CN202175127U - Composite peristaltic taper rod maintenance robot - Google Patents

Composite peristaltic taper rod maintenance robot Download PDF

Info

Publication number
CN202175127U
CN202175127U CN201120147740XU CN201120147740U CN202175127U CN 202175127 U CN202175127 U CN 202175127U CN 201120147740X U CN201120147740X U CN 201120147740XU CN 201120147740 U CN201120147740 U CN 201120147740U CN 202175127 U CN202175127 U CN 202175127U
Authority
CN
China
Prior art keywords
cylinder
bar
hydro
robot
track adjusting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201120147740XU
Other languages
Chinese (zh)
Inventor
毛卫平
董宏图
龙良桥
马丽
郭健虎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu University
Original Assignee
Jiangsu University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu University filed Critical Jiangsu University
Priority to CN201120147740XU priority Critical patent/CN202175127U/en
Application granted granted Critical
Publication of CN202175127U publication Critical patent/CN202175127U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Abstract

The utility model relates to the field of taper rod maintenance machinery, in particular to a composite peristaltic taper rod maintenance robot. The composite peristaltic taper rod maintenance robot consists of a travelling device, a guide device part, a functional device and a control part, wherein a clamping device consisting of a clamping cylinder and a clamping jaw is arranged on a robot body consisting of an upper beam, a lower beam, a longitudinal sliding rod, a front body plate and a back body plate; and composite peristaltic crawling is realized by a traveling cylinder, a multi-hinge mechanism and a guide hold-down mechanism. The functional device arranged on the body keeps the distance between a plurality of spray nozzles and the surface of a rod piece along the radial direction constant so as to ensure a spray-wash effect and spray-coating uniformity. The control part adopts a singlechip wire control mode to realize the maintenance work such as spray-wash, spray-paint, spray-plastics and the like of the surface of the taper rod. The composite peristaltic taper rod maintenance robot is convenient to assemble and disassemble, high in safety, and suitable for taper rods in a small taper range and any shapes, and can also be used for maintaining common straight rods and cables.

