WO2018061122A1 - Dispositif conçu pour se déplacer sur une surface de paroi, et procédé de déplacement sur une surface de paroi - Google Patents

Dispositif conçu pour se déplacer sur une surface de paroi, et procédé de déplacement sur une surface de paroi Download PDF

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Publication number
WO2018061122A1
WO2018061122A1 PCT/JP2016/078703 JP2016078703W WO2018061122A1 WO 2018061122 A1 WO2018061122 A1 WO 2018061122A1 JP 2016078703 W JP2016078703 W JP 2016078703W WO 2018061122 A1 WO2018061122 A1 WO 2018061122A1
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WO
WIPO (PCT)
Prior art keywords
wall surface
magnet
moving device
crawler
vehicle body
Prior art date
Application number
PCT/JP2016/078703
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English (en)
Japanese (ja)
Inventor
誠 羽根田
Original Assignee
商船三井テクノトレード株式会社
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 商船三井テクノトレード株式会社 filed Critical 商船三井テクノトレード株式会社
Priority to JP2018541785A priority Critical patent/JP6681474B2/ja
Priority to PCT/JP2016/078703 priority patent/WO2018061122A1/fr
Publication of WO2018061122A1 publication Critical patent/WO2018061122A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools

Definitions

  • the present invention relates to a wall surface moving device and a wall surface moving method, and more particularly to a wall surface moving device and a wall surface moving method that can stably travel on a wall surface using a magnetic attractive force and have excellent mobility. It is.
  • the freight dredging has various shapes, such as the size of the hull, the shape of the freight depending on the cargo to be transported and the hull form, and the presence or absence of a frame of hold strength structural material. Basically, it is composed of a horizontal bottom, a hopper (inclined surface), a vertical wall, and a ceiling other than the opening, and the hold bottom and the hopper inclined part are cleaned by a certain amount of human power. In general, it is carried out by washing with radiation of high-pressure washing water at high places.
  • a tread unit is arranged in a pair of left and right with respect to the injection unit, and a plurality of tread units are arranged at the center of each tread unit.
  • a magnetic tread cleaning machine that has a permanent magnet attached and travels on the wall surface while being attracted to the wall surface by using the magnetic attraction force of the magnet. This magnetic tread spray cleaning machine travels on the wall surface by rotating the tread unit while the permanent magnet of the tread unit is attracted to the wall surface.
  • the permanent magnet of the tread unit In this magnetic tread jet cleaning machine, it is necessary to support the weight of the magnetic tread jet cleaning machine as a whole by the permanent magnet of the tread unit.
  • the permanent magnet must be composed of a magnet having a very strong magnetic attractive force.
  • the magnetic attractive force of the permanent magnet of the tread unit is increased, a large force is required to move the permanent magnet adsorbed on the wall surface away from the wall surface when rotating the tread unit. It becomes difficult to rotate. Therefore, in this magnetic tread spray cleaning machine, it is difficult to achieve both stable running on the wall surface and ensuring mobility.
  • An object of the present invention is to provide a wall surface moving apparatus and a wall surface moving method that can use a magnetic attractive force efficiently and can stably travel on a wall surface and have excellent mobility.
  • a wall surface moving device of the present invention is a wall surface moving device that travels on the wall surface while being attracted to the wall surface by using a magnetic attraction force of a magnet.
  • An endless track crawler disposed on the crawler, a plurality of first magnets attached to the crawler tracks of each of the crawlers, and a second magnet attached to the lower surface of the vehicle body, the wall surface and the first magnet In contact with each other and the wall surface and the second magnet are separated from each other, and travels on the wall surface while being attracted to the wall surface by the magnetic attractive force of both the first magnet and the second magnet. It is characterized by that.
  • the wall surface moving device is adsorbed to the wall surface by the plurality of first magnets attached to the crawler tracks of each crawler and the second magnet attached to the lower surface of the vehicle body.
  • the magnetic attractive force required for supporting can be distributed to the first magnet and the second magnet.
  • the individual magnetic attraction force of the first magnet attached to the crawler track can be reduced, so that the force when separating the first magnet from the wall surface can be reduced, and the crawler can be driven to rotate smoothly on the wall surface. It becomes.
  • the magnetic attractive force can be generated between the wall surface and the vehicle body by the second magnet, the entire wall surface moving device can be attracted to the wall surface in a balanced manner. Therefore, it is possible to stably travel on the wall surface while ensuring high mobility.
  • each crawler crawler belt has a configuration in which a plurality of rows of the first magnets arranged in the circumferential direction of the crawler belt are attached in the width direction of the crawler belt. Since a large number of first magnets can be arranged even if the magnetic attraction force of one magnet is small, the individual abutment area between the wall surface and the first magnet is reduced to overcome the magnetic attraction force of the first magnet. The force when separating from the wall surface can be reduced. On the other hand, the entire grounding side of the crawler belt can be effectively adsorbed to the wall surface by a large number of first magnets.
  • the second magnet is composed of, for example, a multilayer magnet in which the same polar surfaces of two plate-shaped magnets are opposed to each other.
  • the magnetic force can be increased, and a multilayer magnet having a strong magnetic attractive force can be formed.
  • the magnetic attractive force between the vehicle body and the wall surface can be increased, which is advantageous for traveling on the wall surface stably.
  • the elastic member when the elastic member is interposed between the crawler belt and each of the first magnets, the elastic member expands and contracts following the surface shape of the wall surface.
  • Each first magnet can be brought into contact with each other more reliably. As a result, even when there are irregularities or obstacles on the wall surface, the first magnet can be more effectively attracted to the wall surface, which is advantageous for traveling on the wall surface stably. .
  • the wall surface moving device when a cleaning rotary brush for cleaning the wall surface is provided, the wall surface moving device can be cleaned while traveling on a wall surface such as a cargo basket or a ship side. Further, when a guide caster for guiding the cleaning rotary brush with respect to the wall surface is provided in the vicinity of the cleaning rotary brush, the distance between the wall surface and the cleaning rotary brush is kept constant by the guide caster. Thus, it is possible to prevent an excessive load from being applied to the cleaning rotary brush even when the inclination angle of the wall surface is changed or the direction is changed.
  • the wall surface moving method of this invention for achieving the said objective mounts a magnet on a wall surface moving apparatus, makes the said wall surface moving apparatus adsorb
  • a plurality of first magnets attached in a circumferential direction of the crawler belt to a crawler track of an endless track type crawler disposed on the left and right sides of the vehicle body are brought into contact with the wall surface.
  • the crawler is rotated while being attracted to the wall surface by the magnetic attraction force of both the first magnet and the second magnet while the second magnet attached to the lower surface of the vehicle body is separated from the wall surface.
  • the wall surface moving device is caused to travel on the wall surface by being driven.
  • a plurality of first magnets attached to the crawler tracks of each crawler and a second magnet attached to the lower surface of the vehicle body are provided with a magnetic attractive force required to support the weight of the wall surface moving device.
  • the magnetic attraction force of each of the first magnets attached to the crawler belt can be reduced.
  • the force when separating the first magnet from the wall surface can be reduced, and the crawler can be smoothly rotated on the wall surface.
  • the entire wall surface moving device can be attracted to the wall surface in a well-balanced manner by the generation of the magnetic attractive force by the second magnet.
  • the first magnet and the second magnet can share the respective magnetic attraction force and efficiently use the magnetic attraction force. And can stably travel on the wall surface.
  • FIG. 1 is a schematic plan view showing a configuration of a wall surface moving apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic bottom view showing the configuration of the wall surface moving device of FIG.
  • FIG. 3 is a view taken in the direction of arrow A in FIG. 4 is a cross-sectional view taken along the line BB of FIG.
  • FIG. 5 is a schematic longitudinal sectional view showing a state in which the wall surface moving device of FIG. 1 travels on a vertical wall surface.
  • FIG. 6 is a schematic longitudinal sectional view showing a state in which the wall surface moving device of FIG. 1 travels on a wall surface having a change in inclination or unevenness.
  • FIGS. 1 to 6 description will be made using a wall surface moving device having a specification having a function of cleaning a wall surface such as a cargo trough or a ship side.
  • the present invention is not limited to this. It may be used for other wall surfaces.
  • a wall surface moving device 1 includes a vehicle body 2, an endless track crawler 3 disposed in a pair on the left and right of the vehicle body 2, and the respective crawlers. 3, a plurality of first magnets 4 attached to the crawler belt 3 a and a second magnet 5 (hatched portion in FIG. 2) attached to the lower surface of the vehicle body 2.
  • the wall surface moving device 1 includes a cleaning rotary brush 8 that cleans the wall surface W, a guide caster 10 that guides the cleaning rotary brush 8 with respect to the wall surface W, a water spray mechanism 11 that sprays and cleans the wall surface W, A camera 12 for photographing a wall surface W, a guide pipe 13 for preventing cords and hoses from being caught in the crawler 3, and a safety cable fitting 15 to which a safety cable 16 for preventing fall can be connected. Yes. In the description regarding the dimensions here, it is assumed that the size of the wall surface moving device 1 is about 60 cm in total length and about 60 cm in width excluding the portion of the cleaning rotary brush 8.
  • the vehicle body 2 is equipped with a drive unit for the crawler 3.
  • the crawler 3 includes a drive motor, a speed reduction mechanism, a brake mechanism, and a sprocket for rotating the crawler 3, and is configured to be operated independently.
  • the wall surface moving device 1 can travel freely in the front-rear direction and the left-right direction of the vehicle body 2.
  • the vehicle body 2 is equipped with a safety device for preventing the drive motor of the crawler 3 from being damaged. When an excessive load is applied to the drive motor, the drive motor is automatically stopped by the safety device. Yes.
  • the first magnet 4 attached to the crawler belt 3a of the crawler 3 is composed of a permanent magnet such as a neodymium magnet or a samarium cobalt magnet.
  • a plurality of first magnets 4 are arranged at intervals in the circumferential direction of the crawler belt 3a, and the row of the first magnets 4 is attached in a plurality of rows in the width direction of the crawler belt 3a, for example, FIG. And as shown in FIG. 2, it is good to set it as the structure attached to each both sides by 1 row.
  • the entire grounding side of the crawler belt 3 a can be effectively attracted to the wall surface W by the multiple first magnets 4. Therefore, it is possible to stably travel on the wall surface W while ensuring high mobility.
  • the magnitude and size of the magnetic attractive force of the individual first magnets 4 can be determined as appropriate according to the weight and size of the wall surface moving device 1, and the number of first magnets 4 attached to the crawler belt 3a
  • the arrangement, arrangement, etc. can also be determined as appropriate.
  • the number of the first magnets is about 60 to 100 in total for both the crawlers 3 in the wall surface moving device 1 in which the dimensions of the crawlers 3 of both wheels are about 60 cm long , about 15 cm wide and about 30 cm high. It is.
  • the adhesive area of the first magnet is about 15 ⁇ 25 cm 2.
  • an elastic member 6 is interposed between the crawler belt 3 a and each first magnet 4.
  • the elastic member 6 is made of, for example, rubber or soft resin. Accordingly, the elastic member 6 can expand and contract following the surface shape of the wall surface W, whereby the wall surface W and the first magnets 4 can be brought into contact with each other more reliably. Even when there is an obstacle or the like, the first magnet 4 can be more effectively attracted to the wall surface W.
  • the effect is that the lower end surface of the crawler belt 3a (the surface of the protruding portion) and the outer end surface of the first magnet 4 are made substantially the same height, and the lower end surface of the crawler belt 3a (the protruding The outer end surface of the first magnet 4 is slightly larger than the surface).
  • the second magnet 5 attached to the lower surface of the vehicle body 2 is composed of a flat magnet with enhanced magnetic force, for example, a permanent magnet such as a neodymium magnet or a samarium cobalt magnet, or an electromagnetic magnet.
  • the magnitude and size of the magnetic attractive force of the second magnet 5 can be appropriately determined according to the weight and size of the wall surface moving device 1.
  • the second magnet 5 is configured so that the longitudinal direction of the crawler 3 is parallel to the longitudinal direction of the vehicle body 2 (running on a plane), and the second magnet 5 is The lower end surface is arranged so as to be positioned, for example, about 1 mm to 2 mm above the lower end surface of the crawler 3 (crawler belt 3a).
  • the number and arrangement of the second magnets 5 attached to the vehicle body 2 can be determined as appropriate, but the second magnets 5 may be attached to the lower surface of the vehicle body 2 at a position close to the center of gravity of the wall surface moving device 1.
  • the area facing the wall surface of the second magnet 5 is, for example, about 100 cm 2 to 400 cm 2.
  • the magnetic force of the second magnet 2 attracts the vehicle body 2 to the wall surface W together with the magnetic force of the first magnet to prevent the vehicle body 2 from falling when climbing the vertical wall surface.
  • the second magnet 5 is composed of a multilayer magnet in which the same polar surfaces of the two plate magnets 5a and 5b are opposed to each other. By bringing the same pole surfaces of the two plate-like magnets 5a and 5b into contact with each other, the magnetic force can be increased, and a multilayer magnet having a strong magnetic attractive force can be formed.
  • Two plate-like magnets 5 a and 5 b constituting the second magnet 5 are respectively fixed to a frame 2 a constituting the lower part of the vehicle body 2.
  • the frame 2a is configured such that the fixed position can be changed in the vertical direction of the vehicle body 2, and the vertical position of the second magnet 5 relative to the vehicle body 2 can be changed by changing the fixed position of the frame 2a.
  • the strength of the magnetic attractive force of the second magnet acting on the wall surface W is changed. be able to.
  • the position of the second magnet 5 is fixed once adjusted, and remains fixed even if the wall surface W has irregularities. However, the wall surface W with many irregularities is aligned with the irregularities of the wall surface W.
  • the position of the second magnet 5 may be automatically adjusted so that the distance from the wall surface W does not vary greatly.
  • the second magnet 5 is composed of a multilayer magnet.
  • the second magnet 5 can be composed of a single plate-shaped magnet.
  • the second magnet 5 is attached to one central portion of the lower surface of the vehicle body 2, but a plurality of second magnets 5 can be attached to a plurality of locations on the lower surface of the vehicle body 2.
  • Two arm portions 7 extending to the front of the vehicle body 2 are connected to the front upper portion of the vehicle body 2 via a hinge portion.
  • the arm portion 7 is configured to be rotatable in the front-rear direction of the vehicle body 2 with respect to the vehicle body 2 by a hinge portion.
  • a cleaning rotary brush 8 is attached to the tip of each arm portion 7.
  • the cleaning rotary brush 8 is equipped with an independent drive motor and speed reduction mechanism.
  • the brush portion of the cleaning rotary brush 8 has a detachable structure so that the brush portion can be replaced. Thereby, the material of the brush portion can be changed as necessary in correspondence with the state of the wall surface W.
  • the dirty surface of the wall surface W can be cleaned by the rotating brush portion of the cleaning rotary brush 8.
  • the arm portion 7 is provided with a pressing adjustment mechanism 9 that can change the pressing force when the cleaning rotary brush 8 is pressed against the wall surface W.
  • the pressing adjustment mechanism 9 is composed of a spring having one end connected to the front portion of the vehicle body 2 and a connection fitting provided at the lower portion of the arm portion 7.
  • the connection fitting has a plurality of holes through which the other end (hook) of the spring can be connected.
  • the guide caster 10 is provided in the vicinity of the cleaning rotary brush 8.
  • the guide caster 10 is composed of a guide portion 10a connected to the distal end portion of the arm portion 7 and a ball caster 10b provided at the lower front portion of the guide portion 10a.
  • the guide caster 10 maintains a constant distance between the cleaning rotary brush 8 and the wall surface W, and suppresses fluctuations in the pressing pressure of the cleaning rotary brush 8. Thereby, the fluctuation of the load of the cleaning rotary brush 8 that occurs when the climbing wall of the vehicle body 2 or the inclination angle of the wall surface W changes or the direction is changed is suppressed, and an excessive load is applied to the cleaning rotary brush 8. Is preventing.
  • the guide caster 10 can prevent a force that separates the wall surface moving device 1 from the wall surface W between the cleaning rotary brush 8 and the wall surface W, the surface of the wall surface W can be cleaned while cleaning the wall surface W. It is advantageous for stable driving. Further, the guide caster 10 can be smoothly moved by the rotation of the ball caster 10b.
  • the water spray mechanism 11 is composed of two water spray nozzles arranged in the upper front part of the vehicle body 2 and a supply hose for supplying water and cleaning liquid to each water spray nozzle.
  • the spray mechanism 11 has a configuration in which the injection direction can be set to a desired direction and the injection force can be set to a desired strength.
  • a tap water hose can be connected. This water spray mechanism 11 enables water spray cleaning in addition to brush cleaning.
  • the camera 12 is disposed in the upper front part of the vehicle body 2.
  • the camera 12 is configured to be able to set the shooting direction to a desired direction.
  • the video imaged by the camera 12 can be displayed on a monitor arranged on the floor surface.
  • the camera 12 is also provided with a recording function for recording captured images.
  • an in-vehicle camera (with a recording function) in a passenger car can be adopted, and it can be used not only for cleaning work but also for observation at a high place.
  • a support portion 14 that extends in the upward direction of the vehicle body 2 is connected to the rear end portion of the vehicle body 2, and a guide pipe 13 that extends in the rearward direction of the vehicle body 2 is connected to the upper end portion of the support portion 14. ing.
  • a state in which a guide pipe 13 is provided at a position away from the crawler 3 and cords such as a power cord and a remote control cord connected to the wall surface moving device 1 and hoses such as a supply hose are inserted into the guide pipe 13 By doing so, it is possible to prevent a problem that these cords and hoses are caught in the crawler 3 and the like.
  • the safety cable bracket 15 is provided at the front upper part of the vehicle body 2.
  • the safety cable bracket 15 is formed with a hole through which a safety cable 16 for preventing fall can be connected.
  • the wall surface moving device 1 is configured to be remotely operated by a controller.
  • the controller incorporates a control mechanism for controlling the rotational speed of the drive motor, so that the traveling speed of the wall surface moving device 1 can be set to an arbitrary speed. Further, by operating the controller, the traveling direction of the wall surface moving device 1, the rotational speed of the cleaning rotary brush 8, the spraying direction and jetting force of the spray mechanism 11, the shooting direction and shooting range (zoom) of the camera 12, respectively. Can be operated.
  • This remote control makes it easy to use for high-altitude work of a cargo ship of a large bulk carrier (bulk carrier).
  • the crawler belt 3 a is grounded to the wall surface W so that the wall surface moving device 1 is attracted to the wall surface W.
  • the plurality of first magnets 4 positioned on the ground contact surface of the crawler belt 3 a are brought into contact with the wall surface W and the second magnet 5 is separated from the wall surface W.
  • the wall surface moving device 1 is attracted to the wall surface W by the magnetic attractive force of both the first magnet 4 and the second magnet 5
  • the wall surface moving device 1 is moved on the wall surface W by rotating each crawler 3. Let it run.
  • the elastic member 6 expands and contracts following the surface shape of the wall surface W, and each first magnet 4 is displaced so as to increase the contact area with the wall surface W. To do.
  • the wall surface moving device 1 travels on the wall surface W while rotating the cleaning rotary brush 8 with the pressure adjusting mechanism 9 pressing the cleaning rotary brush 8 and the ball caster 10b against the wall surface W.
  • the wall surface W is cleaned. That is, as shown in FIG. 6, the ball caster 10b is displaced along the wall surface W, and the guide portion 10a and the arm portion 7 are rotated in the front-rear direction of the vehicle body 2 in accordance with the displacement of the ball caster 10b.
  • the distance between W and the cleaning rotary brush 8 is kept constant.
  • the wall surface W is spray-washed by spraying water or a cleaning liquid at a high pressure by the spray mechanism 11. Furthermore, the surface of the wall surface W is confirmed by photographing the wall surface W with the camera 12.
  • the entire wall surface moving device 1 can be attracted to the wall surface W in a balanced manner. Therefore, it is possible to stably travel on the wall surface W while ensuring high mobility.
  • the second magnet 5 Since it can generate
  • the first magnet 4 and the second magnet 5 share the respective magnetic attraction forces and use the magnetic attraction forces efficiently. Therefore, it is possible to travel stably on the wall surface W with excellent maneuverability.
  • the wall surface moving apparatus 1 of this invention can be utilized for various uses besides cleaning the wall surface W.
  • a configuration including a manipulator (robot arm) or the like is used instead of the cleaning rotary brush 8 or the like, it can be used as a remotely operated work robot.
  • a configuration including a sensor for detecting deterioration of the wall surface W and an inspection device is used, it can be used as an inspection apparatus for inspecting the deterioration state of the wall surface W.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif (1) conçu pour se déplacer sur une surface de paroi et configuré de telle sorte qu'une paire gauche et droite de chenilles sans fin (3) est disposée sur un corps de véhicule (2), une pluralité de premiers aimants (4) sont montés dans la direction circonférentielle de la courroie de chenille (3a) de chacune des chenilles (3), et un second aimant (5) est monté sur la surface inférieure du corps de véhicule (2). Le dispositif (1) conçu pour se déplacer sur une surface de paroi est également conçu de telle sorte que, avec une surface de paroi W et les premiers aimants (4) en contact l'un avec l'autre et avec la surface de paroi W et le second aimant (5) séparés l'un de l'autre, le dispositif (1) est amené à se déplacer sur la surface de paroi W par rotation et entraînement des chenilles (3) tandis que le dispositif (1) est fixé à la surface de paroi W par l'attraction magnétique des premiers aimants (4) et du second aimant (5). Par conséquent, le dispositif conçu pour se déplacer sur une surface de paroi se déplace de manière stable sur la surface de paroi par attraction magnétique et présente une excellente maniabilité.
PCT/JP2016/078703 2016-09-28 2016-09-28 Dispositif conçu pour se déplacer sur une surface de paroi, et procédé de déplacement sur une surface de paroi WO2018061122A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018541785A JP6681474B2 (ja) 2016-09-28 2016-09-28 壁面移動装置および壁面移動方法
PCT/JP2016/078703 WO2018061122A1 (fr) 2016-09-28 2016-09-28 Dispositif conçu pour se déplacer sur une surface de paroi, et procédé de déplacement sur une surface de paroi

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PCT/JP2016/078703 WO2018061122A1 (fr) 2016-09-28 2016-09-28 Dispositif conçu pour se déplacer sur une surface de paroi, et procédé de déplacement sur une surface de paroi

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WO2018061122A1 true WO2018061122A1 (fr) 2018-04-05

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CN110481655A (zh) * 2019-09-12 2019-11-22 无锡金诚工程技术服务有限公司 履带磁吸附钢结构攀行检测机器人
CN110508518A (zh) * 2019-09-30 2019-11-29 大唐东营发电有限公司 一种火电厂用锅炉表面的去除灰垢结构
CN111842302A (zh) * 2020-07-30 2020-10-30 重庆交通大学 一种船舶货舱智能清洗装置
CN112478078A (zh) * 2020-12-11 2021-03-12 兰州理工大学 一种新型船舶除锈机器人
GB2592921A (en) * 2020-03-09 2021-09-15 Jotun As Hull cleaning robot
JP2022087619A (ja) * 2020-12-01 2022-06-13 株式会社スギノマシン 壁面洗浄装置

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CN108655077B (zh) * 2018-06-15 2023-06-16 山东交通学院 一种爬壁除锈机器人及其双重吸附方法
CN110481655A (zh) * 2019-09-12 2019-11-22 无锡金诚工程技术服务有限公司 履带磁吸附钢结构攀行检测机器人
CN110508518A (zh) * 2019-09-30 2019-11-29 大唐东营发电有限公司 一种火电厂用锅炉表面的去除灰垢结构
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CN111842302A (zh) * 2020-07-30 2020-10-30 重庆交通大学 一种船舶货舱智能清洗装置
JP2022087619A (ja) * 2020-12-01 2022-06-13 株式会社スギノマシン 壁面洗浄装置
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CN112478078A (zh) * 2020-12-11 2021-03-12 兰州理工大学 一种新型船舶除锈机器人

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