CN209634599U - A kind of climbing robot equipped with air control unit - Google Patents
A kind of climbing robot equipped with air control unit Download PDFInfo
- Publication number
- CN209634599U CN209634599U CN201920140665.0U CN201920140665U CN209634599U CN 209634599 U CN209634599 U CN 209634599U CN 201920140665 U CN201920140665 U CN 201920140665U CN 209634599 U CN209634599 U CN 209634599U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- control unit
- air control
- sliding block
- vertical
- 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
- 230000009194 climbing Effects 0.000 title claims abstract description 52
- 238000009433 steel framing Methods 0.000 claims abstract description 4
- 239000000203 mixture Substances 0.000 abstract 1
- 230000000712 assembly Effects 0.000 description 9
- 238000000429 assembly Methods 0.000 description 9
- 241001465754 Metazoa Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of climbing robots equipped with air control unit, including control device, robot body, first sliding block, second sliding block, air control unit, robot body is by four vertical cylinders, the mu character shape structure-steel framing of four horizontal cylinder compositions, four vertical cylinders are arranged in parallel two-by-two, four horizontal cylinders are arranged in parallel, from top to bottom the horizontal cylinder both ends positioned at second are equipped with the first connector for being connected to vertical cylinder, the upper and lower ends of first connector are connected to the vertical cylinder bottom portion for being set to upside, it is set at the top of the vertical cylinder of downside, from top to bottom the horizontal cylinder both ends positioned at the 4th are equipped with the second connector for being connected to vertical cylinder, the vertical cylinder bottom portion for being set to downside is connected at the top of second connector, each it is all connected on vertical cylinder equipped with the first sliding block, first sliding block is equipped with the first connecting plate for connecting horizontal cylinder departing from one end of vertical cylinder, each It is all connected on horizontal cylinder equipped with the second sliding block, the second sliding block is connected with the second connecting plate departing from one end of horizontal cylinder.
Description
Technical field
The utility model relates to climbing robot technical fields, and in particular to a kind of climbing machine equipped with air control unit
Device people.
Background technique
Wind-power electricity generation has obtained wideling popularize for countries in the world, wind-force as a kind of reproducible clean energy resource in recent years
Generator is as the capital equipment in wind generator system, to hull, steel groove tank outside the maintenance of Wind turbines, tower, ship
The cleaning of body and the detection of fan blade is become more and more important, currently, for steels knots such as the towers of wind-driven generator
The eminence of structure cleans and the work such as inspection are usually manned come what is operated by spider-man or hanging basket, and large labor intensity is constructed week
Phase is long, and maintenance cost is high, and there is very big security risk, for this purpose, the generation of climbing robot is particularly important, it is existing
Climbing robot generallys use crawler travel realization and creeps, and that there are machine volumes is big, from problem that is great, and turning to difficult.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of climbing robots equipped with air control unit, can
By air control unit as grasp device, climbing robot is adsorbed on blower fan tower barrel and is fixed on operating position expansion
Function sex work, using the bionical sufficient animal of rodless cylinder creep principle carry out up and down, turn to and move, reach go to tower or other
The purpose of any position of adsorbable object, structure is simple, greatly reduces the own wt of robot, so that operation is clever
It is living convenient, instruction is sent by control centre and realizes control and work to controller, whole-course automation work, completely instead of
Manpower, has very useful the problems such as also effectively preventing long security risk during manual work, period, low efficiency
Value, to solve defect caused by the prior art.
To solve above-mentioned technical problem the utility model provides technical solution below: a kind of equipped with air control unit
Climbing robot, wherein including control device, robot body, the first sliding block, the second sliding block, air control unit, the machine
Device human body is the mu character shape structure-steel framing being made of four vertical cylinders, four horizontal cylinders, and four vertical cylinders are arranged in parallel two-by-two, four
The horizontal cylinder is arranged in parallel, and from top to bottom the horizontal cylinder both ends positioned at second are equipped with the first connection for being connected to the vertical cylinder
Part, the institute that the upper and lower ends of first connector are connected to and are set to the vertical cylinder bottom portion of upside, are set to downside
It states at the top of vertical cylinder, from top to bottom the horizontal cylinder both ends positioned at the 4th are equipped with the second connector for being connected to the vertical cylinder, described
The vertical cylinder bottom portion for being set to downside is connected at the top of second connector；
It is all connected on each vertical cylinder equipped with first sliding block, the one end of first sliding block departing from the vertical cylinder
Equipped with the first connecting plate for connecting the horizontal cylinder, it is all connected on each horizontal cylinder sliding equipped with second sliding block, described second
Block is connected with the second connecting plate departing from one end of the horizontal cylinder, and one end of the horizontal cylinder is connected with and first sliding block
The third connecting plate of connection, second connecting plate, the third connecting plate, first connector, second connector
On be all connected with equipped with the air control unit；
The vertical cylinder interior is equipped with the first piston for driving first sliding block to move up and down, and the horizontal cylinder interior, which is equipped with, to be driven
The second piston that second sliding block moves left and right is moved, gas source, the pneumatic control are connected with outside the vertical cylinder, the horizontal cylinder
It is connected with vacuum generator outside device, the control device is connected to the side of the vertical cylinder, and the control device is controlled respectively
System connects the vertical cylinder, the horizontal cylinder, the air control unit.
A kind of above-mentioned climbing robot equipped with air control unit, wherein the control device include control cabinet with
And it is set to controller inside the control cabinet, valve island, the control cabinet is connected to the side of the vertical cylinder, the vacuum hair
Raw device, the gas source connects with the valve island, the valve island be equipped with respectively with the vertical cylinder, the horizontal cylinder, it is described pneumatically
The tracheae of control device connection, control connects the valve island, vacuum generator, the vertical cylinder, described respectively for the control
Horizontal cylinder, the air control unit.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein the control cabinet is connected to the two of upside
On two vertical cylinders of a vertical cylinder up or down side.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein any end at the horizontal cylinder both ends is set
There is the bracket connecting with the third connecting plate.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein the horizontal cylinder of upside is departing from described
The side of first connector is equipped with the fixed link connecting with the vertical cylinder end point.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein the air control unit includes push-and-pull
Component, Suction cup assembly, the push-and-pull component include push-and-pull cylinder, mounting flange, and the Suction cup assembly includes sucker, fixed frame, institute
The push-pull rod for stating push-and-pull cylinder interior is drivingly connected the mounting flange, the mounting flange departing from the push-and-pull cylinder one end with
Fixed frame connection, the sucker are connected to the fixed frame departing from one end of the mounting flange, set on the sucker
There is the interface connecting with the tracheae.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein the push-and-pull cylinder interior is set there are three connecting
Connect the push-pull rod of the mounting flange.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein first connector is equipped with connection
First fixed plate of the push-and-pull cylinder, second connector is equipped with the second fixed plate for connecting the push-and-pull cylinder, described to push away
Scuffing of cylinder bore is connected to the side of first fixed plate or second fixed plate.
Above-mentioned a kind of climbing robot equipped with air control unit, wherein first connector is departing from described
The side of first fixed plate is symmetrically arranged with two link slots.
According to a kind of technical solution effect that the climbing robot equipped with air control unit provides of above-mentioned the utility model
It is: by air control unit as grasp device, climbing robot is adsorbed on blower fan tower barrel and is fixed on operating position
Function sex work is unfolded, using the bionical sufficient animal of rodless cylinder creep principle carry out up and down, turn to and move, reach go to tower or
The purpose of any position of other adsorbable objects, structure is simple, greatly reduces the own wt of robot, so that when work
It waits flexibly and easily, control and work of the instruction realization to controller is sent by control centre, whole-course automation work is replaced completely
Generation manpower, has very real the problems such as also effectively preventing long security risk during manual work, period, low efficiency
Value
Detailed description of the invention
Fig. 1 is a kind of use state diagram of the climbing robot equipped with air control unit of the utility model；
Fig. 2 is a kind of structural schematic diagram of the climbing robot equipped with air control unit of the utility model；
Fig. 3 is a kind of second use state diagram of the climbing robot equipped with air control unit of the utility model；
Fig. 4 is that component and Suction cup assembly are pushed and pulled in a kind of climbing robot equipped with air control unit of the utility model
Attachment structure schematic diagram；
Fig. 5 is the structural representation of Suction cup assembly in a kind of climbing robot equipped with air control unit of the utility model
Figure；
Fig. 6 is the structural representation of the first connector in a kind of climbing robot equipped with air control unit of the utility model
Figure；
Fig. 7 is the structural representation of the second connector in a kind of climbing robot equipped with air control unit of the utility model
Figure.
Wherein, appended drawing reference is as follows: control device 101, robot body 102, push-and-pull component 103, Suction cup assembly 104,
Vertical cylinder 201, horizontal cylinder 202, fixed link 203, push-and-pull cylinder 204, bracket 205, the first sliding block 206, the connection of the second sliding block 207, first
Plate 209, third connecting plate 211, the first connector 212, the second connector 213, push-pull rod 301, is fixed second connecting plate 210
Flange 302, sucker 303, fixed frame 304, the first fixed plate 401, the second fixed plate 402, link slot 403.
Specific embodiment
In order to realize utility model technological means, create feature, reach purpose and effect is easy to understand, lower knot
Conjunction is specifically illustrating, and the utility model is further described.
One preferred embodiment of the utility model is to provide a kind of climbing robot equipped with air control unit, it is therefore an objective to
By air control unit as grasp device, climbing robot is adsorbed on blower fan tower barrel and is fixed on operating position expansion
Function sex work, using the bionical sufficient animal of rodless cylinder creep principle carry out up and down, turn to and move, reach go to tower or other
The purpose of any position of adsorbable object, structure is simple, greatly reduces the own wt of robot, so that operation is clever
It is living convenient, instruction is sent by control centre and realizes control and work to controller, whole-course automation work, completely instead of
Manpower, has very useful the problems such as also effectively preventing long security risk during manual work, period, low efficiency
Value.
As shown in Figs. 1-2, a kind of climbing robot equipped with air control unit, wherein including control device 101, machine
Device human body 102, the first sliding block 206, the second sliding block 207, air control unit, robot body 102 are by four vertical cylinders
201, the mu character shape structure-steel framing that four horizontal cylinders 202 form, four vertical cylinders 201 are arranged in parallel two-by-two, and four horizontal cylinders 202 are set in parallel
It sets, from top to bottom 202 both ends of horizontal cylinder positioned at second are equipped with the first connector 212 for being connected to vertical cylinder 201, the first connector
The top of vertical cylinder 201 that 212 upper and lower ends are connected to and are set to 201 bottom of vertical cylinder of upside, are set to downside, by up to
202 both ends of horizontal cylinder positioned at the 4th are equipped with the second connector 213 for being connected to vertical cylinder 201 down, and the top of the second connector 213 connects
It is connected to 201 bottom of vertical cylinder for being set to downside；
It is each all connected on vertical cylinder 201 equipped with the first sliding block 206, the first sliding block 206 is equipped with departing from one end of vertical cylinder 201
The first connecting plate 209 of horizontal cylinder 202 is connected, is all connected on each horizontal cylinder 202 equipped with the second sliding block 207, the second sliding block 207 back
It is connected with the second connecting plate 210 from one end of horizontal cylinder 202, one end of horizontal cylinder 202 is connected with to be connected with the first sliding block 206
The third connecting plate 211 connect, the second connecting plate 210, third connecting plate 211, the first connector 212, on the second connector 213
It is connected with air control unit；
It is equipped with the first piston that the first sliding block 206 of driving moves up and down inside vertical cylinder 201, is equipped with driving inside horizontal cylinder 202
The second piston that second sliding block 207 moves left and right, vertical cylinder 201, horizontal cylinder 202 are connected with gas source outside, connect outside air control unit
It is equipped with vacuum generator, control device 101 is connected to the side of vertical cylinder 201, and control device 101 controls the vertical cylinder of connection respectively
201, horizontal cylinder 202, air control unit.
A kind of climbing robot equipped with air control unit provided in this embodiment, the control device 101 of use include
Control cabinet and the controller being set to inside control cabinet, valve island, control cabinet are connected to the side of vertical cylinder 201, vacuum generator,
The connection of the island gas source Jun Yufa, valve island are equipped with the tracheae connecting respectively with vertical cylinder 201, horizontal cylinder 202, air control unit, control
Connection valve island, vacuum generator, vertical cylinder 201, horizontal cylinder 202, air control unit are controlled respectively.
A kind of climbing robot equipped with air control unit provided in this embodiment, the control cabinet of use are connected to upside
Two vertical 201 up or down sides of cylinder two vertical cylinders 201 on.
As shown in figure 3, a kind of climbing robot equipped with air control unit provided in this embodiment, the horizontal cylinder of use
Any end at 202 both ends is equipped with the bracket 205 connecting with third connecting plate 211.
The horizontal cylinder 202 of a kind of climbing robot equipped with air control unit provided in this embodiment, the upside of use is carried on the back
The fixed link 203 that connect with vertical 201 endpoint of cylinder is equipped with from the side of the first connector 212.
As illustrated in figures 4-5, a kind of climbing robot equipped with air control unit provided in this embodiment, use it is pneumatic
Control device includes push-and-pull component 103, Suction cup assembly 104, and push-and-pull component 103 includes push-and-pull cylinder 204, mounting flange 302, is inhaled
Disk component 104 includes sucker 303, fixed frame 304, pushes and pulls the push-pull rod 301 inside cylinder 204 and is drivingly connected mounting flange 302, Gu
The one end for determining flange 302 departing from push-and-pull cylinder 204 is connect with fixed frame 304, and sucker 303 is connected to fixed frame 304 departing from solid
Determine one end of flange 302, sucker 303 is equipped with the interface connecting with tracheae.
A kind of climbing robot equipped with air control unit provided in this embodiment is set inside the push-and-pull cylinder 204 of use
There are three the push-pull rods 301 for being connected and fixed flange 302.
As shown in fig. 6-7, a kind of climbing robot equipped with air control unit provided in this embodiment, the first of use
Connector 212 is equipped with the first fixed plate 401 of connection push-and-pull cylinder 204, and the second connector 213 is equipped with connection push-and-pull cylinder 204
The second fixed plate 402, push-and-pull cylinder 204 is connected to the side of the first fixed plate 401 or the second fixed plate 402.
A kind of climbing robot equipped with air control unit provided in this embodiment, the first connector 212 back of use
Two link slots 403 are symmetrically arranged with from the side of the first fixed plate 401.
A kind of climbing robot equipped with air control unit provided in this embodiment can carry out following movement when in use
Mode:
It moves up: making sucker 303 be in adsorbed state by vacuum generator, it is assumed that all Suction cup assemblies 104
It is adsorbed state, the Suction cup assembly 104 connected on the horizontal cylinder 202 of the first sliding block 206 keeps absorption, remaining Suction cup assembly
104 desorb, and for push-and-pull cylinder 204 by 104 pull-up of Suction cup assembly, controller drives first piston to drive the first sliding block 206 downwards
It is mobile to drive entire climbing robot to move up in turn, it then pushes and pulls cylinder 204 and Suction cup assembly 104 is released and adsorbed,
The Suction cup assembly 104 being connected on the horizontal cylinder 202 of the first sliding block 206 desorbs, and moves up under the driving of controller
Until being moved to initial position, whole move up is completed；
It moves down: assuming that all Suction cup assemblies 104 are adsorbed state, with the step of moving up on the contrary, before this
The Suction cup assembly 104 connected on the horizontal cylinder 202 of the first sliding block 206 moves down, followed by climbing robot integrally moves down；
It is moved to the left: assuming that all Suction cup assemblies 104 are adsorbed state, the sucker being connected on the second sliding block 207
It drives the second sliding block 207 to be moved to the left by second piston while component 104 desorbs, is moved to the sucker of endpoint
Component 104 no longer moves, and when in-position is adsorbed, and all remaining all cylinders desorb, controller control the
Two the second sliding blocks of piston driving 207 are moved right on horizontal cylinder 202 so that whole be moved to the left, when in-position into
Row absorption；
It moves right: assuming that all Suction cup assemblies 104 are adsorption-like, the sucker group being connected on the second sliding block 207
It drives the second sliding block 207 to move right by second piston while part 104 desorbs, is moved to the sucker group of endpoint
Part 104 no longer moves, and when in-position is adsorbed, and remaining all Suction cup assemblies 104 discharge, and control second piston drives the
Two sliding blocks 207 are moved to the left on horizontal cylinder 202 so that whole move right, and when in-position is adsorbed；
Turn to movement: assuming that all Suction cup assemblies 104 are adsorbed state, the of the horizontal cylinder 202 in upside or downside two
Two Suction cup assemblies 104 on two sliding blocks 207 desorb, two 204 pull-up Suction cup assemblies 104 of push-and-pull cylinder, controller point
Not Kong Zhi two second pistons drive the second sliding blocks 207 to the mobile identical distance in the direction of bracket 205, push and pull cylinder with latter two
Suction cup assembly 104 is adsorbed while 204 release Suction cup assembly 104, and then remaining Suction cup assembly 104 desorbs, and pushes away
204 pull-up Suction cup assembly 104 of scuffing of cylinder bore, two Suction cup assemblies 104 of subsequent adsorbed state are under control of the controller by the second sliding block
207 drive to one end movement departing from bracket 205, and the Suction cup assembly 104 then discharged is released and inhaled by push-and-pull cylinder 204
It is attached to realize leftward or rightward rotation.
To sum up, a kind of climbing robot equipped with air control unit of the utility model, can be filled by pneumatic control
It sets as grasp device, climbing robot is adsorbed on blower fan tower barrel to and is fixed on operating position expansion function sex work, benefit
With the bionical sufficient animal of rodless cylinder creep principle carries out up and down, turn to and move, reach and go to tower or other adsorbable objects
The purpose of any position, structure is simple, greatly reduces the own wt of robot, so that operation is flexible and convenient, passes through
Control centre sends control and work of the instruction realization to controller, and whole-course automation works, completely instead of manpower, also effectively
The problems such as avoiding long security risk during manual work, period, low efficiency, has very useful value.
The specific embodiment of utility model is described above.It is to be appreciated that utility model is not limited to
Above-mentioned particular implementation, devices and structures not described in detail herein should be understood as is given with the common mode in this field
To implement；Those skilled in the art, which can make various deformations or amendments within the scope of the claims and make, several simply to push away
It drills, deform or replaces, this has no effect on the substantive content of utility model.
Claims (9)
1. a kind of climbing robot equipped with air control unit, which is characterized in that including control device, robot body,
One sliding block, the second sliding block, air control unit, the robot body are the mu character shape being made of four vertical cylinders, four horizontal cylinders
Structure-steel framing, four vertical cylinders are arranged in parallel two-by-two, and four horizontal cylinders are arranged in parallel, and are from top to bottom located at second cross
Cylinder both ends are equipped with the first connector for being connected to the vertical cylinder, and the upper and lower ends of first connector, which are connected to, to be set to
The vertical cylinder bottom portion of upside is set at the top of the vertical cylinder of downside, and from top to bottom the horizontal cylinder both ends positioned at the 4th are set
There is the second connector for being connected to the vertical cylinder, the vertical cylinder bottom for being set to downside is connected at the top of second connector
Portion；
It is all connected on each vertical cylinder equipped with first sliding block, first sliding block is equipped with departing from one end of the vertical cylinder
The first connecting plate of the horizontal cylinder is connected, is all connected on each horizontal cylinder equipped with second sliding block, the second sliding block back
It is connected with the second connecting plate from one end of the horizontal cylinder, one end of the horizontal cylinder is connected with to be connect with first sliding block
Third connecting plate, second connecting plate, the third connecting plate, first connector, on second connector
It is connected with the air control unit；
The vertical cylinder interior is equipped with the first piston for driving first sliding block to move up and down, and the horizontal cylinder interior is equipped with driving institute
The second piston that the second sliding block moves left and right is stated, gas source, the air control unit are connected with outside the vertical cylinder, the horizontal cylinder
It is connected with vacuum generator outside, the control device is connected to the side of the vertical cylinder, the control device company of control respectively
Connect the vertical cylinder, the horizontal cylinder, the air control unit.
2. a kind of climbing robot equipped with air control unit as described in claim 1, which is characterized in that the control dress
It sets including control cabinet and the controller being set to inside the control cabinet, valve island, the control cabinet is connected to the vertical cylinder
Side, the vacuum generator, the gas source are connect with the valve island, the valve island be equipped with respectively with the vertical cylinder, institute
The tracheae of horizontal cylinder, air control unit connection is stated, control connects the valve island respectively, the vacuum occurs for the control
Device, the vertical cylinder, the horizontal cylinder, the air control unit.
3. a kind of climbing robot equipped with air control unit as claimed in claim 2, which is characterized in that the control cabinet
It is connected on two vertical cylinders of two vertical cylinder up or down sides of upside.
4. a kind of climbing robot equipped with air control unit as claimed in claim 2, which is characterized in that the horizontal cylinder two
Any end at end is equipped with the bracket connecting with the third connecting plate.
5. a kind of climbing robot equipped with air control unit as claimed in claim 4, which is characterized in that upside it is described
Horizontal cylinder is equipped with the fixed link connecting with the vertical cylinder end point departing from the side of first connector.
6. a kind of climbing robot equipped with air control unit as claimed in claim 5, which is characterized in that the pneumatic control
Device processed includes push-and-pull component, Suction cup assembly, and the push-and-pull component includes push-and-pull cylinder, mounting flange, and the Suction cup assembly includes
The push-pull rod of sucker, fixed frame, the push-and-pull cylinder interior is drivingly connected the mounting flange, and the mounting flange is departing from described
One end of push-and-pull cylinder is connect with the fixed frame, and the sucker is connected to the fixed frame departing from the one of the mounting flange
End, the sucker are equipped with the interface connecting with the tracheae.
7. a kind of climbing robot equipped with air control unit as claimed in claim 6, which is characterized in that the push-and-pull cylinder
Inside sets that there are three the push-pull rods for connecting the mounting flange.
8. a kind of climbing robot equipped with air control unit as claimed in claim 7, which is characterized in that described first connects
Fitting is equipped with the first fixed plate for connecting the push-and-pull cylinder, and second connector, which is equipped with, connects the second of the push-and-pull cylinder
Fixed plate, the push-and-pull cylinder are connected to the side of first fixed plate or second fixed plate.
9. a kind of climbing robot equipped with air control unit as claimed in claim 8, which is characterized in that described first connects
Fitting is symmetrically arranged with two link slots departing from the side of first fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920140665.0U CN209634599U (en) | 2019-01-28 | 2019-01-28 | A kind of climbing robot equipped with air control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920140665.0U CN209634599U (en) | 2019-01-28 | 2019-01-28 | A kind of climbing robot equipped with air control unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209634599U true CN209634599U (en) | 2019-11-15 |
Family
ID=68479460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920140665.0U Expired - Fee Related CN209634599U (en) | 2019-01-28 | 2019-01-28 | A kind of climbing robot equipped with air control unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209634599U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110549A (en) * | 2021-04-22 | 2021-07-13 | 上海电气集团股份有限公司 | Blade robot and track tracking method thereof |
-
2019
- 2019-01-28 CN CN201920140665.0U patent/CN209634599U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110549A (en) * | 2021-04-22 | 2021-07-13 | 上海电气集团股份有限公司 | Blade robot and track tracking method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201633019U (en) | Beacon deposit eliminating mechanical hand | |
| CN103482360B (en) | A kind of production line of pet paper diaper automatic grabbing device | |
| CN209634599U (en) | A kind of climbing robot equipped with air control unit | |
| CN201200382Y (en) | Robot for cleaning wall surface | |
| CN208695845U (en) | Multifunctional pipeline cleaning robot | |
| CN209634601U (en) | A kind of climbing robot equipped with magnetic force adsorption apparatus | |
| CN204337733U (en) | A kind of hydraulic pressure steel wire rope drive is jumped out of the building machine | |
| CN204148475U (en) | Curve turnover extractor | |
| CN201883964U (en) | Automatic drill stem conveying device | |
| CN108523785B (en) | Pneumatic glass curtain wall cleaning robot | |
| CN214402607U (en) | Automatic crawling spraying machine | |
| CN102233309A (en) | Movable dry-type paint spraying device | |
| CN212421320U (en) | Wall climbing maintenance robot for fan | |
| CN111483528B (en) | Climbing robot with pneumatic control device | |
| CN209505902U (en) | A kind of climbing robot equipped with magnetic force adsorption apparatus | |
| CN116220332A (en) | Safe construction hanging basket is built in room | |
| CN206680151U (en) | A kind of construction Special material lifting means | |
| CN206931561U (en) | Full-automatic roller die-bonding device | |
| CN209634600U (en) | A kind of climbing robot equipped with magnetic force adsorption apparatus | |
| CN211865976U (en) | Multi-angle automatic cleaning device for oil cylinder | |
| CN111483529A (en) | Climbing robot with pneumatic control device | |
| CN202097064U (en) | Movable dry-type paint spray device | |
| CN207592144U (en) | A kind of crane span structure surface paint spraying device | |
| CN209598652U (en) | Suit equipment for O-ring and valve body socket | |
| CN204868870U (en) | Wallboard manipulator mobile device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191115 |