CN106080825A - A kind of square cyclone adsorbing device and climbing robot based on this device - Google Patents
A kind of square cyclone adsorbing device and climbing robot based on this device Download PDFInfo
- Publication number
- CN106080825A CN106080825A CN201610570949.4A CN201610570949A CN106080825A CN 106080825 A CN106080825 A CN 106080825A CN 201610570949 A CN201610570949 A CN 201610570949A CN 106080825 A CN106080825 A CN 106080825A
- Authority
- CN
- China
- Prior art keywords
- square
- adsorbing device
- cyclone adsorbing
- coaming plate
- climbing robot
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of square cyclone adsorbing device and climbing robot based on this device, square cyclone adsorbing device includes square casing, motor and flabellum, and flabellum is arranged in square casing, and motor drives flabellum to rotate；Square casing includes cover plate and square coaming plate, and square coaming plate one end is fixing with cover plate to be connected, and its other end is provided with opening, and flabellum is arranged in square coaming plate.Climbing robot based on this device includes support baseboard and driving means, square cyclone adsorbing device and driving means are arranged on support baseboard, driving means is provided with some driving wheels, and driving wheel drives support baseboard to move, and the cover plate of square cyclone adsorbing device is fixed on support baseboard.Adsorbent equipment of the present invention uses square casing, increases adsorption area, also increases the absorption affinity of adsorbent equipment simultaneously so that climbing robot is obtained in that bigger load capacity.
Description
Technical field
The invention belongs to robotics, particularly to a kind of square cyclone adsorbing device and based on this device
Climbing robot.
Background technology
Climbing robot is generally individually provided with adsorber, and some adsorbers are to use the absorption of vacuum principle, some adsorbers
It is to use the absorption of eddy flow principle.No matter using the adsorber of which kind of principle, the action section of its absorption is all to use circular cross-section,
Do not met and used the product of square-section and relevant document introduction.
On the other hand, use the obstacle climbing ability of climbing robot of cyclone adsorbing device by the housing bottom of cyclone and suction
The spacing size of attached limits, and spacing increases, and adsorber can occur the problems such as absorption affinity decline and energy consumption increase, has a strong impact on
Its scope of application.Therefore, prior art needs to be further improved and enhanced.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of square cyclone adsorbing device and based on this device
Climbing robot, is modified to the absorption cross section of adsorber by circle square, improves the shell structure of cyclone simultaneously,
It is greatly enhanced the obstacle clearing capability of climbing robot, improves its obstacle climbing ability.
The present invention is achieved in that a kind of square cyclone adsorbing device of offer, including square casing, motor and fan
Leaf, flabellum is arranged in square casing, and motor drives flabellum to rotate；Square casing includes cover plate and square coaming plate, square coaming plate
One end is fixing with cover plate to be connected, and its other end is provided with opening, and flabellum is arranged in square coaming plate, and motor is arranged on square casing
Top also drives flabellum to rotate by the motor hole arranged on the cover board.
Further, four angles of cover plate are respectively arranged with some pores of dredging, each one end dredging pore with
The external world is connected, and its other end is connected with the four of square coaming plate straight corner regions respectively.
Further, four right angles of square coaming plate are provided with step surface so that shape between square coaming plate and cover plate
Become to dredge slit flow channel, dredge slit flow channel and four straight corner regions of square coaming plate are connected with the external world.
Further, four right angle at square coaming plate are provided with chamfering or arc chord angle.
The invention also discloses a kind of climbing robot using square cyclone adsorbing device described above, including supporting the end
Plate and driving means, square cyclone adsorbing device and driving means are arranged on support baseboard, if driving means is provided with
Dry driving wheel, driving wheel drives support baseboard to move, and the cover plate of square cyclone adsorbing device is fixed on support baseboard.
Further, being provided with soft shirt rim in the edge of square coaming plate opening part, soft shirt rim is respectively provided with
In the outer peripheral edge of square coaming plate or/and inner peripheral.
Further, soft shirt rim includes some little shirt rims.
Further, it is provided with gap between bottom and some driving wheel places plane of soft shirt rim.
Further, driving wheel is four, is separately positioned on the both sides of support baseboard.