Description

A kind of compound creeping motion type tapering bar maintaining robot
Technical field
The utility model relates to the tapering bar and safeguards mechanical field, refers in particular to a kind of compound creeping motion type tapering bar maintaining robot.
Background technology
The operation of modern life high and medium constantly increases; Surface cleaning, spraying, inspection handling labor like shaft-like buildings such as light pole, flagpoles; Waste time and energy, and brought very big safety hazard, thereby design a kind of aloft work robot and replace its work very necessary to operating personal.Aloft work at present has much along the crawl device of rod member automatic lifting; Some have maintenance function; Like patent publication No. CN 1011195119A " upright post cleaning robot ", be driver element with the motor, by the walking of on bar, wriggling of manipulator, piston crank mechanism and cam linkage mechanism; The washing equipment that cooperates shower nozzle and cleaning brush can be used for the washing and cleaning operation of vertical pillars or tilting bar.But in the climbing that becomes diameter poles (like the tapering bar); Manipulator relies on spring tension to clamp column; If column is higher, diameter of section changes greatly, then must make spring force that bigger variation is arranged; Cause the non-constant increase power of motor that just needs of gripping power, under the excessive situation of robot load, more possibly burn out motor.And for example patent publication No. is " Pneumatic creeping cable robot " of CN 1256189A; With the pressurized air is power; Clamping mechanism, guiding mechanism and the travel mechanism wriggling walking on the cable of any degree of dip and shape that utilizes cylinder to form realizes detection, application and cleaning to large-scale cable-stayed bridge cable through maintenance mechanism again.But owing to adopt simple climbing action, be interrupted walking, can bring spraying inhomogeneous, work efficiency is not high.In the maintenance of change diameter poles, although the use cylinder makes gripping power and keeps constant with guidance force, its application maintenance mechanism can not adapt to especially, and three spray guns can't keep the heart, relative pole face apart from changing and influencing coating quality when robot descended.
Summary of the invention
The purpose of the utility model provides a kind of can the realization and creeps and the rod member surface carried out the robot of clean and maintenance along the tapering bar.
Robot is made up of running gear, fixing device, guiding pinch device, functional device and control system, with cylinder as dynamical element.Running gear comprises upper beam, underbeam, two vertical slide bars, body, walking cylinder, upper gripper jaw mounting rail, following jaw mounting rail and linkages.Wherein upper beam, underbeam, two vertical slide bars, bodies connect into an integral body, and walking cylinder cylinder body is installed on the body, jaw mounting rail and drive the upper gripper jaw mounting rail through linkage and be implemented in walking function on vertical slide bar under its piston rod direct drive.Linkage is by two stocks, four quarter butts and seven eight shape full symmetrical configurations that hinged point is formed; The hinged point in the centre of linkage is fixed on the center of body, and the last hinged point of linkage connects the upper gripper jaw mounting rail, and the following hinged point of linkage connects jaw mounting rail down.Fixing device by last clamping cylinder, down clamp cylinder, go up the V-arrangement jaw and following V-arrangement jaw is formed, on clamp cylinder and be installed on the upper gripper jaw mounting rail, following clamping cylinder is installed in down on the jaw mounting rail.Upper and lower clamping cylinder is connected as a single entity with upper and lower V-arrangement jaw respectively, clamps the expansion angle that cylinders are controlled upper and lower V-arrangement jaw through two, and robot climbs along tapered rod and mainly relies on the friction force between V-arrangement jaw and the rod member to bear.The guiding pressing section comprises hold-down cylinder, contact roller and track adjusting wheel.The body two ends are extended with the strut bar of arranging in horizontal direction; The hold-down cylinder cylinder body is fixed on the adapter plate of the strut bar other end, its piston rod along tapering bar radial drive contact roller and two be arranged in put the beams in place with the track adjusting wheel of underbeam inboard together; Contact with the bar wall; Keep robot health and bar wall equidistance, play and support and directional tagging, prevent that robot from toppling in crawling process.The body both ends horizontal was stretched out before and after two strut bars passed respectively; The cylinder body of hold-down cylinder is fixed on the adapter plate that connects the strut bar external part; The piston rod of hold-down cylinder is along tapering bar radial drive contact roller; Contact with the bar wall simultaneously with the following track adjusting wheel that is arranged in the inboard last track adjusting wheel of putting the beams in place, underbeam inboard, the contact surface of 3 formations is positioned on the tapering bar axial section.Funtion part comprises hydro-peening head guide cylinder, hydro-peening head track adjusting wheel, by four mounting blocks and four square mechanisms that slide bar is formed.Upper beam both ends horizontal direction is arranged two strut bars that stretch out; Hydro-peening head guide cylinder cylinder body is fixed on the adapter plate of two strut bar other ends; Its piston rod contacts with the bar wall along tapering bar radial drive hydro-peening head track adjusting wheel; Two fixed installation pieces are installed on respectively on the hydro-peening head track adjusting wheel of putting the beams in place with the opposite, along the tapering bar radially, and with bar wall maintenance equidistance.Stretch out two slide bars of orthogonal thereto direction on the two fixed installation pieces separately, two mobile mounting blocks that can on slide bar, slide are installed at its two intersection point places respectively, form the square mechanism of horizontal positioned.Be separately installed with shower nozzle on four mounting blocks, when robot was creeped up or down, shower nozzle moved radially along the tapering bar, and shower nozzle is constant all the time to the distance on rod member surface, has guaranteed the effect of hydro-peening and the homogeneity of spraying.Control system comprises micro controller system, electromagnetic valve group, magnetoelectric transducer, source of the gas and remote controller etc.; The dead electricity that gets through the Single-chip Controlling electromagnetic valve is controlled walking cylinder and the sequentially-operating that clamps cylinder; Realize compound climbing, the control shower nozzle is opened handling labors such as realizing pole face hydro-peening, spraying when creeping.
