left driven chain wheel shaft (8) is fixed on the framework (9) by holding screw, upper right driven sprocket (20) is installed on the upper right driven chain wheel shaft (21) by antifriction-bearing box, and upper right driven chain wheel shaft (21) is fixed on the framework (9) by holding screw; Described ultra-high pressure water fluid jet vacuum rust cleaning cleaning device (18) is installed in the center of framework (9) by cleaning device adapter plate (19), described permanent magnetism absorbing unit (23) is installed on the chain creeper undercarriage (24), and ultra-high pressure water fluid jet vacuum rust cleaning external vacuum source of cleaning device (18) and permanent magnetism absorbing unit (23) form the vacuum and permanent magnet mixing and absorption; Described left safety cock (10), right safety cock (22), left and right sides chain guard (13) and cleaning device adapter plate (19) are installed in respectively on the framework (9).
2. wall-climbing robot for removing rust on wall surfaces of ships according to claim 1 is characterized in that: be provided with the water jet vaccum seal ring below the described ultra-high pressure water fluid jet vacuum rust cleaning cleaning device (18).
3. wall-climbing robot for removing rust on wall surfaces of ships according to claim 1, it is characterized in that: described upper left drive sprocket (12), bottom right drive sprocket (2), lower-left driven sprocket (7), upper right driven sprocket (20), two chain crawler belts are waterproof construction, are equipped with in the chain guard (13) on described framework (9) to advance wheel.
4. wall-climbing robot for removing rust on wall surfaces of ships according to claim 1 is characterized in that: described cleaning device adapter plate (19) is the adjustable height structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202478347U CN201633804U (en) | 2009-11-03 | 2009-11-03 | Climbing robot for descaling ship walls |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202478347U CN201633804U (en) | 2009-11-03 | 2009-11-03 | Climbing robot for descaling ship walls |
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| CN201633804U true CN201633804U (en) | 2010-11-17 |
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| CN2009202478347U Expired - Fee Related CN201633804U (en) | 2009-11-03 | 2009-11-03 | Climbing robot for descaling ship walls |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528623A (en) * | 2012-02-15 | 2012-07-04 | 牛占华 | High-altitude rust removing robot |
| CN102582712A (en) * | 2012-02-21 | 2012-07-18 | 舟山市质量技术监督检测研究院 | Wall climbing vehicle |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN103029766A (en) * | 2013-01-15 | 2013-04-10 | 中南林业科技大学 | Crawler wheel-type four-wheel drive chassis device adaptive to woodland and other complex terrains |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN103587604A (en) * | 2013-10-31 | 2014-02-19 | 长春理工大学 | Magnetic force climbing vehicle |
| CN103934574A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Novel laser rust removing device |
| CN104192222A (en) * | 2014-09-24 | 2014-12-10 | 刘杨 | Walking type wall-climbing robot |
| CN104925158A (en) * | 2015-03-11 | 2015-09-23 | 天津市通洁高压泵制造有限公司 | Wall climbing robot |
| US9168786B2 (en) | 2011-12-02 | 2015-10-27 | Helical Robotics, Llc | Mobile robot |
| CN105435994A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port suspension arm surface maintenance system |
| CN106428280A (en) * | 2016-11-15 | 2017-02-22 | 福建省特种设备检验研究院 | Magnetic force speed changing adjusting device for magnetic adsorption robot |
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
| CN107344606A (en) * | 2016-05-06 | 2017-11-14 | 哈尔滨歌瑞得莱机器人制造有限公司 | The underwater running gear of Magnetic driving compound pedrail |
| CN109866839A (en) * | 2017-12-05 | 2019-06-11 | 南京机器人研究院有限公司 | Magnetic-type climbing robot and its working method |
| CN111196325A (en) * | 2018-11-19 | 2020-05-26 | 南京农业大学 | Ship rust removal and paint spraying integrated wall climbing robot |
| CN113086036A (en) * | 2021-04-02 | 2021-07-09 | 上海大学 | Anti-skid and anti-overturn intelligent wall climbing device |
| CN116968835A (en) * | 2023-09-25 | 2023-10-31 | 中国电子科技南湖研究院 | Wind pressure adjusting method and system of wall climbing robot and wall climbing robot |
-
2009
- 2009-11-03 CN CN2009202478347U patent/CN201633804U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9545965B2 (en) | 2011-12-02 | 2017-01-17 | Helical Robotics, Llc | Mobile robot |
| US9168786B2 (en) | 2011-12-02 | 2015-10-27 | Helical Robotics, Llc | Mobile robot |
| CN102528623B (en) * | 2012-02-15 | 2014-07-16 | 牛占华 | High-altitude rust removing robot |
| CN102528623A (en) * | 2012-02-15 | 2012-07-04 | 牛占华 | High-altitude rust removing robot |
| CN102582712A (en) * | 2012-02-21 | 2012-07-18 | 舟山市质量技术监督检测研究院 | Wall climbing vehicle |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN102745278B (en) * | 2012-08-01 | 2014-07-02 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN102897241B (en) * | 2012-11-09 | 2015-05-20 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN103029766A (en) * | 2013-01-15 | 2013-04-10 | 中南林业科技大学 | Crawler wheel-type four-wheel drive chassis device adaptive to woodland and other complex terrains |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN103587604A (en) * | 2013-10-31 | 2014-02-19 | 长春理工大学 | Magnetic force climbing vehicle |
| CN103934574A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Novel laser rust removing device |
| CN103934574B (en) * | 2014-02-28 | 2016-01-20 | 浙江海洋学院 | A kind of new pattern laser derusting device |
| CN104192222A (en) * | 2014-09-24 | 2014-12-10 | 刘杨 | Walking type wall-climbing robot |
| CN104925158A (en) * | 2015-03-11 | 2015-09-23 | 天津市通洁高压泵制造有限公司 | Wall climbing robot |
| CN105435994A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port suspension arm surface maintenance system |
| CN107344606A (en) * | 2016-05-06 | 2017-11-14 | 哈尔滨歌瑞得莱机器人制造有限公司 | The underwater running gear of Magnetic driving compound pedrail |
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN106428280A (en) * | 2016-11-15 | 2017-02-22 | 福建省特种设备检验研究院 | Magnetic force speed changing adjusting device for magnetic adsorption robot |
| CN106428280B (en) * | 2016-11-15 | 2018-11-20 | 福建省特种设备检验研究院 | A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
| CN109866839A (en) * | 2017-12-05 | 2019-06-11 | 南京机器人研究院有限公司 | Magnetic-type climbing robot and its working method |
| CN111196325A (en) * | 2018-11-19 | 2020-05-26 | 南京农业大学 | Ship rust removal and paint spraying integrated wall climbing robot |
| CN113086036A (en) * | 2021-04-02 | 2021-07-09 | 上海大学 | Anti-skid and anti-overturn intelligent wall climbing device |
| CN116968835A (en) * | 2023-09-25 | 2023-10-31 | 中国电子科技南湖研究院 | Wind pressure adjusting method and system of wall climbing robot and wall climbing robot |
| CN116968835B (en) * | 2023-09-25 | 2023-12-26 | 中国电子科技南湖研究院 | Wind pressure adjusting method and system of wall climbing robot and wall climbing robot |
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