CN209351490U - A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot - Google Patents

A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot Download PDF

Info

Publication number
CN209351490U
CN209351490U CN201822040505.7U CN201822040505U CN209351490U CN 209351490 U CN209351490 U CN 209351490U CN 201822040505 U CN201822040505 U CN 201822040505U CN 209351490 U CN209351490 U CN 209351490U
Authority
CN
China
Prior art keywords
connecting rod
small
slide block
robot
connecting shaft
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.)
Active
Application number
CN201822040505.7U
Other languages
Chinese (zh)
Inventor
孙凌宇
刘肖雅
张明路
朱丽莉
李志龙
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.)
BHP robot (Tianjin) Co.,Ltd.
Original Assignee
Hebei University of Technology
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 Hebei University of Technology filed Critical Hebei University of Technology
Priority to CN201822040505.7U priority Critical patent/CN209351490U/en
Application granted granted Critical
Publication of CN209351490U publication Critical patent/CN209351490U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model is a kind of passive adaptive mechanism of magnetic adsorption wall climbing robot, the mechanism includes draft hitch and the magnetic auxiliary wheel of tool, the output axis connection draft hitch of the auxiliary wheel, draft hitch are connect with the car body of magnetic adsorption wall climbing robot and driving wheel simultaneously;The draft hitch includes link mechanism and slide block structure, and slide block structure is connect with robot car body and link mechanism respectively, and on the one hand connection auxiliary wheel, another aspect connect the driving wheel of robot to link mechanism;The slide block structure includes sliding block, fixed plate, connecting shaft one and bearing one, and link mechanism includes connecting rod one, spring, connecting rod two and connecting rod three;Connecting rod one, connecting rod two and slide block structure link together with by connecting shaft one.The mechanism can passively adaptive wall surface and deform so that magnet by tangential force act under, be easy to make magnet that change in location occur with robot crawling angle change, robot can be made successfully to climb up the Mosaic face with certain obtuse angle angle.

Description

A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot
Technical field
The utility model relates to specialized robot technical field, specially a kind of magnetic adsorption wall climbing robot it is passive adaptive Mechanism is answered, which is used to carry out operation in the metal facade with certain obtuse angle angle Mosaic face.
Background technique
Climbing robot can substitute manually vertical in high-altitude as a kind of specialized robot that can be used in particular surroundings Wall surface carries out operation.Existing magnetic suck robot mostly uses wheeled absorption, and the speed and movement ground that robot can be improved are flexibly Property.When the metal facade with certain obtuse angle angle Mosaic face carries out operation, it can not be adaptive to wall surface, need to be added one The mechanism of a adaptive wall surface, adjusts the position of arc-shaped magnet, the corner in certain obtuse angle angle Mosaic face is prevented, due to magnetic Iron absorption is in hollow out state, robot Crater face occurs.If increasing magnetic force by the volume and weight for increasing magnet, The power for not only wanting expanded motor, the volume and quality for also resulting in entire robot become larger.
Using adaptive mechanism, landform can be better adapted to, it to a certain extent can be with damping vibration;Application No. is 201710853261.1 patent discloses a kind of main passive stiffness-shift independent suspension supporting mechanism, is driven by itself and is actively adjusted The rigidity of whole spring, smoothly walks on the ground, disadvantage is that the mechanism is related to active adaptive mechanism simultaneously, by It is passive actively to drive, and increases motor control, increases the weight of mechanism and the complexity of control, it has not been convenient to install.Patent CN204527388U discloses Self-adaptive flight adsorbed wall-climbing mechanism, and adsorbing mechanism is provided with rotating mechanism, in the drive of motor Under dynamic, the flight that can flexibly switch climbs wall, inhabites three kinds of states, disadvantage is that being revolved using powerful motor driven Rotation mechanism, structure is complicated for rotating mechanism, and the transformation of three kinds of states is so that control system is complicated, operating difficulties, but also whole Mechanism weight becomes larger.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is: small as far as possible in magnet volume, weight Under the premise of, propose a kind of passive adaptive mechanism of magnetic adsorption wall climbing robot, which being capable of passive adaptive wall surface And deform, so that being easy to make magnet that position occur with robot crawling angle change under magnet is acted on by tangential force Variation is set, robot can be made successfully to climb up the Mosaic face with certain obtuse angle angle.The passive adaptive mechanism weight And small volume, structure is simple, without control, passively adaptive wall surface, solution can cross climbing problem on obstacle.
The utility model solve the technical problem the technical solution adopted is that: provide a kind of magnetic adsorption wall climbing robot Passive adaptive mechanism, which is characterized in that the mechanism includes draft hitch and has magnetic auxiliary wheel, the auxiliary wheel Axis connection draft hitch is exported, draft hitch is connect with the car body of magnetic adsorption wall climbing robot and driving wheel simultaneously;
The draft hitch includes link mechanism and slide block structure, slide block structure respectively with robot car body and link mechanism Connection, on the one hand connection auxiliary wheel, another aspect connect the driving wheel of robot to link mechanism;
The slide block structure includes sliding block, fixed plate, connecting shaft one and bearing one, link mechanism include connecting rod one, spring, Connecting rod two and connecting rod three;Connecting rod one, connecting rod two and slide block structure link together with by connecting shaft one, connecting rod one, connecting rod two It is connect with connecting shaft one, slide block structure is fixed in connecting shaft one;The lower part of two joint of connecting rod one and connecting rod passes through spring It links together;The lower end of the connecting rod two vertically connects one end of connecting rod three, and the connecting rod three is L shape bar, and top is cylinder Body, lower part are cuboid, and cylindrical body and cuboid are mutually connected vertically, L-shaped;The lower end of cuboid connects robotically-driven wheel On magnet, one end that cylindrical body is connect with connecting rod two is connected to the wheel hub end face outside of driving wheel;
The arc slot of sliding block one end connection robot car body side surface, sliding block can slide in arc slot, the other end of sliding block Mounting plate;The one end of the connecting shaft links together with slide block structure, and the other end connects connecting rod one by bearing one and connects Bar two.
Compared with prior art, the utility model has the advantages that:
1. the variation of passively adaptive wall surface is capable of in the design of the utility model passive adaptive mechanism, especially for tool There is the Mosaic face of certain obtuse angle angle.Auxiliary wheel is auxiliary when upward slope or descending using light-weight, small in size principle design It helps wheel to be rotated according to the variation of wall surface, draft hitch is driven to rotate, under the action of arc-shaped magnet is by tangential force, position Generation changes at leisure, so that corresponding robot is in transient process, arc-shaped magnet can be bonded the changed slope of wall surface It spends at angle, is successfully transitioned on another wall surface, common wheeled magnetic adsorption wall climbing robot arc-shaped magnet and slope can be prevented There is the state of hollow out at degree angle or fitting area is smaller, improves whole safety and stability.
2. the utility model realizes the modularized design of mechanism, wheeled magnetic adsorption wall climbing robot can be realized fastly Speed combination, easy for installation, easy to repair and transport.
Detailed description of the invention
Fig. 1 is the overall structure axonometric schematic diagram of the utility model magnetic adsorption wall climbing robot;
Fig. 2 is the integrally-built left view schematic diagram of the utility model magnetic adsorption wall climbing robot;
Fig. 3 is the plan structure signal of the auxiliary wheel of the passive adaptive mechanism of the utility model magnetic adsorption wall climbing robot Figure;
Fig. 4 is the schematic cross-sectional view in the face A-A in Fig. 3;
Fig. 5 is the draft hitch phase of the driving wheel of magnetic adsorption wall climbing robot and passive adaptive mechanism in the utility model The axonometric schematic diagram of connection;
Fig. 6 is the overlooking structure diagram of the driving wheel of the utility model magnetic adsorption wall climbing robot;
Fig. 7 is the schematic cross-sectional view in the face B-B in Fig. 6;
Fig. 8 is that the axis of the draft hitch of the passive adaptive mechanism of the utility model magnetic adsorption wall climbing robot measures meaning Figure;
Fig. 9 is the partial enlargement diagram of I in Fig. 8;
Figure 10 is the utility model magnetic adsorption wall climbing robot in flat wall surface movement schematic diagram;
Figure 11 is wall surface movement schematic diagram of the utility model magnetic adsorption wall climbing robot at upgrade angle;
Figure 12 is the wall surface movement schematic diagram that the utility model magnetic adsorption wall climbing robot climbs up upgrade;
Figure 13 is wall surface movement schematic diagram of the utility model magnetic adsorption wall climbing robot at descending slope angle;
Figure 14 is the wall surface movement schematic diagram that the utility model magnetic adsorption wall climbing robot climbs up descending slope;
In figure: the passive adaptive mechanism of 1-, 2- driving wheel, 3- car body, 4- universal wheel, 300- arc slot, 11- auxiliary wheel, 12- Draft hitch, 110- Screw, 111- connecting shaft two, 112- small front apron, 113- small sleeve, 114- annular magnet, the small axis of 115- It holds, 116- steamboat, 117- minor thread hole, the small retaining ring of 118-, 200- screw, 201- arc-shaped magnet, 202- hollow shaft, 203- gear Circle, 204- bearing two, 205- sleeve, 206- baffle, 207- wheel hub, 208- threaded hole, 121- link mechanism, 122- sliding block knot Structure, 1210- connecting rod I, 1211- screw one, 1212- spring, 1213- connecting rod two, 1214- screw two, 1215- connecting rod three, 122- Slide block structure, 1220- sliding block, 1221- fixed plate, 1222- screw three, 1223- connecting shaft one, 1224- bearing one;
Specific embodiment
It is further discussed below the utility model below with reference to embodiment and its attached drawing, but is not protected in this, as to the application The restriction of range.
A kind of passive adaptive mechanism (referring to Fig. 1-2) of magnetic adsorption wall climbing robot of the utility model, the mechanism include Draft hitch and have magnetic auxiliary wheel, the output axis connection draft hitch 12 of the auxiliary wheel 11, draft hitch simultaneously with The car body of magnetic adsorption wall climbing robot is connected with driving wheel;The adaptive wall surface of auxiliary wheel, fills suspension under the effect of external force Set and deform, so adjust driving wheel in arc-shaped magnet change in location, passive adaptive mechanism weight is light as far as possible, volume compared with It is small, it is convenient to be installed on robot car body.
The auxiliary wheel 11 (referring to Fig. 3 and Fig. 4) includes steamboat 116, connecting shaft 2 111, small bearing 115, small retaining ring 118, the inner hole of small sleeve 113, small front apron 112 and annular magnet 114, annular magnet and steamboat 116 is interference fitted, and the two of steamboat End passes through corresponding Screw hole 117 by Screw 110 and is equipped with small front apron, by interior in the inner hole of annular magnet 114 Be sequentially installed with small sleeve 113 and small bearing 115 in outward, connecting shaft 2 111 sequentially pass through small sleeve 113, small bearing 115, Small retaining ring 118 is connect with the small front apron 112 in outside;Small sleeve and connecting shaft two are positioned by the shaft shoulder, the outside peace of small bearing 115 Small retaining ring 118 is filled, small bearing is contacted with annular magnet inner wall, and small bearing plays the role of positioning and Auxiliary support, small sleeve and ring Shape magnet inner wall contact, using interference fit between annular magnet outer wall and steamboat;Connecting shaft two is connect with draft hitch simultaneously;
The draft hitch (referring to Fig. 8 and Fig. 9) includes link mechanism 121 and slide block structure 122, slide block structure respectively with Robot car body is connected with link mechanism, and on the one hand connection auxiliary wheel, another aspect connect the driving wheel of robot to link mechanism;
The slide block structure 122 includes sliding block 1220, fixed plate 1221, screw 3 1222, connecting shaft 1 and bearing One 1224, link mechanism 121 includes connecting rod 1, screw 1, spring 1212, connecting rod 2 1213, screw 2 1214 With connecting rod 3 1215;Connecting rod 1, connecting rod 2 1213 and slide block structure 1220 link together with by connecting shaft 1, Connecting rod 1, connecting rod 2 1213 are connect with connecting shaft 1, and slide block structure is fixed in connecting shaft 1;Connecting rod one 1210 and the lower part of 2 1213 joint of connecting rod linked together by spring 1212;The lower end of the connecting rod two vertically connects One end of bar 3 1215, the connecting rod 3 1215 are L shape bar, and top is cylindrical body, and lower part is cuboid, cylindrical body and cuboid It is mutually connected vertically, it is L-shaped;The lower end of cuboid connects the arc-shaped magnet on robotically-driven wheel, and cylindrical body and connecting rod two connect The one end connect is connected to the wheel hub end face outside of driving wheel, plays the role of facilitating installation;Three connecting rods that draft hitch uses, It is easily installed in driving wheel;
The arc slot 300 of described sliding block one end connection robot car body side surface, sliding block can slide in arc slot, sliding block it is another Mounting plate 1221 is held, and is fixed by screw 3 1222, sliding block is enable to be limited in arc slot, without de- with car body From;Described 1223 one end of connecting shaft links together with slide block structure, and the other end connects connecting rod one and connecting rod two by bearing one.
Under the effect of external force, connecting rod 1 rotates around connecting shaft 1, according to the size of active force, even The flexible of different length occurs for the spring 1212 between bar 1 and connecting rod 2 1213;Connecting rod 1 is in the work by external force Under, so that effect of the connecting shaft 1 by radial force, drives slide block structure 122 to slide in arc slot 300;Two bars Between angle have 122 position of adjustability and slide block structure variation, passive adaptive mechanism 1 can be made preferably to adjust arc The position of shape magnet is adapted to wall surface situation.
The length of the cylindrical body of the connecting rod three is the half of the hub thickness of driving wheel.
Embodiment 1
The passive adaptive mechanism of the present embodiment magnetic adsorption wall climbing robot, the mechanism include draft hitch and have magnetic Auxiliary wheel, the output axis connection draft hitch 12 of the auxiliary wheel 11, draft hitch simultaneously with magnetic adsorption wall climbing robot Car body is connected with driving wheel;The adaptive wall surface of auxiliary wheel, makes draft hitch deform under the effect of external force, and then adjusts The change in location of arc-shaped magnet in driving wheel,
Auxiliary wheel 11 (refer to Fig. 3-4) includes connecting shaft 2 111, small front apron 112, small sleeve 113, annular magnet 114, small The inner hole of bearing 115, steamboat 116 and small retaining ring 118, annular magnet 114 and steamboat 116 is interference fitted, the both ends peace of steamboat 116 It links together equipped with small front apron 112, and by Screw 110, connecting shaft 2 111 passes through small bearing 115,118 and of small retaining ring Steamboat 116, small bearing 115, small retaining ring 118 and small sleeve 113 are installed in the inner hole of annular magnet 114, and small retaining ring is for solid Fixed small bearing 115, plays Auxiliary support, steamboat 116 rotates under the action of frictional force, and steamboat 116 is by external force Connecting shaft 2 111 is acted on and transfers force to, one end that connecting shaft 2 111 is located on the outside of auxiliary wheel is fixedly connected with draft hitch 12, connecting shaft 2 111 drives draft hitch 12 to act under force.(connecting shaft two is fixedly connected with (interference with draft hitch Cooperation), only strong transmitting, only auxiliary wheel rotation)
Draft hitch 12 is mainly made of link mechanism 121 and slide block structure 122, slide block structure 122 include sliding block 1220, Fixed plate 1221, screw 3 1222, connecting shaft 1 and bearing 1, link mechanism 121 include connecting rod 1, screw One 1211, spring 1212, connecting rod 2 1213, screw 2 1214 and connecting rod 3 1215;Connecting rod 1, connecting rod 2 1213 and cunning Block structure 1220 links together with by connecting shaft 1, and connecting rod one and connecting rod two are connected to connection by way of grafting It on axis one, and is rotatablely connected with connecting shaft one by bearing one, bearing 1, connecting rod one is installed in the inner hole of connecting rod 1 One spring 1212 is installed between 1210 and connecting rod 2 1213, spring is fixed on two bars by two screws 1 respectively On;Under the effect of external force, connecting rod 1 rotates around connecting shaft 1, according to the size of active force, connecting rod one The flexible of different length occurs for the spring 1212 between 1210 and connecting rod 2 1213;Connecting rod 1 is in the effect by external force Under, so that effect of the connecting shaft 1 by radial force, drives slide block structure 122 to slide in arc slot 300;Two bars it Between angle there is the variation of 122 position of adjustability and slide block structure, can passive adaptive mechanism 1 preferably adjust arc magnetic The position of iron is adapted to wall surface situation;Connecting rod two is vertically connected by screw 2 1214 with connecting rod 3 1215, connecting rod three 1215 be L shape bar, and it is cuboid that one end, which is cylindrical body, the other end, and both ends are mutually perpendicular to;
Passive adaptive mechanism 1 can be adapted for wheeled magnetic adsorption wall climbing robot, it is desirable that install (processing) on car body Arc slot, slide block structure 122 are mountable on arc slot, and arc-shaped magnet 201 fits in wheel hub 207, and position can freely occur and turn It is dynamic.The scope of application is wider, can be quickly installed in a kind of wheeled magnetic adsorption wall climbing robot, passive adaptive mechanism 1 Structure is simple, small in size and light-weight, and by two draft hitch 12, the position that can slowly adjust arc-shaped magnet 201 turns It is dynamic, so that arc-shaped magnet 201 fits at the angle of gradient, prevent from occurring in transient process that contact area is small, i.e., adsorption capacity is small Problem;
A kind of new magnetic adsorption wall climbing robot of the present embodiment, driving wheel 2 mainly include arc-shaped magnet 201, hollow shaft 202, retaining ring 203, bearing 2 204, sleeve 205, baffle 206 and wheel hub 207;One end cylindrical body of connecting rod 3 1215 passes through wheel hub The inside of 207 inner holes can freely be rotated around hollow shaft 202 under the effect of external force, under the drive of the motor, hollow shaft 202 drive hub rotation;Arc-shaped magnet 201 is installed on hub interior, and cambered surface fully fits on wheel hub 207, connecting rod three It is fitted vertically together at 1215 one end cuboid and the plane of arc-shaped magnet 201;The both ends of wheel hub 207 are installed by gear respectively Plate, and be connected by screw to and be fixed together, hollow shaft 202 passes through bearing 2 204, retaining ring 203 and wheel hub 207, bearing, retaining ring It is installed on sleeve in the inner hole of wheel hub;Pass through spiral shell in the arc slot 300 that sliding block 1220 is mounted on car body 4 and with fixed plate 1221 It follows closely 3 1222 to link together, and is maintained at sliding in arc slot 300;
Working principle and the workflow (reference of a kind of passive adaptive mechanism of magnetic adsorption wall climbing robot of the utility model Figure 10-14) be: robot can be adsorbed on vertical wall surface by magnet, which is the splicing with certain angle angle Face, but the wall surface is necessary for ferromagnetic surface, and each wheel is bonded wall surface, and under the driving of two motors, robot climbs up, Passive adaptive mechanism 1 does not occur to change anyly;When encountering the gradient, passive adaptive mechanism 1 deforms, so that the machine Device people better adapts to landform, and auxiliary wheel 11 can recognize that the variation of wall surface landform, climb up along the gradient, the auxiliary wheel 11 It up lifts at leisure, fits in another Mosaic face, at this moment link mechanism 121 is under the action of by external force, so that slide block structure 122 slide along arc slot 300, and connecting rod 3 1215 rotates, and arc-shaped magnet 201 also occurs under the action of by radial force Pico-ly turn an angle;When driving wheel 2 reaches at the angle of gradient, under the action of radial force, arc-shaped magnet 201 is fitted in At the angle of gradient, fitting area is increased, adsorption capacity also increases;A spring is installed between connecting rod 1 and connecting rod 2 1213 1212, the swing angle of draft hitch 12 has adjustability, and in the wall surface of different gradient, draft hitch 12 can be adjusted with self, It is better adapted to the variation of wall surface landform, so that when driving wheel 2 reaches at the angle of gradient, under the effect of external force, arc-shaped magnet 201 fit at the angle of gradient, prevent from hollow out state occur at arc-shaped magnet 201 and the angle of gradient or fitting area is smaller, guarantee The normally travel of robot;When magnetic adsorption wall climbing robot is transitioned into another wall surface, passive adaptive mechanism 1 is according to external force Under effect, the position of arc-shaped magnet 201 is adjusted, so that fit in wall surface, at this moment the robot and moves effect in smooth wall surface Fruit is the same;Similarly (Figure 13-14), when robot descending, are similar with the motion process of upward slope, no longer illustrate one by one, please refer to this The motion process that robot goes up a slope.
The utility model does not address place and is suitable for the prior art.

Claims (4)

1. a kind of passive adaptive mechanism of magnetic adsorption wall climbing robot, which is characterized in that the mechanism includes draft hitch and tool Magnetic auxiliary wheel, the output axis connection draft hitch of the auxiliary wheel, draft hitch while and magnetic adsorption wall climbing robot Car body connected with driving wheel;
The draft hitch includes link mechanism and slide block structure, and slide block structure connects with robot car body and link mechanism respectively It connects, on the one hand connection auxiliary wheel, another aspect connect the driving wheel of robot to link mechanism;
The slide block structure includes sliding block, fixed plate, connecting shaft one and bearing one, and link mechanism includes connecting rod one, spring, connecting rod Two and connecting rod three;Connecting rod one, connecting rod two and slide block structure with linked together by connecting shaft one, connecting rod one, connecting rod two with Connecting shaft one connects, and slide block structure is fixed in connecting shaft one;Connecting rod one is connected with the lower part of two joint of connecting rod by spring Together;The lower end of the connecting rod two vertically connects one end of connecting rod three, and the connecting rod three is L shape bar, and top is cylindrical body, under Portion is cuboid, and cylindrical body and cuboid are mutually connected vertically, L-shaped;The lower end of cuboid connects on robotically-driven wheel Arc-shaped magnet, one end that cylindrical body is connect with connecting rod two are connected to the wheel hub end face outside of driving wheel;
The arc slot of sliding block one end connection robot car body side surface, sliding block can slide in arc slot, the other end installation of sliding block Fixed plate;The one end of the connecting shaft links together with slide block structure, and the other end connects connecting rod one and connecting rod two by bearing one.
2. the passive adaptive mechanism of magnetic adsorption wall climbing robot according to claim 1, which is characterized in that the connecting rod The length of three cylindrical body is the half of the hub thickness of robotically-driven wheel.
3. the passive adaptive mechanism of magnetic adsorption wall climbing robot according to claim 1, which is characterized in that one He of connecting rod Connecting rod two is connected in connecting shaft one by way of grafting.
4. the passive adaptive mechanism of magnetic adsorption wall climbing robot according to claim 1, which is characterized in that the auxiliary Wheel includes steamboat, connecting shaft two, small bearing, small retaining ring, small sleeve, small front apron and annular magnet, annular magnet and steamboat it is interior Hole interference fit, the both ends of steamboat pass through Screw and are equipped with small front apron across corresponding Screw hole, in annular magnet Interior from inside to outside in inner hole to be sequentially installed with small sleeve and small bearing, connecting shaft two sequentially passes through small sleeve, small bearing, small retaining ring It is connect with the small front apron in outside;Small sleeve and connecting shaft two are positioned by the shaft shoulder, and small retaining ring, small bearing are installed in the outside of small bearing It is contacted with annular magnet inner wall, small sleeve is contacted with annular magnet inner wall, is matched between annular magnet outer wall and steamboat using interference It closes;Connecting shaft two is connect with draft hitch simultaneously.
CN201822040505.7U 2018-12-06 2018-12-06 A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot Active CN209351490U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201822040505.7U CN209351490U (en) 2018-12-06 2018-12-06 A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201822040505.7U CN209351490U (en) 2018-12-06 2018-12-06 A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot

Publications (1)

Publication Number Publication Date
CN209351490U true CN209351490U (en) 2019-09-06

Family

ID=67798476

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201822040505.7U Active CN209351490U (en) 2018-12-06 2018-12-06 A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot

Country Status (1)

Country Link
CN (1) CN209351490U (en)

Similar Documents

Publication Publication Date Title
US8096378B2 (en) Golf bag vehicle
WO2020010575A1 (en) Suspension system and full piggy-back mobile robot
CN107263525B (en) Variable-rigidity rope-driven joint for exoskeleton and walking robot
CN202624434U (en) Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm
CN205271989U (en) Platform is snatched to all -hydraulic independently removal
CN109606495B (en) Magnetic adsorption climbing robot
CN207670133U (en) A kind of Omni-mobile obstacle detouring chassis
CN106335542A (en) Four-wheeled independent steering mechanism and working method
CN102700646A (en) Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm
CN209351490U (en) A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot
WO2010111911A1 (en) Wheel pumping unit
CN209888977U (en) Magnetic gap type wall-climbing robot
CN207670523U (en) A kind of Omni-mobile obstacle detouring chassis
CN111572662A (en) Magnetic gap type wall-climbing robot
US4932489A (en) Steering and drive means for robot vehicle
CN103192896A (en) Jumping mechanism with adjustable jump-up angle for wheeled hopping robot
CN109278891A (en) A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot
CN210910089U (en) Robot balancing device and robot comprising same
CN208941976U (en) A kind of high-altitude curtain wall barrier-surpassing robot
CN109909973B (en) Independent steering driving wheel based on hub motor
CN210851933U (en) Robot chassis suspension system and robot
CN208133995U (en) A kind of wheeled robot draft hitch
CN206925845U (en) A kind of service robot of centre of gravity, high kinetic stability
CN215361528U (en) Cleaning robot and driven wheel assembly thereof
CN110074710A (en) A kind of high-altitude curtain wall barrier-surpassing robot

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20210406

Address after: 300401 2-1 Yougu Xinke Park, east of Jingfu Road, medical and medical equipment Industrial Park, Beichen economic and Technological Development Zone, Tianjin

Patentee after: BHP robot (Tianjin) Co.,Ltd.

Address before: 300130 No. 8, Hebei University of Technology, Tianjin, Hongqiao No. 330

Patentee before: Hebei University of Technology

TR01 Transfer of patent right