JP2012082630A - High place inspection device - Google Patents

High place inspection device Download PDF

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JP2012082630A
JP2012082630A JP2010230265A JP2010230265A JP2012082630A JP 2012082630 A JP2012082630 A JP 2012082630A JP 2010230265 A JP2010230265 A JP 2010230265A JP 2010230265 A JP2010230265 A JP 2010230265A JP 2012082630 A JP2012082630 A JP 2012082630A
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inspection
wall surface
inspection device
inspection robot
robot
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Hiroyuki Tanase
寛之 田名瀬
Takeshi Goto
武 後藤
Takayuki Wada
孝幸 和田
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Central Nippon Highway Engineering Nagoya Co Ltd
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Central Nippon Highway Engineering Nagoya Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a high place inspection device capable of accurately performing a proximity inspection while climbing a vertical wall surface of a bridge pier or a building or the like.SOLUTION: The high place inspection device includes: an inspection robot 1 loaded with an adsorption mechanism to be adsorbed to the wall surface of a bridge pier or a building or the like by electrostatic attractive force and an inspection apparatus for the proximity inspection of the wall surface; an operation apparatus 2 on the ground for remotely controlling the inspection robot 1 by radio; and a data processing apparatus 3 for recording and displaying data transmitted from the inspection apparatus. The adsorption mechanism is configured such that a holding surface material 4 for which carbon is mixed in an elastic insulation material is an abutting surface with the wall surface and the electrostatic attractive force is created between the holding surface material surface and the wall surface by supplying a voltage to the holding surface material 4.

Description

本発明は、橋脚や建物等の垂直な壁面を昇りながら正確に近接点検を行うことができる高所点検装置に関するものである。   The present invention relates to an altitude inspection apparatus capable of accurately performing proximity inspection while ascending a vertical wall such as a pier or a building.

例えば、道路や鉄道等の橋梁を支承する橋脚は、車両等の通過により加わる荷重や雨水や塩分による内部の鉄筋腐食、経時変化によるコンクリートの劣化あるいは施工不良等により損傷が発生し進展するため、定期的に点検・保守を行う必要がある。また、建物の壁面でも風雨や紫外線等による劣化や、施工不良に起因する損傷を把握するため、同様に点検・保守を行う必要がある。
従来から、この点検作業は原則として、検査員が梯子をかけたり、高所作業車を使って昇ってゆき直接、検査対象箇所に接近し目視検査や打音空洞検査等を行っているが、梯子をかけたり、高所作業車を据えたりできない橋脚があり検査ができないという問題があった。また、高所での点検作業は危険であるという問題もあった。 For example, piers that support bridges such as roads and railroads develop and develop damage due to load applied by passing vehicles etc., corrosion of internal reinforcing bars due to rainwater and salt, deterioration of concrete due to changes over time, poor construction, etc. Regular inspection and maintenance is required. In addition, it is necessary to perform inspection and maintenance in the same way in order to grasp the deterioration caused by wind and rain, ultraviolet rays, etc., and the damage caused by poor construction even on the wall surface of the building.
Conventionally, this inspection work has been done as a rule by inspectors hanging ladders, climbing up using a work place at a high altitude, and directly approaching the inspection target place to perform visual inspection and sound cavity inspection, etc. There was a problem that there was a bridge pier that could not be put on a ladder or an aerial work vehicle and could not be inspected. There is also a problem that inspection work at high places is dangerous.

そこで、特許文献１や特許文献２に示されるように、伸縮自在な棒状アーム材を利用して、その先端にカメラ等の点検装置を取り付け、地上からの遠隔操作によりカメラを移動させるとともに、得られた映像データを地上のモニターに送信するようにした点検装置が提案されている。また、特許文献３に示されるように、橋梁の下部にレールを設け、このレール上に沿いカメラを配した台車を地上からの無線により移動させるとともに、得られた映像を地上のモニターに送信するようにした点検装置も提案されている。   Therefore, as shown in Patent Document 1 and Patent Document 2, an inspection device such as a camera is attached to the tip of an extensible rod-shaped arm member, and the camera is moved by remote control from the ground. There has been proposed an inspection device that transmits received video data to a ground monitor. In addition, as shown in Patent Document 3, a rail is provided at the bottom of the bridge, and a carriage with a camera arranged on the rail is moved wirelessly from the ground, and the obtained image is transmitted to a ground monitor. Such an inspection device has also been proposed.

しかしながら、特許文献１や特許文献２に記載の従来技術においては、安定性や重量等の関係からアーム材の長さに制限があり高い場所の点検ができないという問題や、アーム材の支持台を設置するのに平地面が必要となり場所的な制限を受けやすいという問題があった。また、特許文献３に記載の従来技術においては、レールを設置した橋梁の下部の点検ができるのみで、橋脚の壁面は点検することができないという問題や、設備費が高くなるという問題があった。   However, in the prior art described in Patent Document 1 and Patent Document 2, there is a problem that the length of the arm material is limited due to stability, weight, and the like, and that a high place cannot be inspected. There was a problem that a flat ground was required for installation, and it was subject to space restrictions. Moreover, in the prior art described in Patent Document 3, there is a problem that only the lower part of the bridge on which the rail is installed can be inspected, and the wall surface of the pier cannot be inspected, and the equipment cost is increased. .

一方、高所点検装置ではないが垂直な壁等の一般的な登攀ロボットとして、真空吸引式のものや磁石吸着式のものが知られている。ところが、真空吸引式の場合は滑らかで気密質な壁面にしか適用することができず、また磁石吸着式の場合は強磁性の壁面にしか適用することができないため、いずれもコンクリート製の橋脚等には適用できないものであった。   On the other hand, as a general climbing robot such as a vertical wall that is not an altitude inspection device, a vacuum suction type and a magnet adsorption type are known. However, the vacuum suction type can be applied only to smooth and airtight wall surfaces, and the magnet adsorption type can only be applied to ferromagnetic wall surfaces. Was not applicable.

特開２００７−７７６５３号公報JP 2007-77653 A 特開２００２−１３１２３４号公報JP 2002-131234 A 特開平８−１２８０１５号公報JP-A-8-128015

本発明は上記のような問題点を解決して、地上からの遠隔操作によって橋脚や建物等の垂直な壁面を昇りながら正確かつ安全に近接点検を行うことができ、また設置場所の制限を受けることもなく、またコンクリート、木材、鋼、ガラス等のあらゆる材質で、かつ表面に多少の凹凸がある材質であっても適用することができ、また設備費も安価なものとすることができる高所点検装置を提供することを目的として完成されたものである。   The present invention solves the above-mentioned problems, and can perform a close inspection accurately and safely while ascending a vertical wall such as a pier or a building by remote control from the ground, and is limited in installation location. Of course, it can be applied to any material such as concrete, wood, steel, glass, etc., and a material with some unevenness on the surface, and the equipment cost can be low. It was completed for the purpose of providing a place inspection device.

上記課題を解決するためになされた本発明の高所点検装置は、静電引力により橋脚や建物等の壁面に吸着する吸着機構、及び壁面の近接点検用の検査機器を搭載した点検ロボットと、地上にあって前記点検ロボットを無線により遠隔操作する操作機器と、前記検査機器から送信されたデータの記録や表示をするデータ処理機器からなることを特徴とするものである。   The height inspection device of the present invention made to solve the above problems is an inspection robot equipped with an adsorption mechanism that adsorbs to a wall surface of a bridge pier or a building by electrostatic attraction, and an inspection device for proximity inspection of the wall surface, It is characterized by comprising an operating device on the ground for remotely operating the inspection robot wirelessly and a data processing device for recording and displaying data transmitted from the inspection device.

前記吸着機構は、弾性絶縁材に炭素を混入した保持面材を壁面との当接面としており、この保持面材に電圧供給して保持面材表面と壁面表面との間に静電引力を作り出すよう構成されているものが好ましく、これを請求項２に係る発明とする。   In the adsorption mechanism, a holding face material in which carbon is mixed into an elastic insulating material is used as a contact surface with a wall surface, and an electrostatic attractive force is generated between the holding face material surface and the wall surface by supplying voltage to the holding face material. What is comprised so that it may produce is preferable, and this is set as the invention which concerns on Claim 2.

また、点検ロボットは、保持面材を無限軌道方式の履帯として利用し、壁面上を移動するよう構成されているものが好ましく、これを請求項３に係る発明とする。   The inspection robot is preferably configured to move on the wall surface using the holding face material as an endless track type crawler belt, and this is the invention according to claim 3.

更に、点検ロボットは落下回収用のパラシュートを装備しているものが好ましく、これを請求項４に係る発明とする。   Further, the inspection robot is preferably equipped with a parachute for drop recovery, and this is the invention according to claim 4.

請求項１に係る発明では、静電引力により橋脚や建物等の壁面に吸着する吸着機構、及び壁面の近接点検用の検査機器を搭載した点検ロボットとしたので、コンクリート、木材、鋼、ガラス等のあらゆる材質で、かつ表面に多少の凹凸がある材質であっても確実に吸着することができ、橋脚や建物等の垂直な壁面の近接点検を行うことができることとなる。   In the invention according to claim 1, since it is an inspection robot equipped with an adsorption mechanism that adsorbs to a wall surface of a pier or a building by electrostatic attraction and an inspection device for proximity inspection of the wall surface, concrete, wood, steel, glass, etc. Even if the material is any material with a slight unevenness on the surface, it can be reliably adsorbed, and a vertical inspection of a vertical wall such as a bridge pier or a building can be performed.

請求項２に係る発明では、吸着機構は弾性絶縁材に炭素を混入した保持面材を壁面との当接面としており、この保持面材に電圧供給して保持面材表面と壁面表面との間に静電引力を作り出すよう構成されているので、簡単な構造で強力な吸着力を得ることができ、また設備費も安価なものとすることができる。   In the invention according to claim 2, the adsorbing mechanism uses the holding face material in which carbon is mixed in the elastic insulating material as the contact surface with the wall surface, and voltage is supplied to the holding face material to Since it is configured to generate an electrostatic attraction in between, it is possible to obtain a strong attracting force with a simple structure and to reduce the equipment cost.

請求項３に係る発明では、点検ロボットは保持面材を無限軌道方式の履帯として利用し、壁面上を移動するよう構成されているので、壁面に多少の凹凸があっても確実に移動することが可能となる。   In the invention according to claim 3, since the inspection robot is configured to move on the wall surface using the holding surface material as an endless track type crawler belt, the inspection robot can move reliably even if there are some irregularities on the wall surface. Is possible.

請求項４に係る発明では、点検ロボットは落下回収用のパラシュートを装備しているので、破壊することなく安全に点検ロボットの回収を行うことができる。   In the invention according to claim 4, since the inspection robot is equipped with the parachute for drop recovery, the inspection robot can be recovered safely without being destroyed.

本発明の使用状態を示す概略の説明図である。It is a schematic explanatory drawing which shows the use condition of this invention. 点検ロボットの移動状態を示す説明図である。It is explanatory drawing which shows the movement state of an inspection robot. 静電引力による吸着原理を示す説明図である。It is explanatory drawing which shows the adsorption | suction principle by electrostatic attraction. 点検ロボットの一例を示す正面図である。It is a front view showing an example of an inspection robot. 図４の平面図である。FIG. 5 is a plan view of FIG. 4.

以下に、図面を参照しつつ本発明の好ましい実施の形態を示す。
本発明の高所点検装置は、例えば道路や鉄道等の橋梁３０（図２を参照）を支承する橋脚３１等の点検に用いられるものであり、図１は、その使用状態を示す概略の説明図である。
本発明の高所点検装置は、少なくとも橋脚３１等の壁面を自在に登攀・下降する点検ロボット１と、該点検ロボット１を無線により遠隔操作する操作機器２と、該点検ロボット１から送信されたデータのデータ処理機器３からなるものである。なお、点検ロボット１が登攀・下降する壁面は水平地表面に対して９０度の垂直面を対象としているが、４５度以上の傾斜面であれば同様に登攀・下降の対象である。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
The height inspection apparatus of the present invention is used for inspection of a bridge pier 31 that supports a bridge 30 (see FIG. 2) such as a road or a railway, for example, and FIG. 1 is a schematic explanation showing its use state. FIG.
The height inspection apparatus according to the present invention is transmitted from the inspection robot 1 which can freely climb and descend at least the wall surface of the pier 31 and the like, the operation device 2 which remotely operates the inspection robot 1 by radio, and the inspection robot 1 It consists of data processing equipment 3 for data. The wall surface on which the inspection robot 1 climbs and descends is a vertical surface of 90 degrees with respect to the horizontal ground surface, but if it is an inclined surface of 45 degrees or more, it is also the object of climbing and descending.

この点検ロボット１は、少なくとも静電引力により橋脚や建物等の壁面に吸着する吸着機構、及び壁面の近接点検用の検査機器を搭載したものである。
この静電引力とは、従来の真空吸引や磁石吸着とは全く異なり、ロボットと壁面との間に作り出した静電気の引力をいい、本発明の点検ロボット１は、この静電引力を利用して両者を吸着させるという新しい発想を用いた吸着技術である。 This inspection robot 1 is equipped with an adsorption mechanism that adsorbs to a wall surface of a pier or a building by electrostatic attraction and an inspection device for proximity inspection of the wall surface.
This electrostatic attraction is completely different from the conventional vacuum attraction and magnet attraction, and means the electrostatic attraction created between the robot and the wall. The inspection robot 1 of the present invention uses this electrostatic attraction. This is an adsorption technology using a new idea of adsorbing both.

前記吸着機構としては、弾性絶縁材に炭素を混入した保持面材を壁面との当接面としており、この保持面材に電流を流して保持面材表面と壁面表面との間に静電引力を作り出すよう構成したものとすることができる。
弾性絶縁材を使うのは、種々の粗さの壁面に対して良好な粘着力を発現させ優れた形状追随性を得るためであり、例えばシリコンゴムのようなゴム材やエラストマーを用いることができる。また、この弾性絶縁材を電極として使うために炭素を混入する。 As the adsorption mechanism, a holding face material in which carbon is mixed into an elastic insulating material is used as a contact surface with the wall surface, and an electric current is passed through the holding face material to cause electrostatic attraction between the holding face material surface and the wall surface. Can be configured to produce
The reason for using an elastic insulating material is to develop a good adhesive force with respect to wall surfaces of various roughnesses and to obtain an excellent shape following property. For example, a rubber material such as silicon rubber or an elastomer can be used. . Moreover, carbon is mixed in order to use this elastic insulating material as an electrode.

図３に、この吸着機構の静電引力による吸着原理の概略を示す。
図において、４は壁面３２に接する保持面材であり、弾性絶縁材であるリコンゴムからなる。端部にはアースが取り付けられており、また背面側には保持用の背面板５が装着されている。
この保持面材４に高電圧を付加すると、内部の物質が励起されて電荷を帯びた状態となる。なお、高電圧（１〜１５ＫＶ）を付加するといっても、必要とする電流は１０〜２０ナノアンペア（横力１ニュートン当り）と微小であるため、電力供給装置としては１．５ボルトの電池で十分である。一方、これに伴って壁材内部表面も誘電されて電荷を帯びた状態となり、吸着界面を挟んで保持面材４の内部物質の＋−電荷と壁材内部表面の＋−電荷とが互いに引き合って強力な吸着力を発揮することとなる。
なお、保持面材４として弾性絶縁材を使うので、壁面３２と密着した状態となり、表面全体にわたり電極（＋−電位）を近接させた状態に維持することができ、強力な吸着力を発揮する。また、吸着作用を電気的に制御するため、吸着と非吸着の交代を１０〜５０ミリ秒の短時間の反応で行うことができる。 FIG. 3 shows an outline of the principle of adsorption by electrostatic attraction of this adsorption mechanism.
In the figure, reference numeral 4 denotes a holding surface material in contact with the wall surface 32, and is made of recon rubber which is an elastic insulating material. A ground is attached to the end, and a holding back plate 5 is attached to the back side.
When a high voltage is applied to the holding face material 4, the internal substance is excited and becomes charged. Even if a high voltage (1 to 15 KV) is applied, the required current is as small as 10 to 20 nanoamperes (per 1 Newton lateral force). Is enough. On the other hand, the inner surface of the wall material is also dielectrically charged, and the + -charge of the internal material of the holding face material 4 and the + -charge of the inner surface of the wall material attract each other across the adsorption interface. Will exhibit a strong adsorption force.
In addition, since an elastic insulating material is used as the holding face material 4, it is in a state of being in close contact with the wall surface 32, and the electrode (+ -potential) can be kept in close proximity over the entire surface, thereby exhibiting a strong adsorption force. . Moreover, since adsorption | suction effect | action is electrically controlled, alternating of adsorption | suction and non-adsorption | suction can be performed by the reaction for a short time of 10-50 milliseconds.

図４は点検ロボット１を示す正面図、図５はその平面図である。この点検ロボット１は、保持面材４を無限軌道方式の履帯として用い壁面上を移動するよう構成されている。図４では水平に描かれているが、使用時には左側を上部、右側を下部として垂直な壁面に密着した状態で移動する。
図中、６は駆動輪であり、この駆動輪６の回動により無限軌道を形成した保持面材４を回転させ壁面上を吸着状態を維持しつつ移動する。６ａは転輪であり、図示のものでは、中央部の履帯の他に左右両側にも転輪６ａで支持された無限軌道方式の履帯が設けられている。そして、駆動輪６を回動させつつ吸着機構の吸着と非吸着とを短時間で切り替えることにより、点検ロボット１を落下させずに自由に移動することができる。
なお、移動方式としては無限軌道方式の履帯の他、タイヤによる移動方式や疑似生物方式の移動方式も適用可能である。 4 is a front view showing the inspection robot 1, and FIG. 5 is a plan view thereof. The inspection robot 1 is configured to move on a wall surface using the holding face material 4 as an endless track type crawler belt. Although depicted horizontally in FIG. 4, when in use, it moves in a state of being in close contact with a vertical wall surface with the left side as the upper part and the right side as the lower part.
In the figure, reference numeral 6 denotes a drive wheel, and the holding face material 4 forming an endless track is rotated by the rotation of the drive wheel 6 to move on the wall surface while maintaining the suction state. Reference numeral 6a denotes a wheel, and in the illustrated case, an endless track type crawler track supported by the wheel 6a is provided on both the left and right sides in addition to the crawler belt at the center. Then, the inspection robot 1 can be freely moved without being dropped by switching the adsorption and non-adsorption of the adsorption mechanism in a short time while rotating the drive wheel 6.
In addition to the crawler track of the endless track system, a moving system using a tire or a moving system using a pseudo-biological system can be applied as the moving system.

また、点検ロボット１には、種々の近接点検用の検査機器７が搭載されている。検査機器７としては、例えば高解像度カメラ７ａやモニターカメラ７ｂがある。これらは、高所からでしか視認できない画像を検査することにより、橋脚壁面の点検を行うものである。その他、収納ボックス８内には壁面を点検ハンマで叩いて内部空洞を探査する打音型内部空洞検査機なども搭載されている。
また、この収納ボックス８内には、電力供給装置（バッテリー）や、検査機器７で得られたデータを記録するメモリー、及びこのデータを送信する発信機や、地上からの操作信号を受信する受信機、またこれらの制御機器等も搭載されている。更に、この点検ロボット１は、落下回収用のパラシュート（図示せず）を装備しており、点検作業終了後の高所からの回収を容易にしている。 The inspection robot 1 is equipped with various inspection devices 7 for proximity inspection. Examples of the inspection device 7 include a high-resolution camera 7a and a monitor camera 7b. These inspect the pier wall surface by inspecting images that are visible only from high places. In addition, a hammering type internal cavity inspection machine for exploring the internal cavity by hitting the wall surface with an inspection hammer is mounted in the storage box 8.
The storage box 8 has a power supply device (battery), a memory for recording data obtained by the inspection device 7, a transmitter for transmitting the data, and a reception for receiving an operation signal from the ground. The machine and these control devices are also installed. Furthermore, this inspection robot 1 is equipped with a parachute (not shown) for drop recovery, which facilitates recovery from a high place after completion of the inspection work.

一方、地上側には前記点検ロボット１を無線により遠隔操作する操作機器２と、前記検査機器７から送信されたデータの記録や表示をするデータ処理機器３が設置されている。
前記操作機器２は、地上から操縦者が点検ロボット１を無線により遠隔操作して所定の位置へ移動操作するものでる。また、データ処理機器３は検査機器７から送信される画像データ、発生音データ、位置データ等を受信して即座に映し出すモニター、及びそれらのデータを記録する記録装置を有している。 On the other hand, on the ground side, an operation device 2 for remotely operating the inspection robot 1 wirelessly and a data processing device 3 for recording and displaying data transmitted from the inspection device 7 are installed.
The operating device 2 is a device in which a pilot operates the inspection robot 1 remotely from the ground and moves it to a predetermined position. The data processing device 3 has a monitor that receives the image data, generated sound data, position data, and the like transmitted from the inspection device 7 and immediately displays them, and a recording device that records these data.

以上のように構成した高所点検装置では、新たな方式である静電引力により橋脚や建物等の壁面に吸着する吸着機構を利用しているので、コンクリート、木材、鋼、ガラス等のあらゆる材質で、かつ表面に多少の凹凸がある材質であっても確実に吸着することができ、橋脚や建物等の垂直な壁面の近接点検を安全・確実に行うことができることとなる。また、地上からの遠隔操作によって橋脚や建物等の垂直な壁面を昇りながら正確かつ安全に近接点検を行うことができ、また設置場所の制限を受けることもなく、更に設備費も安価なものとすることができる等の種々の効果を有している。   The height inspection device configured as described above uses a suction mechanism that is attracted to the walls of piers and buildings by electrostatic attraction, which is a new method, so all materials such as concrete, wood, steel, glass, etc. In addition, even a material with a slight unevenness on the surface can be reliably adsorbed, and a proximity inspection of a vertical wall such as a pier or a building can be performed safely and reliably. In addition, it is possible to perform proximity inspection accurately and safely while climbing up vertical walls such as piers and buildings by remote control from the ground, and there are no restrictions on the installation location, and the equipment cost is also low. It has various effects such as being able to.

１ 点検ロボット
２ 操作機器
３ データ処理機器
４ 保持面材
５ 背面板
６ 駆動輪
６ａ 転輪
７ 検査機器
７ａ 高解像度カメラ
７ｂ モニターカメラ
８ 収納ボックス
３０ 橋梁
３１ 橋脚 DESCRIPTION OF SYMBOLS 1 Inspection robot 2 Operation equipment 3 Data processing equipment 4 Holding surface material 5 Back plate 6 Drive wheel 6a Rolling wheel 7 Inspection equipment 7a High resolution camera 7b Monitor camera 8 Storage box 30 Bridge 31 Bridge pier

Claims (4)

静電引力により橋脚や建物等の壁面に吸着する吸着機構、及び壁面の近接点検用の検査機器を搭載した点検ロボットと、地上にあって前記点検ロボットを無線により遠隔操作する操作機器と、前記検査機器から送信されたデータの記録や表示をするデータ処理機器からなることを特徴とする高所点検装置。   An adsorption mechanism that is attracted to the wall surface of a pier or a building by electrostatic attraction, and an inspection robot equipped with an inspection device for proximity inspection of the wall surface, an operating device that is on the ground and remotely operates the inspection robot by radio, and An altitude inspection device comprising a data processing device for recording and displaying data transmitted from an inspection device. 吸着機構は、弾性絶縁材に炭素を混入した保持面材を壁面との当接面としており、この保持面材に電圧供給して保持面材表面と壁面表面との間に静電引力を作り出すよう構成されている請求項１に記載の高所点検装置。   The adsorption mechanism uses a holding face material in which carbon is mixed in an elastic insulating material as a contact surface with the wall surface. Voltage is supplied to the holding face material to create an electrostatic attractive force between the holding face material surface and the wall surface. The height inspection device according to claim 1 configured as described above. 点検ロボットは、保持面材を無限軌道方式の履帯として用い壁面上を移動するよう構成されている請求項２に記載の高所点検装置。   The height inspection device according to claim 2, wherein the inspection robot is configured to move on the wall surface using the holding face material as an endless track type crawler belt. 点検ロボットは、落下回収用のパラシュートを装備している請求項１〜３のいずれかに記載の高所点検装置。   The inspection robot according to claim 1, wherein the inspection robot is equipped with a parachute for drop recovery.
JP2010230265A 2010-10-13 2010-10-13 High place inspection device Withdrawn JP2012082630A (en)

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CN103753581A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Mall guide service robot
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CN103753571A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Full-automatic service robot for collecting cash
CN103753578A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Wearing service robot
CN103753572A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Climbing type cleaning service robot
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CN103770118A (en) * 2014-01-24 2014-05-07 成都万先自动化科技有限责任公司 Station cleaning service robot
CN104018652A (en) * 2014-06-26 2014-09-03 衢州图艺工业设计有限公司 Clamp type climbing construction device
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CN102785720A (en) * 2012-08-21 2012-11-21 常州工学院 Tracked multi-sucker wall-climbing robot and climbing method thereof
JP2015061224A (en) * 2013-09-19 2015-03-30 積水化学工業株式会社 Outer wall inspection device, and outer wall inspection method
CN103753568A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Robot for carrying service in shopping mall
CN103770118A (en) * 2014-01-24 2014-05-07 成都万先自动化科技有限责任公司 Station cleaning service robot
CN103753564A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Station guide service robot
CN103753571A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Full-automatic service robot for collecting cash
CN103753578A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Wearing service robot
CN103753572A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Climbing type cleaning service robot
CN103753563A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Road cleaning service robot
CN103753570A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Dance teaching service robot
CN103753581A (en) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 Mall guide service robot
CN104018689A (en) * 2014-06-12 2014-09-03 衢州图艺工业设计有限公司 Climbing work device
CN104018689B (en) * 2014-06-12 2015-11-18 衢州图艺工业设计有限公司 A kind of climbing truck work device
CN104018652A (en) * 2014-06-26 2014-09-03 衢州图艺工业设计有限公司 Clamp type climbing construction device
CN104018652B (en) * 2014-06-26 2015-12-30 衢州图艺工业设计有限公司 A kind of hoop is embraced a type and to be climbed construction equipment
CN104088471A (en) * 2014-07-03 2014-10-08 衢州图艺工业设计有限公司 Magnetic attraction type aerial work machine
CN104088471B (en) * 2014-07-03 2016-02-24 衢州图艺工业设计有限公司 A kind of magnetic-adsorption truck work machine
CN111493766A (en) * 2020-05-06 2020-08-07 广州连进玻璃科技有限公司 Automatic climbing and wiping device for building curtain wall glass

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