Further, climbing robot is provided with some groups of adsorbent equipments, and the square casing of each adsorbent equipment is respectively provided with
On the bottom surface of support baseboard, it is respectively arranged with by motor-driven flabellum in each square casing.
Compared with prior art, the square cyclone adsorbing device of the present invention and climbing robot based on this device, inhale
Adsorption device uses square casing, not only increases adsorption area, also increases the absorption affinity of adsorbent equipment so that climbing machine simultaneously
Device people is obtained in that bigger load capacity.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of a preferred embodiment of the present invention；
Fig. 2 a is the climbing robot schematic diagram of the band circular shell of prior art；
Fig. 2 b is the climbing robot schematic diagram of the band square casing of the present invention；
Fig. 3 is that flabellum drives air flow phenomenon distribution schematic diagram when rotating in square casing；
Fig. 4 a is the embodiment increasing on square casing and dredging runner；
Fig. 4 b is another embodiment increasing on square casing and dredging runner；
Fig. 5 is the embodiment increasing chamfering in four right angle of square casing；
Fig. 6 is the operation principle schematic diagram climbing robot adsorbent equipment；Fig. 7 is adsorbent equipment and the work of soft shirt rim in Fig. 6
Principle schematic；
Fig. 8 a is the schematic diagram that the soft shirt rim of Fig. 6 is cut into some little shirt rims；
Fig. 8 b is the schematic diagram increasing the inside and outside soft shirt rim of two-layer on the bottom surface of the square coaming plate of Fig. 6.
Detailed description of the invention
In order to make the technical problem to be solved, technical scheme and beneficial effect clearer, below tie
Close drawings and Examples, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
In order to explain the present invention, it is not intended to limit the present invention.
Refer to shown in Fig. 1, the present invention square cyclone adsorbing device and climbing robot based on this device preferable
Embodiment, including support baseboard 1, square cyclone adsorbing device 2 and driving means 3.Square cyclone adsorbing device 2 and driving
Device 3 is arranged on support baseboard 1.
Driving means 3 is provided with some driving wheels 4, and driving wheel 4 drives support baseboard 1 to move.Driving wheel 4 is four, point
It is not arranged on the both sides of support baseboard 1.
Square cyclone adsorbing device 2 includes square casing 21, motor 22 and flabellum 23.Square casing 21 is arranged on support
On the bottom surface of base plate 1.Square casing 21 includes cover plate 24 and square coaming plate 25, and cover plate 24 is fixed on support baseboard, square encloses
Plate 25 one end is fixing with cover plate 24 to be connected, and its other end is provided with opening, and flabellum 23 is arranged in square coaming plate 25, and motor 22 is arranged
Flabellum 23 is driven to rotate at the top of square casing 21 and by the motor hole being arranged on cover plate 24.
The present embodiment utilizes the circular shell of square casing 21 replacement prior art, can produce bigger negative pressure, thus
Square cyclone adsorbing device 2 is made to obtain bigger absorption affinity.Experiment shows, with the circular shell of prior art (such as Fig. 2 a institute
Show) existing than, the present embodiment uses square cyclone adsorbing device 2(such as Fig. 2 b of square casing 21) bigger absorption can be produced
Power, from the point of view of current test data, amplification factor reaches 18%.It is to say, in the case of the rotating speed of flabellum 23 is identical,
The climbing robot using square cyclone adsorbing device 2 is obtained in that bigger load capacity.We are only by changing housing
Shape just can reach the prominent effect of the load capacity of hoisting machine people.It follows that we are for hydromechanical angle
Bright why can reach such beneficial effect.Although as it is shown on figure 3, flabellum 23 cannot directly drive four of square casing 21
Air in the space at angle, but, the viscous effect of air still can the shear transfer rotated to the space at four angles,
Thus the air in the space at four angles has the component of certain rotary speed.The subregion with rotational velocity component exists
Negative pressure is formed under the effect of centrifugal force.The negative pressure in the space at four angles can not only produce extra absorption affinity, but also can make
The negative pressure distribution entirety of core moves to negative pressure direction such that it is able to promote overall absorption affinity.
We also find in process of experimental, can be formed faint in the zonule at four right angles of square casing 21
Malleation.This is because there will be whirlpool in the zonule near right angle.Whirlpool causes air-trapping phenomena, therefore creates micro-
Weak positive pressure.It will be apparent that the existence of faint barotropic field can produce repulsive force, this is disadvantageous for climbing robot.To this end,
The adsorber that we use the thinking dredging air entrapment to carry out square shaped housing 21 does further improvement design.We arrange thin
Honeycomb duct connects barotropic field and ambient atmosphere, then, the air of delay will be discharged by dredging runner, thus just eliminates
Intermediate pressure section.Concrete structure design can be varied.Two kinds of structure designs are enumerated at this.The first structure design (Fig. 4 a):
Being respectively arranged with some pores 26 of dredging on four angles of cover plate 24, each pore 26 one end of dredging is connected with the external world, its
The other end is connected with four straight corner regions of square coaming plate 25 respectively.The second structure design (Fig. 4 b): at square coaming plate
It is provided with step surface on four right angles of 25 so that be formed with between square coaming plate 25 and cover plate 24 and dredge slit flow channel 27, dredges
Leading slit flow channel 27 makes four straight corner regions of square coaming plate 25 be connected with the external world.
In addition to arranging the method dredging runner, we can also use more direct mode to eliminate the community of right angle
The barotropic field in territory.As it is shown in figure 5, four right angle at square coaming plate 25 are provided with chamfering or arc chord angle.Eliminate zonule
Space, the most just completely eliminate whirlpool and the air trapping problem in this region.The present embodiment is to be provided with chamfering 28.
When we are designing climbing robot when, it is intended that reduce the size of robot as far as possible.Robot
Size the least, robot just can be by narrower path, and meanwhile, the mobility of robot is more preferable.Adsorbent equipment big
The little size determining robot the most to a certain extent.It follows that we explain from the angle of the Miniaturization Design of robot
State the advantage of the present invention.First, if robot is mounted with the circular adsorbing mechanism of prior art, then, work as climbing machine
When device people walks on metope B, the path width shared by adsorbent equipment is circular diameter, such as Fig. 2 a.If the employing present invention
Square casing 21 adsorbing mechanism design if, in the case of taking same paths width, the suction that the present invention can be provided by
Attached power is more than prior art.In other words, in the case of ensureing identical absorption affinity, the adsorbing mechanism of the robot of the present invention can
Less than the circular shell adsorbing mechanism of prior art to be made to, accordingly, it is capable to the path width passed through the most just diminishes, robot
Mobility becomes more preferable.
Further, in order to improve the ability crossing over protruding barrier of climbing robot, the present invention is at square coaming plate 25
The edge of opening part is provided with soft shirt rim 5, soft shirt rim be separately positioned on square coaming plate 25 outer peripheral edge or/and
Inner peripheral.Soft shirt rim 5 is manufactured by flexible material.Between being provided with between bottom and some driving wheels 4 place plane of soft shirt rim 5
Gap.Soft shirt rim 5 includes some little shirt rims 51 so that climbing robot passes through different size of barrier.
Referring to shown in Fig. 1 and Fig. 6, usually, the bottom of climbing robot adsorbent equipment housing and driving wheel
The spacing size of contact surface (also referred to as climbing surface) determines the size of the obstacle climbing ability barrier of climbing robot.Spacing is more
Greatly, the barrier height that climbing robot can pass through is the highest, and obstacle climbing ability is the strongest.Directly increase this spacing to improve and climb
Climb the property passed through of robot.But, this method has two shortcomings: 1) absorption affinity can reduce along with the increase of spacing；2) power consumption
Along with the increase in gap can increase.Its reason is, the increase of spacing causes the space of the border underconstrained below adsorbent equipment to increase
Greatly, as shown in Figure 6.The top in this space is the flabellum 23 of high speed rotating, and the bottom in this space is static wall.Therefore,
The air of the inside in this space can form rotational flow, and meanwhile, the air of rotational flow exists bright on the direction of vertical wall B
Aobvious distribution of successively decreasing.Air closer to flabellum 23 rotates the most violent, and the air rotation closer to metope B then can die down.Rotation
The air distribution that turn of tidal stream moves result in and is upwardly formed pressure differential in the side of vertical wall B.Under the driving of pressure differential, the sky of periphery
Gas can be formed at unconfined boundary and circulate, as shown in Figure 6.Circulate the rotating flow in meeting severe jamming housing
Dynamic, and then weaken the negative pressure of enclosure interior.Understanding according to above analysis, it is that protection square casing 21 is internal that prevention circulates
Rotational flow and the basic place of negative pressure.The scheme that we are used is: arrange soft shirt rim 5 in the periphery of square casing 21,
As shown in Figure 7.Soft shirt rim 5 hinders the formation circulated, and obtained provides the benefit that: square casing 21 and climbing surface
Height increase, but, owing to using soft shirt rim 5 to retrain square casing 21 underlying space of square cyclone adsorbing device 2
Border, compensate for highly increasing the adverse effect brought, the absorption affinity of square cyclone adsorbing device 2 does not substantially reduce.
On the other hand, owing to soft shirt rim 5 uses flexible material manufacture, have no effect on climbing robot by exceeding soft shirt rim 5
The barrier A of the clearance height between bottom and some driving wheels 4 place plane, thus improve the obstacle detouring energy of climbing robot
Power.Further, fritter shirt rim 51(Fig. 8 a can be cut off in soft shirt rim 5 by us), use soft shirt rim 5 laminated multi-layer simultaneously
Mode (Fig. 8 b), both ensure that projection barrier easily by, again can effectively act as stop air-flow effect.
In another embodiment of the invention, square casing 21 profile size is identical with support baseboard 1, can make full use of
The useful space of support baseboard 1 is used as the adsorption plane of square cyclone adsorbing device 2, increases adsorption plane to greatest extent.
As one more embodiment of the present invention, climbing robot is provided with some prescription shape cyclone adsorbing devices 2, Mei Gefang
The square casing 21 of shape cyclone adsorbing device 2 is separately positioned on the bottom surface of support baseboard 1, these square cyclone adsorbing devices 2
The gross area suitable with the area of support baseboard 1.It is respectively arranged with, in each square casing 21, the flabellum driven by motor 22
23。
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (10)
1. a square cyclone adsorbing device, it is characterised in that include square casing, motor and flabellum, described flabellum is arranged
In square casing, described motor drives flabellum to rotate；Described square casing includes cover plate and square coaming plate, described square coaming plate
One end is fixing with cover plate to be connected, and its other end is provided with opening, and described flabellum is arranged in square coaming plate, the described motor side of being arranged on
The top of shape housing also drives flabellum to rotate by the motor hole arranged on the cover board.
Square cyclone adsorbing device the most as claimed in claim 1, it is characterised in that set respectively on four angles of described cover plate
Be equipped with some pores of dredging, each described in dredge one end of pore and be connected with the external world, its other end respectively with square coaming plate
Four straight corner regions are connected.
Square cyclone adsorbing device the most as claimed in claim 1, it is characterised in that on four right angles of described square coaming plate
Be provided with step surface so that be formed with between square coaming plate and cover plate and dredge slit flow channel, described in dredge the slit flow channel side of making
Four straight corner regions of shape coaming plate are connected with the external world.
Square cyclone adsorbing device the most as claimed in claim 1, it is characterised in that in four right angle of described square coaming plate
It is provided with chamfering or arc chord angle.
5. a climbing robot for the use square cyclone adsorbing device as described in any one in Claims 1-4, including
Support baseboard and driving means, it is characterised in that described square cyclone adsorbing device and driving means are arranged on the support end
On plate, described driving means is provided with some driving wheels, and described driving wheel drives support baseboard to move, described square cyclone adsorbing
The cover plate of device is fixed on support baseboard.
6. climbing robot based on square cyclone adsorbing device as claimed in claim 5, it is characterised in that described square
The edge of coaming plate opening part is provided with soft shirt rim, described soft shirt rim be separately positioned on square coaming plate outer peripheral edge,
Or/and inner peripheral.
7. climbing robot based on square cyclone adsorbing device as claimed in claim 6, it is characterised in that described soft skirt
While include some little shirt rims.
Climbing robot based on square cyclone adsorbing device the most as claimed in claims 6 or 7, it is characterised in that described soft
It is provided with gap between bottom and some driving wheel places plane of property shirt rim.
9. climbing robot based on square cyclone adsorbing device as claimed in claim 5, it is characterised in that described driving wheel
It is four, is separately positioned on the both sides of support baseboard.
10. climbing robot based on square cyclone adsorbing device as claimed in claim 5, it is characterised in that described climbing
Robot is provided with some prescription shape cyclone adsorbing devices, and the square casing of each described square cyclone adsorbing device is separately positioned on
On the bottom surface of support baseboard, it is respectively arranged with by motor-driven flabellum in each described square casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570949.4A CN106080825A (en) | 2016-07-20 | 2016-07-20 | A kind of square cyclone adsorbing device and climbing robot based on this device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570949.4A CN106080825A (en) | 2016-07-20 | 2016-07-20 | A kind of square cyclone adsorbing device and climbing robot based on this device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106080825A true CN106080825A (en) | 2016-11-09 |
Family
ID=57221449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570949.4A Pending CN106080825A (en) | 2016-07-20 | 2016-07-20 | A kind of square cyclone adsorbing device and climbing robot based on this device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106080825A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN106938691A (en) * | 2017-02-16 | 2017-07-11 | 浙江大学 | Centrifugal impeller sucker under water |
| CN109677499A (en) * | 2019-02-14 | 2019-04-26 | 河北工业大学 | A kind of clearance-type negative-pressure adsorption climbing robot |
| CN110371208A (en) * | 2019-07-25 | 2019-10-25 | 燕山大学 | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism |
| CN112936216A (en) * | 2021-02-01 | 2021-06-11 | 中国农业大学 | Vacuum adsorption wheel type mobile robot platform for nondestructive testing of wind driven generator blade |
| CN114524069A (en) * | 2022-01-12 | 2022-05-24 | 浙江大学 | Micro-milling forming anchoring mechanism based on micro-needle array |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201614177U (en) * | 2009-12-21 | 2010-10-27 | 黎科 | Non-contact loading device |
| CN102693928A (en) * | 2011-03-25 | 2012-09-26 | 致茂电子股份有限公司 | Non-contact type suction cup |
| CN203324818U (en) * | 2013-07-12 | 2013-12-04 | 华北电力大学 | Intelligent automatically-wall-switching robot based on multisensor fusion technology |
| CN103496589A (en) * | 2013-08-21 | 2014-01-08 | 浙江大学 | Object absorbing device |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| US9221506B1 (en) * | 2011-07-18 | 2015-12-29 | The Boeing Company | Location tracking and motion control of automated marking device |
| CN105460097A (en) * | 2014-09-12 | 2016-04-06 | 浙江大学 | Climbing machine vehicle |
| CN205197897U (en) * | 2015-10-23 | 2016-05-04 | 哈尔滨工程大学 | Follow and remove glass cleaning machines people based on negative pressure is adsorbed |
| DE102015101290B3 (en) * | 2015-01-29 | 2016-05-19 | Vorwerk & Co. Interholding Gmbh | Window cleaning robot |
| CN205365793U (en) * | 2016-03-15 | 2016-07-06 | 郑州大学 | Can be at simple and easy four drive vehicle of ground and wall motion |
| CN105730542A (en) * | 2016-03-31 | 2016-07-06 | 任宝全 | Manufacturing method of air sucker type wall crawler |
-
2016
- 2016-07-20 CN CN201610570949.4A patent/CN106080825A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201614177U (en) * | 2009-12-21 | 2010-10-27 | 黎科 | Non-contact loading device |
| CN102693928A (en) * | 2011-03-25 | 2012-09-26 | 致茂电子股份有限公司 | Non-contact type suction cup |
| US9221506B1 (en) * | 2011-07-18 | 2015-12-29 | The Boeing Company | Location tracking and motion control of automated marking device |
| CN203324818U (en) * | 2013-07-12 | 2013-12-04 | 华北电力大学 | Intelligent automatically-wall-switching robot based on multisensor fusion technology |
| CN103496589A (en) * | 2013-08-21 | 2014-01-08 | 浙江大学 | Object absorbing device |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| CN105460097A (en) * | 2014-09-12 | 2016-04-06 | 浙江大学 | Climbing machine vehicle |
| DE102015101290B3 (en) * | 2015-01-29 | 2016-05-19 | Vorwerk & Co. Interholding Gmbh | Window cleaning robot |
| CN205197897U (en) * | 2015-10-23 | 2016-05-04 | 哈尔滨工程大学 | Follow and remove glass cleaning machines people based on negative pressure is adsorbed |
| CN205365793U (en) * | 2016-03-15 | 2016-07-06 | 郑州大学 | Can be at simple and easy four drive vehicle of ground and wall motion |
| CN105730542A (en) * | 2016-03-31 | 2016-07-06 | 任宝全 | Manufacturing method of air sucker type wall crawler |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938691A (en) * | 2017-02-16 | 2017-07-11 | 浙江大学 | Centrifugal impeller sucker under water |
| CN106938691B (en) * | 2017-02-16 | 2019-02-05 | 浙江大学 | The underwater sucker of centrifugal impeller |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN106938692B (en) * | 2017-03-04 | 2018-11-20 | 浙江大学 | Non-contact negative-pressure adsorption climbs wall detection device under water |
| CN109677499A (en) * | 2019-02-14 | 2019-04-26 | 河北工业大学 | A kind of clearance-type negative-pressure adsorption climbing robot |
| CN109677499B (en) * | 2019-02-14 | 2024-01-16 | 河北工业大学 | Intermittent negative pressure adsorption wall climbing robot |
| CN110371208A (en) * | 2019-07-25 | 2019-10-25 | 燕山大学 | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism |
| CN110371208B (en) * | 2019-07-25 | 2021-04-06 | 燕山大学 | Single-degree-of-freedom telescopic rotary crawling robot based on scissor fork mechanism |
| CN112936216A (en) * | 2021-02-01 | 2021-06-11 | 中国农业大学 | Vacuum adsorption wheel type mobile robot platform for nondestructive testing of wind driven generator blade |
| CN114524069A (en) * | 2022-01-12 | 2022-05-24 | 浙江大学 | Micro-milling forming anchoring mechanism based on micro-needle array |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106080825A (en) | A kind of square cyclone adsorbing device and climbing robot based on this device | |
| JP5677010B2 (en) | Motor assembly and pump device | |
| CN101270761A (en) | Centrifugal blower and air conditioner having the same | |
| EP3381345B1 (en) | Robot cleaner | |
| CN109677499A (en) | A kind of clearance-type negative-pressure adsorption climbing robot | |
| CN104648513B (en) | Climbing robot with curved surface self-adaption capability | |
| CN104976696A (en) | Air purifier capable of improving purification efficiency | |
| CN209863632U (en) | Surface treatment apparatus | |
| KR101144967B1 (en) | Clean elevator car and its boarding room air flow control method | |
| KR100335324B1 (en) | Vacuum cleaner of air circulation type | |
| CN208393050U (en) | A kind of vehicle-mounted clarifier | |
| JPH11344243A (en) | Air shower apparatus | |
| CN109710039A (en) | A kind of dedusting computer cabinet | |
| JP2652884B2 (en) | Clean mechanism of ball screw moving mechanism | |
| CN106249692B (en) | A kind of numerical control device with dust reduction capability | |
| CN107476975A (en) | A kind of road sweeper twin-tub circular suction type wall blower fan | |
| CN208061531U (en) | Buildings model exhibition booth | |
| CN209808242U (en) | Cleaning turntable and cleaning device of surface treatment equipment and surface treatment equipment | |
| CN104674736B (en) | Road cleaning vehicle | |
| CN209492629U (en) | A kind of clearance-type negative-pressure adsorption climbing robot | |
| JPH06339645A (en) | Polluted fluid capturing apparatus | |
| JP7344763B2 (en) | mobile air purifier | |
| JP2000014604A (en) | Vacuum cleaner | |
| CN213990351U (en) | Brushless motor for electric vehicle | |
| CN117682348B (en) | Limestone powder blanking anti-blocking dust suppression device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |