CN203338058U - Remotely-controlled wall-climbing robot - Google Patents
Remotely-controlled wall-climbing robot Download PDFInfo
- Publication number
- CN203338058U CN203338058U CN2013204068729U CN201320406872U CN203338058U CN 203338058 U CN203338058 U CN 203338058U CN 2013204068729 U CN2013204068729 U CN 2013204068729U CN 201320406872 U CN201320406872 U CN 201320406872U CN 203338058 U CN203338058 U CN 203338058U
- Authority
- CN
- China
- Prior art keywords
- pin
- chip
- capacitor
- termination
- resistance
- 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
Links
Images
Classifications
-
- Y02P80/114—
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a remotely-controlled wall-climbing robot. The wall-climbing robot comprises a motor drive circuit, a power supply voltage stabilizing circuit, a serial-port communication circuit, a single-chip microcomputer circuit, a pressure sensor circuit, a Bluetooth transmission circuit and a remote control interface. According to the wall-climbing robot, a single-chip microcomputer is taken as a control core, data acquisition of an air pressure of a negative-pressure chamber is achieved by utilizing a BMP085 digital air pressure sensor, and remote control of the robot is achieved via a Bluetooth communication mode. When the robot moves, a whole stress state of the robot is changed; and, for increasing a frictional force on the robot, i.e., reducing the air pressure of the negative-pressure chamber to guarantee that the robot not only is adsorbed stably but also can move freely, the article allows the motion control of the wall-climbing robot to be achieved by utilizing the PID control algorithm to adjust the air pressure of the negative-pressure chamber. The robot can be reliably adsorbed on surfaces of variety walls, basic movements can be achieved, and states of the negative pressure apparatus can be controlled automatically to generate a suitable pressure so that energy is saved.
Description
Technical field
The utility model relates to a kind of Climbing Robot based on Long-distance Control, belongs to the robot application field.
Background technology
Along with social high speed development, safety more and more is subject to people's attention, and in modern society, has many environment must take good safety prevention measure could implement operation.Climbing Robot is an important branch of job that requires special skills robot, mainly at buildings wall or top, carries out mobile operating, since nineteen sixties occurs, has obtained developing rapidly.At present, had a considerable amount of Climbing Robot to be applied to site work both at home and abroad, mainly contained the following aspects: in building trade for detection of, clean wall, spraying metope, ceramic tile etc. be installed; In fire department for transporting the relevant rescue works such as relief goods; In military field for the safety check of high building, scouting, explosion attack etc.; In shipbuilding industry for spraying hull or steamer inwall, rust cleaning etc.
In recent years, become the focus in the Climbing Robot technical development without the flexible Climbing Robot of cable microminiature, the most dependence of traditional Climbing Robot is linked with cable provides the energy or control signal, and comprises a large amount of auxiliary devices, volume weight is large, has seriously hindered the development of robot; The microminiature Climbing Robot can overcome above shortcoming, and it does not need to be linked with cable, and the relatively little weight of volume is lighter, easy to carry, can expand its range of application.Be accompanied by the expanding economy needs, modern high-rise building is more and more, and the use of curtain wall is also more and more, and people often can see that the street cleaner drifts at building surface, and safety case receives much concern, and develops a kind of reliable wall mobile platform very meaningful.
The utility model content
In order to solve the operating personnel, in the situation that to be subject to high-altitude, blast etc. dangerous, can't normally carry out the work.It is a kind of by the Climbing Robot of Long-distance Control that the utility model provides, and can enter high building wall surface etc., by bluetooth, realizes Long-distance Control, and the user only need operate host computer, realizes the elemental motion of Climbing Robot, for the function increase in later stage lays the first stone.
The Climbing Robot of described Long-distance Control, comprise motor-drive circuit, power supply stabilization circuit, serial communication circuit, single chip circuit, pressure sensor circuit, bluetooth communication circuit, pressure sensor circuit passes to single-chip microcomputer by Information Monitoring, and single-chip microcomputer is controlled respectively electric machine, serial communication circuit.
Described single chip circuit P00, P01, P02, P03 join with the control utmost point of motor-drive circuit respectively, and single chip circuit P12, P13 and pressure sensor circuit join, and single chip circuit P30, P31 and serial communication circuit join.