The beneficial effect of the utility model is following:
(1) adopts modular design method.The design partly is the main body with pole-climbing, the different functions parts is installed is realized multiple maintenance function (like hydro-peening, spray paint, plastic-blasting);
(2) compound wriggling is creeped continuously.The design adopts compound climbing mode, and the combined action through cylinder and linkage realizes creeping continuously of robot health, keeps the spraying continuity;
(3) functional component realizes that equidistance moves.When robot is creeped, shower nozzle along with the variation of tapering bar diameter of section radially equidistance move, remain unchanged with the pole face distance, guarantee the spraying homogeneity;
(4) high-low pressure switches, and guarantees safety.Under the normal operation; The pneumatic circuit of guiding hold-down mechanism is in low-pressure state, and when running into emergency situation (like sudden power), pneumatic circuit carries out high-low pressure automatically and switches; Under high-pressure situations; Increased the thrust of contact roller, can prevent that robot from gliding suddenly, safety is protected;
(5) volume is little, cost is low.Robot occupies little space, and is mobile flexible, convenient, adopts Single-chip Controlling, further cost-cutting.
Description of drawings
Fig. 1 is the three-dimensional structure scheme drawing (not having the tracheae of connection) of the utility model.
Fig. 2 is the local structure scheme drawing of the utility model.
Fig. 3 is the uphill process scheme drawing of the utility model.
Fig. 4 is the pneumatic schematic diagram of the utility model.
1. underbeams among the figure 2. descend the jaw mounting rail, 3. time clamp cylinder, 4. linkage, 5. walking cylinder, 6. micro controller system mounting box 7. electromagnetic valves, 8. vertical slide bar; 9. upper gripper jaw mounting rail clamps cylinder on 10., and 11. put the beams in place, 12. fixed installation pieces, 13. organism glass baffle plates, 14. thread cylinders; 15. connecting panel, 16. shower nozzles, 17. wipe heads, track adjusting wheel on 18., 19. upper gripper jaws, 20. pieces that are slidingly installed; 21. slide bar, 22. hydro-peening head track adjusting wheels, 23. hydro-peening head guide cylinder adapter plates, 24 hydro-peening head guide cylinders, 25. strut bars, 26. contact rollers; 27. the hold-down cylinder adapter plate, 28. hold-down cylinders, 29. water tanks, 30. times jaws, 31. times track adjusting wheels, 32 bodies.
The specific embodiment
Below through circular section tapering bar being cleaned the technical scheme that instance and accompanying drawing specify the utility model.
As shown in Figure 1, the concrete composition of the utility model physical construction: robot is made up of running gear, fixing device, guiding pinch device, functional device and control system.Running gear comprise put the beams in place 11, the vertical slide bar of underbeam 1, two 8, body 32, upper gripper jaw mounting rail 9, jaw mounting rail 2 and linkage 4 down.The health of put the beams in place 11, the vertical slide bar of underbeam 1, two 8, body 32 being formed robots; The cylinder body of walking cylinder 5 is installed on the body 32, and its piston rod directly is connected with following jaw mounting rail 2; Linkage 4 is by two stocks, four quarter butts and seven eight shape full symmetrical configurations that hinged point is formed, and middle hinged point is fixed on the center of body 32; The fore and aft motion of linkage 4 has the stroke amplification, connects upper gripper jaw mounting rail 9 and following jaw mounting rail 2 respectively through hinged point up and down.
Fixing device is clamped cylinder 3, is gone up V-arrangement jaw 19 and following V-arrangement jaw 30 is formed by last clamping cylinder 10 times, on clamp cylinder 10 and be installed on the upper gripper jaw mounting rail 9, following clamping cylinder 3 is installed in down on the jaw mounting rail 2.Last clamping cylinder 10 is connected as a single entity with last V-arrangement jaw 19, and following clamping cylinder 3 is connected as a single entity with following V-arrangement jaw 30, controls the expansion angle of upper and lower V-arrangement jaw through clamping cylinder up and down.When climbing, robot mainly rely on the friction force between jaw and the rod member to bear.Owing to be the tapering bar, so paste one deck elastomeric material on V-type fixture block surface, rubber contacts with bar can increase area of contact and friction coefficient, thereby increases friction force.When health is motionless; Walking cylinder 5 piston rods stretch out or withdrawal can drive linkage 4 fore and aft motion; Drive two upper gripper jaw mounting rails 9 simultaneously and vertically moving on the slide bar 8 with following jaw mounting rail 2, the last V-arrangement jaw 19 that is installed on upper gripper jaw mounting rail 9 and the following jaw mounting rail 2 also moves up and down with following V-arrangement jaw 30 thereupon.According to this principle of work, as shown in Figure 3 the course of action that robot adopts compound wriggling mode to realize rising: (a) clamp down cylinder clamping, on clamp cylinder and unclamp; (b) the walking cylinder piston rod stretches out, and health rises; (c) go up the clamping cylinder clamping, following clamping cylinder unclamps; (d) walking cylinder piston rod withdrawal, health rises.So repeat, realize rising continuously.Course of action when robot descends is opposite.
The guiding pinch device mainly comprises hold-down cylinder 28, contact roller 26 and goes up track adjusting wheel 18 and following track adjusting wheel 31; The body both ends horizontal was stretched out before and after two strut bars 25 passed respectively; The cylinder body of hold-down cylinder 28 just is fixed on the adapter plate 27 that connects strut bar 25 external parts; Its piston rod contacts with the bar wall with underbeam 1 inboard track adjusting wheel 31 with being arranged in the 11 inboard track adjusting wheels 18 of putting the beams in place along tapering bar radial drive contact roller 26, plays the effect of supporting and leading; The contact surface of 3 formations is positioned on the tapering bar axle section; Robot is creeped steadily, keep robot health and bar wall parallel equidistant through 18 times track adjusting wheels of last track adjusting wheel 31, contact roller 26 prevents that robot from toppling in crawling process.
Functional device is made up of hydro-peening head guide cylinder 24, hydro-peening head track adjusting wheel 22, the square mechanism that is made up of two fixed installation pieces 12 and two mobile mounting blocks 20 and four slide bars 21; 11 both ends horizontal of putting the beams in place are stretched out two pipe links; On the adapter plate 22 of the just fixing two pipe link external parts of the cylinder body of hydro-peening head guide cylinder 24, its piston rod contacts with the bar wall along tapering bar radial drive hydro-peening head track adjusting wheel 22.Two fixedly mount pieces 12 respectively along on the hydro-peening head track adjusting wheel 22 that radially is fixed in upper beam 11 and its opposite of tapering bar, and keep equidistance with the bar wall, stretch out two slide bars 21 of orthogonal thereto direction on the two fixed installation pieces 12 separately; The mobile mounting blocks 20 that can on bar, slide is then installed at its intersection point place, forms the square mechanism of horizontal positioned, and this mechanism makes and moves 20 pairs of hearts of mounting blocks and equidistance; Be separately installed with to divide on 16, four connecting panels 15 of shower nozzle on two fixed installation pieces 12 and two the mobile mounting blocks 20 a thread cylinder 14 respectively is housed, connect wiping 17 on the piston rod of each thread cylinder; When robot was creeped up or down, shower nozzle 16 moved radially along the tapering bar, and shower nozzle 16 is constant all the time to the distance on rod member surface; Four shower nozzles 16 that circumferentially are uniformly distributed with are worked simultaneously, from robot with water tank 29 extract liquid, be ejected into the bar wall; Pole face is cleaned; Simultaneously, four thread cylinders 14 drive wiping 17 pairs of pole faces and clean, and have guaranteed the effect of hydro-peening.If change special-purpose spraying shower nozzle, can guarantee the homogeneity of pole face spraying.Below shower nozzle, four organism glass baffle plates 13 radially are set, prevent that liquid from splashing down to cause the electromagnetic valve short circuit and the pollution of robot along the tapering bar.
The ROBOT CONTROL system adopts gas control and micro controller system line traffic control; The admission port of electromagnetic valve group 7 is connected with the ground source of the gas through tracheae; The micro controller system of in micro controller system mounting box 6, packing into; Its mainly act on be in the field control electromagnetic valve group 7 each associated solenoid valve dead electricity, another micro controller system of in the Ground Control box, packing into is through the realization communication that links to each other of micro controller system in lead and the mounting box.Control capsule is provided with button and LCDs, can direct control and display device people's running state.
The pneumatic system of as shown in Figure 4 robot is made up of source of the gas, control cock, cylinder etc.Wherein the source of the gas parameter mainly confirms that by cylinder air consumption and air pressure linear loss control cock is then selected according to system required pressure and flow.Walking cylinder 5 built-in magnet rings can be installed the magnetoelectricity switch in its cylinder body end positions, realize the flexible control that puts in place of piston rod.Connecing of cylinder 5 of walking one-way throttle valve is installed on the gas port, is regulated creeper speed.According to the robot construction layout, adopt two two-position three way magnetic valves to replace a 3 position-5 way electromagnetic valve to control walking cylinder 5, clamping cylinder 3 and 10 actions of following clamping cylinder down respectively, hold-down cylinder 28 directly links to each other with source of the gas with hydro-peening head guide cylinder 24; Guarantee that ventilation back contact roller 26 contacts with tapering bar wall with hydro-peening head track adjusting wheel 22, make robot be adjacent to the tapering bar, design the high-low pressure source of the gas especially; Walking cylinder 5 and following clamping cylinder 3, following clamping cylinder 10 use high pressure, when robot is creeped, make electromagnetic valve 8YA energising; Hold-down cylinder 28 is in low-pressure state with hydro-peening head guide cylinder 24, keeps suitable thrust and guidance force, when running into that emergency situation urgency is stopped or when having a power failure; Electromagnetic valve 8YA dead electricity; Hold-down cylinder 28 switches to high pressure with hydro-peening head guide cylinder 24, increases the positive pressure of contact roller 26 and 22 pairs of pole faces of hydro-peening head track adjusting wheel, even clamping cylinder 3 unclamps with following clamping cylinder 10 down; Robot still can be adjacent to the tapering bar and unlikely hurtling down guaranteed safety.Control the action of four shower nozzles 16 in addition with an electromagnetic valve 7YA.

Claims (3)

1. a compound creeping motion type tapering bar maintaining robot is characterized in that: be made up of running gear, fixing device, guiding pinch device, functional device and control system;
Said running gear comprises upper beam (11), underbeam (1), two vertical slide bars (8), body (32), upper gripper jaw mounting rail (9), following jaw mounting rail (2) and linkage (4); Upper beam (11), underbeam (1), two vertical slide bars (8), body (32) are formed the health of robot; The cylinder body of walking cylinder (5) is installed on the body (32); The piston rod of said walking cylinder (5) directly is connected with following jaw mounting rail (2); Said linkage (4) is by two stocks, four quarter butts and seven eight shape full symmetrical configurations that hinged point is formed; The hinged point in the centre of said linkage (4) is fixed on the center of body (32), and the last hinged point of said linkage (4) connects upper gripper jaw mounting rail (9), and the following hinged point of said linkage (4) connects jaw mounting rail (2) down;
Said fixing device by last clamping cylinder (10), down clamp cylinder (3), go up V-arrangement jaw (19) and following V-arrangement jaw (30) is formed; Last clamping cylinder (10) is installed on the upper gripper jaw mounting rail (9), and following clamping cylinder (3) is installed in down on the jaw mounting rail (2); Said going up clamps the said expansion angle of going up V-arrangement jaw (19) of cylinder (10) control, the said said expansion angle of V-arrangement jaw (30) down of cylinder (3) control that clamps down;
Said guiding pinch device comprises hold-down cylinder (28), contact roller (26) and goes up track adjusting wheel (18) and following track adjusting wheel (31); The body both ends horizontal was stretched out before and after two strut bars (25) passed respectively; The cylinder body of hold-down cylinder (28) is fixed on the adapter plate (27) that connects strut bar (25) external part; The piston rod of said hold-down cylinder (28) is along tapering bar radial drive contact roller (26); The last track adjusting wheel (18) inboard with being arranged in upper beam (11), the inboard following track adjusting wheel (31) of underbeam (1) contact with the bar wall simultaneously, and the contact surface of 3 formations is positioned on the tapering bar axial section.
2. a kind of compound creeping motion type tapering bar maintaining robot according to claim 1 is characterized in that: the square mechanism that said functional device comprises hydro-peening head guide cylinder (24), hydro-peening head track adjusting wheel (22), is made up of four mounting blocks and four slide bars (21); Said upper beam (11) both ends horizontal is stretched out two pipe links; The cylinder body of hydro-peening head guide cylinder (24) is fixed on the adapter plate (22) of two pipe link external parts, and the piston rod of said hydro-peening head guide cylinder (24) contacts with the bar wall along tapering bar radial drive hydro-peening head track adjusting wheel (22); Two fixed installation pieces (12) are respectively along radially being fixed on uppers beam (11) and the said hydro-peening head track adjusting wheel (22) of tapering bar, and with bar wall maintenance equidistance; Stretch out two slide bars (21) of orthogonal thereto direction on the two fixed installation pieces (12) separately, the mobile mounting blocks (20) that can on bar, slide is installed at its intersection point place, forms the square mechanism of horizontal positioned; On said four mounting blocks shower nozzle (16) is installed respectively, a thread cylinder (14) respectively is housed on four connecting panels (15), connect on the piston rod of said each thread cylinder (14) and wipe head (17).
3. a kind of compound creeping motion type tapering bar maintaining robot according to claim 2 is characterized in that: along the tapering bar four organism glass baffle plates (13) are set radially in said shower nozzle (16) below.
CN201120147740XU 2011-05-11 2011-05-11 Composite peristaltic taper rod maintenance robot Expired - Fee Related CN202175127U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201120147740XU CN202175127U (en) 2011-05-11 2011-05-11 Composite peristaltic taper rod maintenance robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201120147740XU CN202175127U (en) 2011-05-11 2011-05-11 Composite peristaltic taper rod maintenance robot

Publications (1)

Publication Number Publication Date
CN202175127U true CN202175127U (en) 2012-03-28

Family

ID=45865026

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201120147740XU Expired - Fee Related CN202175127U (en) 2011-05-11 2011-05-11 Composite peristaltic taper rod maintenance robot

Country Status (1)

Country Link
CN (1) CN202175127U (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105013745A (en) * 2015-08-14 2015-11-04 方倩 Cleaning maintenance device for outdoor steel structural component internally provided with LED lamp
CN105013747A (en) * 2015-08-14 2015-11-04 宁波市江东逐新贸易有限公司 Outdoor steel structural member cleaning maintenance device with exhaust fan
CN105059415A (en) * 2015-08-06 2015-11-18 中国林业科学研究院林业新技术研究所 Climbing robot
CN105057255A (en) * 2015-08-14 2015-11-18 宁波市江东逐新贸易有限公司 Cleaning and maintaining device with flexible dust cover and guide rods for outdoor steel structural assembly
CN105155863A (en) * 2015-08-14 2015-12-16 林江梅 Adjustable-speed cleaning maintenance device for outdoor steel structures
CN105921328A (en) * 2016-06-28 2016-09-07 大连民族大学 Automatic climbing paint spraying robot
CN106364582A (en) * 2016-10-19 2017-02-01 广西师范大学 Clamping device of crawling robot
CN109352662A (en) * 2018-09-26 2019-02-19 长沙理工大学 A kind of control method of adjustable eddy effusion climbing level robot
CN110126934A (en) * 2018-02-09 2019-08-16 无锡美凯能源科技有限公司 Climbing level robot
CN110239642A (en) * 2019-07-05 2019-09-17 重庆城市管理职业学院 Hybrid power type pole climbing device
CN110316270A (en) * 2019-07-05 2019-10-11 重庆城市管理职业学院 The manned pole-climbing equipment of multiple-station rotation
CN110316271A (en) * 2019-07-05 2019-10-11 重庆城市管理职业学院 Continuous walking formula climbing level robot
CN112275469A (en) * 2020-11-03 2021-01-29 南京多脉智能设备有限公司 Atomizing formula curved surface point glues manipulator

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105059415A (en) * 2015-08-06 2015-11-18 中国林业科学研究院林业新技术研究所 Climbing robot
CN105013747A (en) * 2015-08-14 2015-11-04 宁波市江东逐新贸易有限公司 Outdoor steel structural member cleaning maintenance device with exhaust fan
CN105057255A (en) * 2015-08-14 2015-11-18 宁波市江东逐新贸易有限公司 Cleaning and maintaining device with flexible dust cover and guide rods for outdoor steel structural assembly
CN105155863A (en) * 2015-08-14 2015-12-16 林江梅 Adjustable-speed cleaning maintenance device for outdoor steel structures
CN105013745A (en) * 2015-08-14 2015-11-04 方倩 Cleaning maintenance device for outdoor steel structural component internally provided with LED lamp
CN105921328B (en) * 2016-06-28 2018-06-29 大连民族大学 A kind of automatic climbing paint-spray robot
CN105921328A (en) * 2016-06-28 2016-09-07 大连民族大学 Automatic climbing paint spraying robot
CN106364582B (en) * 2016-10-19 2018-09-18 广西师范大学 A kind of climbing robot clamping device
CN106364582A (en) * 2016-10-19 2017-02-01 广西师范大学 Clamping device of crawling robot
CN110126934A (en) * 2018-02-09 2019-08-16 无锡美凯能源科技有限公司 Climbing level robot
CN109352662A (en) * 2018-09-26 2019-02-19 长沙理工大学 A kind of control method of adjustable eddy effusion climbing level robot
CN110239642A (en) * 2019-07-05 2019-09-17 重庆城市管理职业学院 Hybrid power type pole climbing device
CN110316270A (en) * 2019-07-05 2019-10-11 重庆城市管理职业学院 The manned pole-climbing equipment of multiple-station rotation
CN110316271A (en) * 2019-07-05 2019-10-11 重庆城市管理职业学院 Continuous walking formula climbing level robot
CN112275469A (en) * 2020-11-03 2021-01-29 南京多脉智能设备有限公司 Atomizing formula curved surface point glues manipulator
CN112275469B (en) * 2020-11-03 2022-05-31 广东海信通信有限公司 Atomizing formula curved surface point glues manipulator

Similar Documents

Publication Publication Date Title
CN202175127U (en) Composite peristaltic taper rod maintenance robot
CN206107388U (en) Large -scale steel frame construction is with robot platform device of crawling
CN202465067U (en) Crane cart traveling mechanism with travel switch
CN105200917A (en) Bridge detecting device and method
CN217284248U (en) Sunlight greenhouse cantilever type removes sprinkling irrigation equipment
CN111071357A (en) Self-climbing wind power tower maintenance robot
CN205835637U (en) Prefabricated case beam maintenance spray system
CN202729618U (en) Cab lifter
CN202465121U (en) Suspension arm of crane
CN202429913U (en) Movable crane
CN112894854B (en) Bionic obstacle-crossing pole-climbing robot
CN104409997A (en) Transformer substation power transformation and distribution room switch cabinet mounting system
CN208454324U (en) Have the Norail Cranes of traveling function
CN202465098U (en) Single-beam gantry crane with V-shaped support legs
CN209287818U (en) A kind of flushing device for comprehensive mining hydraulic bracket
CN202201644U (en) Installation equipment for insulator supporting column of serial compensation platform
CN204122295U (en) A kind of spraying hoisting type truss mechanical arm
CN203291531U (en) X-type composite aerobatic flight device
CN105060141A (en) Solar crane boom
CN107553478B (en) Multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and control system thereof
CN105774935A (en) Obstacle-crossing wall-climbing robot
CN215313458U (en) Outer wall spraying device for street lamp pole
CN219213539U (en) Atomizing spraying device for concrete curing agent
CN217046856U (en) Vertical lifting mechanism of assembled pier inner mold cleaning and spraying integrated equipment
CN217915919U (en) Multidirectional automatic spraying system of concrete placement template release agent

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120328

Termination date: 20130511