JP2019090264A - 壁面走行ロボット - Google Patents
壁面走行ロボット Download PDFInfo
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- JP2019090264A JP2019090264A JP2017220653A JP2017220653A JP2019090264A JP 2019090264 A JP2019090264 A JP 2019090264A JP 2017220653 A JP2017220653 A JP 2017220653A JP 2017220653 A JP2017220653 A JP 2017220653A JP 2019090264 A JP2019090264 A JP 2019090264A
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- 230000005291 magnetic effect Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 17
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 230000007704 transition Effects 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
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- 239000003302 ferromagnetic material Substances 0.000 description 1
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Abstract
Description
10 本体
20 前輪
30 後輪
40 前輪駆動装置
50 制御装置
60 押圧装置
70 アーム
75 抗力検出センサ
80 アーム駆動装置
Claims (5)
- 本体と、前記本体の進行方向前後にそれぞれ取り付けられた前輪および後輪と、前記前輪を駆動する前輪駆動手段と、前記前輪駆動手段の駆動を制御する制御手段とを備え、前記前輪および後輪が磁力により壁面に吸着して走行可能な壁面走行ロボットであって、
前記前輪および後輪が走行する第1の壁面を押圧して前記前輪と前記第1の壁面との吸着を解除する押圧手段を備える壁面走行ロボット。 - 前記制御手段は、前記第1の壁面を走行中に前記前輪と第2の壁面との衝突を検知することにより、前記押圧手段を作動させて前記第1の壁面を押圧し、前記前輪を前記第2の壁面に移行させる請求項1に記載の壁面走行ロボット。
- 前記後輪は、前記本体にアームを介して回動自在に取り付けられている請求項2に記載の壁面走行ロボット。
- 前記アームを駆動するアーム駆動手段を備え、
前記制御手段は、前記前輪が前記第2の壁面に移行した後も前記後輪が前記第1の壁面に吸着した状態が維持されるように、前記アームを駆動する請求項3に記載の壁面走行ロボット。 - 前記後輪が壁面から受ける抗力を検出する抗力検出センサを備える請求項3または4に記載の壁面走行ロボット。
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JP2017220653A JP6371896B1 (ja) | 2017-11-16 | 2017-11-16 | 壁面走行ロボット |
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JP2017220653A JP6371896B1 (ja) | 2017-11-16 | 2017-11-16 | 壁面走行ロボット |
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JP6371896B1 JP6371896B1 (ja) | 2018-08-08 |
JP2019090264A true JP2019090264A (ja) | 2019-06-13 |
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JP2017220653A Active JP6371896B1 (ja) | 2017-11-16 | 2017-11-16 | 壁面走行ロボット |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023182337A1 (ja) * | 2022-03-23 | 2023-09-28 | 住友重機械工業株式会社 | 壁面移動車 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109778694B (zh) * | 2019-03-19 | 2020-05-08 | 重庆大学 | 桥梁索塔结构在线检测修复用爬壁机器人 |
CN110206562B (zh) * | 2019-06-24 | 2023-12-12 | 徐州秩润矿山设备科技有限公司 | 一种混凝土湿喷机用自动喷射爬壁机器人及其工作方法 |
CN113470115B (zh) * | 2021-09-03 | 2021-11-16 | 南通林德安全设备科技有限公司 | 一种基于计算机视觉的电动爬楼担架车辅助控制方法 |
CN113844564B (zh) * | 2021-10-26 | 2022-11-18 | 河海大学 | 一种适应多种立面的磁吸附爬壁机器人 |
CN114954719B (zh) * | 2022-06-15 | 2024-01-23 | 中国建筑第八工程局有限公司 | 一种自动按压且压力可调的爬壁检测机器人 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005028971A (ja) * | 2003-07-10 | 2005-02-03 | Toshiba Corp | 走行装置 |
JP2014172427A (ja) * | 2013-03-06 | 2014-09-22 | Jfe Steel Corp | 壁面走行台車 |
JP2016125289A (ja) * | 2015-01-06 | 2016-07-11 | 阪神高速技術株式会社 | 構造物点検ロボット |
JP2017094822A (ja) * | 2015-11-20 | 2017-06-01 | 公立大学法人大阪市立大学 | ロボット |
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2017
- 2017-11-16 JP JP2017220653A patent/JP6371896B1/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005028971A (ja) * | 2003-07-10 | 2005-02-03 | Toshiba Corp | 走行装置 |
JP2014172427A (ja) * | 2013-03-06 | 2014-09-22 | Jfe Steel Corp | 壁面走行台車 |
JP2016125289A (ja) * | 2015-01-06 | 2016-07-11 | 阪神高速技術株式会社 | 構造物点検ロボット |
JP2017094822A (ja) * | 2015-11-20 | 2017-06-01 | 公立大学法人大阪市立大学 | ロボット |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023182337A1 (ja) * | 2022-03-23 | 2023-09-28 | 住友重機械工業株式会社 | 壁面移動車 |
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