Described motor-drive circuit is by resistance R 1, R2, diode D1-D8, LED 1-LED4, drive chip L298N, motor M 1, M2 forms, wherein, diode D1, D2, D3, the D4 negative electrode joins and the same VCC that connects, the OUT1 of D1 anode and U1 joins, the OUT2 of D2 anode and U1 joins, the OUT3 of D3 anode and U1 joins, the OUT4 of D4 anode and U1 joins, diode D5-D8 anode joins and same ground connection, the OUT1 of D5 negative electrode and U1 joins, the OUT2 of D6 negative electrode and U1 joins, the OUT3 of D7 negative electrode and U1 joins, the OUT4 of D8 negative electrode and U1 joins, the N1 pin of UI and single-chip microcomputer P00 pin join, the IN2 pin of UI and single-chip microcomputer P01 pin join, the IN3 pin of UI and single-chip microcomputer P02 pin join, the IN4 pin of UI and single-chip microcomputer P03 pin join, anode connecting resistance R1 mono-end of LED1, the OUT1 of negative electrode and U1 joins, the OUT2 of resistance R 1 other end and U1 joins, the anode of LED2 connects the negative electrode of LED1, the negative electrode of LED2 connects the anode of LED1, the negative electrode of motor M 1 one termination LED1, the OUT1 of the other end and U1 joins, anode connecting resistance R2 mono-end of LED3, the OUT3 of negative electrode and U1 joins, the OUT4 of resistance R 2 other ends and U1 joins, the anode of LED4 connects the negative electrode of LED3, the negative electrode of LED4 connects the anode of LED3, the negative electrode of motor M 2 one termination LED3, the OUT4 of the other end and U1 joins.The ENA of U1, ENB, SENSA, SENSB, the same ground connection of GND.
Described power supply stabilization circuit is comprised of battery, self-lock switch SW1, capacitor C 1-C2, LED 5, voltage stabilizing chip U2, wherein, power supply connects the input end of C1 and 7805 through self-lock switch SW1, capacitor C 1 one ends will connect 1 pin of U2, the other end is 2 pin of U2,2 pin of capacitor C 2 one termination U2,3 pin of another termination U2, the anode of LED 5 connects 3 pin of U2, plus earth.
Described pressure sensor circuit is comprised of baroceptor U3, voltage stabilizing chip U4, resistance R 3 and R4, capacitor C 3-C5.Wherein, the 1 pin ground connection of baroceptor U3,3 pin and 4 pin are together with connecing capacitor C 3 one ends, capacitor C 3 other end ground connection, 6 pin of U3 connect single-chip microcomputer P13 pin, and 7 pin of U3 connect single-chip microcomputer P12 pin, 7 pin of resistance R 3 one termination U3,1 pin of another termination U4,6 pin of resistance R 4 one termination U3,1 pin of another termination U4, the 3 pin ground connection of voltage stabilizing chip U4, capacitor C 4 one end ground connection, 1 pin of the other end and U4, capacitor C 5 one end ground connection, 2 pin of the other end and U4,2 pin of U4 meet VCC.
Described bluetooth communication circuit is comprised of PL2303 chip U5, USB chip U6, resistance R 5-R11, capacitor C 6-C10, crystal oscillator Y1.Wherein, 4 pin of chip U5, 8 pin, 19 pin, 20 pin, 24 pin connect the 5V power supply, 7 pin, 21 pin, 25 pin, 26 pin ground connection, 4 pin of capacitor C 8 one termination U5, 7 pin of another termination U5, resistance R 5 one termination powers, 13 pin of another termination U5, resistance R 6 one termination powers, 14 pin of another termination U5, 1 pin of crystal oscillator Y1 connects 28 pin of U5, 2 pin connect 27 pin of U5, 28 pin of capacitor C 6 one termination U5, other end ground connection, 27 pin of capacitor C 7 one termination U5, other end ground connection, 22 pin of resistance R 7 one termination U5, another termination power, 24 pin of capacitor C 9 one termination U5, 21 pin of another termination U5, 17 pin of capacitor C 10 1 termination U5, 21 pin of another termination U5, 23 pin of resistance R 8 one termination U5, 21 pin of another termination U5, 1 pin of chip U6 connects the 5V power supply, 4 pin ground connection, resistance R 9 one termination DM, 2 pin of another termination U6, resistance R 10 1 termination DP, 3 pin of another termination U6, 3 pin of resistance R 11 1 termination U6, another termination 5V power supply.
Described serial communication circuit is by level transferring chip U6, electrochemical capacitor C11-C13, capacitor C 14 and nine kinds of needles jack J1 form, wherein, the positive pole of capacitor C 11 connects 2 pin of chip U6, minus earth, the positive pole of capacitor C 12 connects 1 pin of chip U6, negative pole connects 3 pin of chip U6, the positive pole of capacitor C 13 connects 4 pin of chip U6, negative pole connects 5 pin of chip U6, the positive pole of capacitor C 14 connects 7 pin of chip U6, minus earth, capacitor C 15 1 termination powers, other end ground connection, 16 pin of chip U6 meet power supply VCC, the 15 pin ground connection of chip U6, 14 pin of chip U6, 2 pin of 13 pin jointing holes J1, 3 pin, 12 pin of chip U6, 11 pin connect respectively 30 ends of single-chip microcomputer, 31 ends, 5 pin ground connection of jack.
Described single chip circuit is comprised of single-chip microcomputer U7, crystal oscillator Y1, capacitor C 15-C17, resistance R 11, exclusion JP1, wherein, 9 pin of one termination single-chip microcomputer U7 of electrochemical capacitor C15 negative pole and resistance R 11 are connected, the positive pole of electrochemical capacitor C15 meets power supply VCC, the other end ground connection of resistance R 11,18 pin of the termination single-chip microcomputer U7 of one end of capacitor C 16 and crystal oscillator Y1, one end of capacitor C 17 and the other end of crystal oscillator Y1 connect 19 pin of single-chip microcomputer U7, the other end ground connection of capacitor C 16, C17, the 32-40 pin of single-chip microcomputer U7 runs in and hinders JP1,20 pin ground connection, 31 pin, 40 pin meet VCC.
The Long-distance Control interface of described utility model forms by controlling button, control button by baud rate select, port is selected, opened to the string slogan, close port and before, left, rear, right button forms.
The utility model adopts pid control algorithm to regulate the motion control that negative pressure cavity air pressure has been realized Climbing Robot.Robot can reliably be adsorbed in multiple surface of wall, realizes basic motion, and can produce applicable pressure to save the energy by the automatic negative pressure control unit state.
The accompanying drawing explanation
Fig. 1 is schematic block diagram of the present utility model.
Fig. 2 is side view of the present utility model (1: switch 2: blower fan 3: tire 4: O-ring seal 5: reducing motor 6: electric machine support 7: brushless electric machine 8: robot shells 9: bluetooth 10: pressure transducer 11: battery).
Fig. 3 is vertical view of the present utility model (1: switch 2: blower fan 3: tire 4: O-ring seal 5: reducing motor 8: robot shells: 12: controller).
Fig. 4 is motor-drive circuit figure of the present utility model.
Fig. 5 is power supply stabilization circuit figure of the present utility model.
Fig. 6 is pressure sensor circuit figure of the present utility model.
Fig. 7 is bluetooth communication circuit figure of the present utility model.
Fig. 8 serial communication circuit figure of the present utility model.
Fig. 9 is single chip circuit figure of the present utility model.
Figure 10 is control surface chart of the present utility model.
Figure 11 is program flow diagram of the present utility model.
Embodiment
Below in conjunction with Figure of description, the utility model is further illustrated:
A kind ofly based on the Long-distance Control Climbing Robot, by Bluetooth communication, carry out Long-distance Control: open the power supply of Climbing Robot, carry out the Long-distance Control connection, the user is by the direction of motion of computor-keyboard or mouse control robot.Single-chip microcomputer is according to the wireless signal received, thereby the control motor is controlled the motion state of Climbing Robot.When Climbing Robot is advanced, pressure transducer detects internal pressure, by PID, controls, and regulates inner suitable pressure, makes robot can depend on metope.
Fig. 1 is schematic block diagram of the present utility model, adopt the host computer Long-distance Control, realize without the cable control, by Bluetooth communication equipment, control command is passed to controller, controller is analyzed received order and is exported control signal to driving circuit, drives direct current generator.Simultaneously, controller reads pressure transmission power sensor signal and analyzes, and then exports control signal and controls brushless electric machine.
Fig. 4 is motor-drive circuit figure of the present utility model, and four pins of single-chip microcomputer are connected with motor-driven control port respectively, by long-range control end, can select the gait of march of robot, make it to produce the PWM ripple of different duty, be divided into fast, slow two grades, in order to adapt to different occasions.When meeting high level input end IN2, input signal end IN1 connects low level, motor M 1 forward, and signal end IN1 connects low level, and IN2 connects high level, motor M 1 reversion.When meeting high level input end IN4, input signal end IN3 connects low level, motor M 2 forwards, and signal end IN3 connects low level, and IN4 connects high level, motor M 2 reversions.LED1 and LED2 are as the indication of motor M 1 rotating, and LED3 and LED4 are as the indication of motor M 2 rotatings.
Fig. 5 is power supply stabilization circuit figure of the present utility model, and power supply is used the high-capacity lithium battery of 7.4V5000mAh, is directly supplying with the motor-driven while, and voltage stabilizing is carried out in use 7805 in parallel, makes to export the 5V power supply and offers single-chip microcomputer and wireless communication apparatus work.7805 input end is used 10uF capacitor C 1 to carry out power filter, and output terminal is eliminated output ripple by capacitor C 2, guarantees that the normal operation of components and parts is not disturbed by power supply.
Fig. 6 is pressure sensor circuit figure of the present utility model, in order to improve the robot performance, need to be detected robot negative pressure cavity internal pressure, guarantee that the negative pressure cavity internal pressure is stable as far as possible, use the BMP085 digital gas pressure sensor to be detected the negative pressure cavity internal pressure, pass through I
2the C bus is processed detecting the data back single-chip microcomputer.
Fig. 7 is bluetooth communication circuit figure of the present utility model, the hc-06 bluetooth transparent transmission module of take meets the robot communication needs as basis and to relevant auxiliary circuit designed, by USB to TTL, with host computer, be connected, adopt the PL2303 chip, PL2303 is the integrated RS232-USB interface convertor of a kind of height of Prolific company, and a RS232 full duplex asynchronous serial communication can be provided.The compatible driving of the height of PL2303 can be intended into traditional C OM port at large multiple operating system patrix, and allows the application based on COM port can convert easily the USB interface application to, and communication baud rate is up to 6Mb/s.When mode of operation and park mode, all have low in energy consumption, complete compatible USB1.1 agreement; Adjustable 3～5V output voltage, meet 3V, 3.3V and 5V different application demand; Support complete RS232 interface, the baud rate of setting able to programme: 75b/s～6Mb/s.
Fig. 8 is serial communication circuit figure of the present utility model, having adopted special chip MAX232 is the conversion of RS232 level and Transistor-Transistor Logic level, adopt three-wire system to connect serial ports, 9 needle serial ports only connect 3 lines wherein: the RXD of the GND of the 5th pin, the 2nd pin, the TXD of the 3rd pin.
Fig. 9 is single chip circuit figure of the present utility model, and single-chip microcomputer is selected the core that macrocrystalline science and technology production high speed, low-power consumption, a single-chip microcomputer of superpower jamproof STC89C516RD+ are this example, with other each circuit, is connected, and realizes the control of whole system.
Figure 10 is Long-distance Control surface chart of the present utility model, and the figure medium-long range is controlled interface and mainly formed by controlling button, and the button of controlling interface is to transfer signals to robot by bluetooth, thereby realizes the Long-distance Control of Climbing Robot.
Figure 11 is program flow diagram of the present utility model, and the Long-distance Control Climbing Robot is carried out Long-distance Control by Bluetooth communication.Open the power supply of Climbing Robot, carry out the Long-distance Control connection, the user is by the direction of motion of computor-keyboard or mouse control robot.Single-chip microcomputer is according to the wireless signal received, thereby the control motor is controlled the motion state of Climbing Robot.When Climbing Robot is advanced, pressure transducer detects internal pressure, by PID, controls, and regulates inner suitable pressure, makes robot can depend on metope.
During the robot motion, the whole stress of robot will change, reduce negative pressure cavity air pressure to guarantee that robot again can free movement in stable absorption for increasing the robot friction, the utility model adopts pid control algorithm to regulate the motion control that negative pressure cavity air pressure has been realized Climbing Robot.Robot can reliably be adsorbed in multiple surface of wall, realizes basic motion, and can produce applicable pressure to save the energy by the automatic negative pressure control unit state.
Although the utility model with preferred embodiment openly as above; but it is not in order to limit the utility model; any person skilled in the art; within not breaking away from spirit and scope of the present utility model; all can do various changes and modification, therefore protection domain of the present utility model should be with being as the criterion that claims were defined.
Claims (9)
1. the Climbing Robot of a Long-distance Control, it is characterized in that, comprise motor-drive circuit, power supply stabilization circuit, serial communication circuit, single chip circuit, pressure sensor circuit, bluetooth communication circuit, pressure sensor circuit passes to single-chip microcomputer by Information Monitoring, and single-chip microcomputer is controlled respectively electric machine, serial communication circuit.
2. robot according to claim 1, it is characterized in that, single chip circuit P00, P01, P02, P03 join with the control utmost point of motor-drive circuit respectively, and single chip circuit P12, P13 and pressure sensor circuit join, and single chip circuit P30, P31 and serial communication circuit join.
3. robot according to claim 1, is characterized in that, described motor-drive circuit is comprised of resistance R 1, R2, diode D1-D8, LED 1-LED4, driving chip L298N, motor M 1, M2, wherein, diode D1, D2, D3, the D4 negative electrode joins and the same VCC that connects, the OUT1 of D1 anode and U1 joins, the OUT2 of D2 anode and U1 joins, the OUT3 of D3 anode and U1 joins, the OUT4 of D4 anode and U1 joins, diode D5-D8 anode joins and same ground connection, the OUT1 of D5 negative electrode and U1 joins, the OUT2 of D6 negative electrode and U1 joins, the OUT3 of D7 negative electrode and U1 joins, the OUT4 of D8 negative electrode and U1 joins, the N1 pin of UI and single-chip microcomputer P00 pin join, the IN2 pin of UI and single-chip microcomputer P01 pin join, the IN3 pin of UI and single-chip microcomputer P02 pin join, the IN4 pin of UI and single-chip microcomputer P03 pin join, anode connecting resistance R1 mono-end of LED1, the OUT1 of negative electrode and U1 joins, the OUT2 of resistance R 1 other end and U1 joins, the anode of LED2 connects the negative electrode of LED1, the negative electrode of LED2 connects the anode of LED1, the negative electrode of motor M 1 one termination LED1, the OUT1 of the other end and U1 joins, anode connecting resistance R2 mono-end of LED3, the OUT3 of negative electrode and U1 joins, the OUT4 of resistance R 2 other ends and U1 joins, the anode of LED4 connects the negative electrode of LED3, the negative electrode of LED4 connects the anode of LED3, the negative electrode of motor M 2 one termination LED3, the OUT4 of the other end and U1 joins, the ENA of U1, ENB, SENSA, SENSB, the same ground connection of GND.
4. robot according to claim 1, is characterized in that, described power supply stabilization circuit is comprised of battery, self-lock switch SW1, capacitor C 1-C2, LED 5, voltage stabilizing chip U2; Wherein, power supply connects the input end of C1 and 7805 through self-lock switch SW1,1 pin of capacitor C 1 one termination U2, and the other end is 2 pin of U2,2 pin of capacitor C 2 one termination U2,3 pin of another termination U2, the anode of LED 5 connects 3 pin of U2, plus earth.
5. robot according to claim 1, is characterized in that, described pressure sensor circuit is comprised of baroceptor U3, voltage stabilizing chip U4, resistance R 3 and R4, capacitor C 3-C5; Wherein, the 1 pin ground connection of baroceptor U3,3 pin and 4 pin are together with connecing capacitor C 3 one ends, capacitor C 3 other end ground connection, 6 pin of U3 connect single-chip microcomputer P13 pin, and 7 pin of U3 connect single-chip microcomputer P12 pin, 7 pin of resistance R 3 one termination U3,1 pin of another termination U4,6 pin of resistance R 4 one termination U3,1 pin of another termination U4, the 3 pin ground connection of voltage stabilizing chip U4, capacitor C 4 one end ground connection, 1 pin of the other end and U4, capacitor C 5 one end ground connection, 2 pin of the other end and U4,2 pin of U4 meet VCC.
6. robot according to claim 1, is characterized in that, described bluetooth communication circuit is comprised of PL2303 chip U5, USB chip U6, resistance R 5-R11, capacitor C 6-C10, crystal oscillator Y1, wherein, 4 pin of chip U5, 8 pin, 19 pin, 20 pin, 24 pin connect the 5V power supply, 7 pin, 21 pin, 25 pin, 26 pin ground connection, 4 pin of capacitor C 8 one termination U5, 7 pin of another termination U5, resistance R 5 one termination powers, 13 pin of another termination U5, resistance R 6 one termination powers, 14 pin of another termination U5, 1 pin of crystal oscillator Y1 connects 28 pin of U5, 2 pin connect 27 pin of U5, 28 pin of capacitor C 6 one termination U5, other end ground connection, 27 pin of capacitor C 7 one termination U5, other end ground connection, 22 pin of resistance R 7 one termination U5, another termination power, 24 pin of capacitor C 9 one termination U5, 21 pin of another termination U5, 17 pin of capacitor C 10 1 termination U5, 21 pin of another termination U5, 23 pin of resistance R 8 one termination U5, 21 pin of another termination U5, 1 pin of chip U6 connects the 5V power supply, 4 pin ground connection, resistance R 9 one termination DM, 2 pin of another termination U6, resistance R 10 1 termination DP, 3 pin of another termination U6, 3 pin of resistance R 11 1 termination U6, another termination 5V power supply.
7. robot according to claim 1, is characterized in that, described serial communication circuit is comprised of level transferring chip U6, electrochemical capacitor C11-C13, capacitor C 14 and nine kinds of needles jack J1; Wherein, the positive pole of capacitor C 11 connects 2 pin of chip U6, minus earth, the positive pole of capacitor C 12 connects 1 pin of chip U6, negative pole connects 3 pin of chip U6, the positive pole of capacitor C 13 connects 4 pin of chip U6, and negative pole connects 5 pin of chip U6, and the positive pole of capacitor C 14 connects 7 pin of chip U6, minus earth, capacitor C 15 1 termination powers, other end ground connection, 16 pin of chip U6 meet power supply VCC, the 15 pin ground connection of chip U6,2 pin of 14 pin of chip U6,13 pin jointing holes J1,3 pin, 12 pin of chip U6,11 pin connect respectively 30 ends, 31 ends of single-chip microcomputer, 5 pin ground connection of jack.
8. robot according to claim 1, is characterized in that, described single chip circuit is comprised of single-chip microcomputer U7, crystal oscillator Y1, capacitor C 15-C17, resistance R 11, exclusion JP1; Wherein, 9 pin of one termination single-chip microcomputer U7 of electrochemical capacitor C15 negative pole and resistance R 11 are connected, the positive pole of electrochemical capacitor C15 meets power supply VCC, the other end ground connection of resistance R 11,18 pin of the termination single-chip microcomputer U7 of an end of capacitor C 16 and crystal oscillator Y1, an end of capacitor C 17 and the other end of crystal oscillator Y1 connect 19 pin of single-chip microcomputer U7, the other end ground connection of capacitor C 16, C17, the 32-40 pin of single-chip microcomputer U7 runs in and hinders JP1,20 pin ground connection, and 31 pin, 40 pin meet VCC.
9. robot according to claim 1, is characterized in that, the Long-distance Control interface forms by controlling button, described control button by baud rate select, port is selected, opened to the string slogan, close port and before, left, rear, right button forms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204068729U CN203338058U (en) | 2013-07-09 | 2013-07-09 | Remotely-controlled wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204068729U CN203338058U (en) | 2013-07-09 | 2013-07-09 | Remotely-controlled wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203338058U true CN203338058U (en) | 2013-12-11 |
Family
ID=49706723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013204068729U Expired - Fee Related CN203338058U (en) | 2013-07-09 | 2013-07-09 | Remotely-controlled wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203338058U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476547A (en) * | 2014-12-08 | 2015-04-01 | 重庆南方数控设备有限责任公司 | Tree climbing robot control circuit |
| CN105446340A (en) * | 2015-12-28 | 2016-03-30 | 哈尔滨恒誉名翔科技有限公司 | Automatic wall climbing trolley |
| CN111248814A (en) * | 2020-01-16 | 2020-06-09 | 湖南格兰博智能科技有限责任公司 | Wall-following motion control method for floor sweeping robot |
| CN114594701A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司检修公司 | Transformer substation fire-fighting robot control system and robot |
| CN115336939A (en) * | 2022-09-21 | 2022-11-15 | 北京史河科技有限公司 | Multi-cavity negative pressure adsorption curtain wall cleaning robot |
-
2013
- 2013-07-09 CN CN2013204068729U patent/CN203338058U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476547A (en) * | 2014-12-08 | 2015-04-01 | 重庆南方数控设备有限责任公司 | Tree climbing robot control circuit |
| CN104476547B (en) * | 2014-12-08 | 2016-05-04 | 重庆南方数控设备有限责任公司 | A kind of robot capable of climbing trees control circuit |
| CN105446340A (en) * | 2015-12-28 | 2016-03-30 | 哈尔滨恒誉名翔科技有限公司 | Automatic wall climbing trolley |
| CN111248814A (en) * | 2020-01-16 | 2020-06-09 | 湖南格兰博智能科技有限责任公司 | Wall-following motion control method for floor sweeping robot |
| CN111248814B (en) * | 2020-01-16 | 2021-07-13 | 湖南格兰博智能科技有限责任公司 | Wall-following motion control method for floor sweeping robot |
| CN114594701A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司检修公司 | Transformer substation fire-fighting robot control system and robot |
| CN115336939A (en) * | 2022-09-21 | 2022-11-15 | 北京史河科技有限公司 | Multi-cavity negative pressure adsorption curtain wall cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203338058U (en) | Remotely-controlled wall-climbing robot | |
| CN204390059U (en) | Oxygen detection system | |
| CN101369157B (en) | Mine dust concentration control device | |
| CN209360538U (en) | A kind of glass washing device | |
| CN204256489U (en) | A kind of large-scale oil extracting ship Intelligent controller for fume extractor | |
| CN104035364B (en) | A kind of permanent magnet coupling speed regulator control device | |
| CN202919867U (en) | Device for automatically controlling window curtain folding and unfolding | |
| CN212838507U (en) | Double-circuit intelligence control by temperature change speed governing fan drive circuit | |
| CN204436346U (en) | A kind of new pumping unit intelligent controller for production vessel | |
| CN205474477U (en) | Remote intelligent retractable balcony clothes hanger that dries in air based on wiFi | |
| CN204140357U (en) | A kind of mine air compressing crane monitoring system based on PLC | |
| CN206164424U (en) | Light -operated motor variable -speed controller | |
| CN206309576U (en) | A kind of asynchronous constant pressure frequency conversion control water pump | |
| CN201039543Y (en) | Lighting controller | |
| CN207541481U (en) | Oil well intelligent detection and control terminal | |
| CN204532775U (en) | A kind of peristaltic pump of power-off continuation of the journey | |
| CN204212210U (en) | A kind of one drags many constant pressure water supply systems | |
| CN205283188U (en) | Energy -conserving well electricity workover rig electrically controlled device | |
| CN203454248U (en) | Automatic control intelligent range hood with smog sensing device | |
| CN202848902U (en) | Remote control type portable traction control device | |
| CN214202356U (en) | Multifunctional debugger for wind power system | |
| CN103792916B (en) | Control device and the control method of lifting coordinated by crawler crane | |
| CN202600516U (en) | Wireless temperature control device | |
| CN205453508U (en) | Low pressure exchanges converter of speed governing | |
| CN202677119U (en) | Air-heater controller of locomotive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20180709 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |