CN115946789A - Wheeled magnetic adsorption wall-climbing robot - Google Patents
Wheeled magnetic adsorption wall-climbing robot Download PDFInfo
- Publication number
- CN115946789A CN115946789A CN202211590660.0A CN202211590660A CN115946789A CN 115946789 A CN115946789 A CN 115946789A CN 202211590660 A CN202211590660 A CN 202211590660A CN 115946789 A CN115946789 A CN 115946789A
- Authority
- CN
- China
- Prior art keywords
- rack
- fixed
- climbing robot
- self
- adjusting mechanism
- 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.)
- Granted
Links
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 111
- 238000006073 displacement reaction Methods 0.000 claims abstract description 33
- 230000003287 optical effect Effects 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 8
- 230000005389 magnetism Effects 0.000 claims description 7
- 230000009194 climbing Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a wheel type magnetic adsorption wall-climbing robot, which relates to the technical field of intelligent machinery and comprises: a frame; the passive posture changing device is arranged on the lower side of the rack and has the multi-dimensional displacement and rotation functions; the driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is fixed on the lower side of the rack, the second driving mechanism is arranged on the lower side of the passive posture changing device, the passive posture changing device realizes multi-dimensional displacement and rotation of the second driving mechanism, and the driving device adsorbs the pipe wall and drives the rack to move integrally; the invention effectively avoids the phenomenon that each motor is asynchronous when the wheel type magnetic adsorption wall-climbing robot walks on a non-flat working surface, is beneficial to the wheel type magnetic adsorption wall-climbing robot to walk more accurately according to a preset route, and increases the use reliability of the wheel type magnetic adsorption wall-climbing robot.
Description
Technical Field
The invention relates to the technical field of intelligent machinery, in particular to a wheel type magnetic adsorption wall-climbing robot.
Background
With the rapid development of modern industry, human beings try to solve some tedious and dangerous works by using robots. In particular, robots play a particularly important role in highly dangerous operations such as detection in pipelines, cleaning of walls of tall buildings, rescue sites in complex environments, extra-cabin inspection of space stations, and surface detection of small planets. The wheel type magnetic adsorption wall-climbing robot is an important branch in the field of mobile robots. Since the last 60 s, researchers in various countries have begun to make a lot of researches on such robots, and have also achieved a lot of research results. The wheel type magnetic adsorption wall-climbing robot can be divided into modes of magnetism, negative pressure, bionic materials, claw type and the like from an adsorption structure. The wall that magnetism adsorbs formula robot required to climb must have magnetic conductivity, and its advantage has better load capacity, has solved the drawback such as the work efficiency that manual work exists is low, the cost of enterprise is high, operational environment is abominable danger in the past.
When the existing wheel type magnetic adsorption wall-climbing robot walks on a non-flat working surface, the problems of asynchronous rotating speed of each wheel, unsmooth walking and serious slipping of the wheels and the wall surface are inevitable, and the wheel type magnetic adsorption wall-climbing robot is not easy to make walk on a curved surface smoothly.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
The invention aims to provide a wheel type magnetic adsorption wall-climbing robot, which can improve the working efficiency on one hand and solve the problem that the rotating speed of each wheel is asynchronous when the wheel type magnetic adsorption wall-climbing robot walks on an uneven working surface on the other hand, so that the wheel type magnetic adsorption wall-climbing robot walks on the working surface according to smoothness, the slippage is reduced, and the use reliability of the wheel type magnetic adsorption wall-climbing robot is improved.
The invention solves the technical problems through the following technical scheme, and the invention comprises the following steps:
a frame;
the passive posture changing device is arranged on the lower side of the rack and has the multi-dimensional displacement and rotation functions;
the driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is fixed on the lower side of the rack, the second driving mechanism is arranged on the lower side of the passive posture changing device, the passive posture changing device realizes multi-dimensional displacement and rotation of the second driving mechanism, and the driving device adsorbs the pipe wall and drives the rack to move integrally;
the sensing device is arranged on the passive posture changing device and used for sensing data of multi-dimensional displacement and rotation of the passive posture changing device;
and the control box is respectively connected with the driving device in a device signal transmission manner.
Preferably, the passive posture changing device includes:
the transverse self-adjusting mechanism is arranged on the rack;
a fixed frame fixed to a lower side of the lateral self-adjustment mechanism;
the longitudinal self-adjusting mechanism is fixed on the fixed frame;
the bearing plate is fixed on the lower side of the longitudinal self-adjusting mechanism;
the upper end of the two-degree-of-freedom rotating device is horizontally and rotatably arranged on the bearing plate, the lower end of the two-degree-of-freedom rotating device is provided with a rotating shaft which rotates in the vertical direction, and the second driving mechanism is arranged on the rotating shaft.
Preferably, the lateral self-adjusting mechanism comprises an optical axis, a sliding block and two springs; the optical axis is fixed in the frame, the slider slides and sets up in the optical axis, two the spring all overlaps on locating the optical axis of slider both sides, fixed frame is fixed in the slider downside.
Preferably, the longitudinal self-adjusting mechanism and the transverse self-adjusting mechanism have the same structure, an optical axis of the longitudinal self-adjusting mechanism is perpendicular to and intersected with an optical axis of the transverse self-adjusting mechanism, and the bearing plate is fixed to a sliding block of the longitudinal self-adjusting mechanism.
Preferably, the sensing device comprises two sets of displacement sensing mechanisms and angle sensing mechanisms; the two sets of displacement sensing mechanisms respectively sense the displacement of the transverse self-adjusting mechanism and the longitudinal self-adjusting mechanism, and the angle sensing mechanism senses the horizontal rotation angle of the two-degree-of-freedom rotating device.
Preferably, the displacement sensing mechanism arranged on the transverse self-adjusting mechanism comprises a rack, a gear and a first angle sensor; the rack is arranged in parallel with the optical axis, the rack is fixed on the rack, the gear is fixed on the corresponding sliding block through the mounting seat, the gear is meshed with the rack and connected with the rack, and the first angle sensor is mounted on the mounting seat.
Preferably, the mounting seat and the sliding block are both fixed on the bearing plate in the displacement sensing mechanism of the longitudinal self-adjusting mechanism.
Preferably, the angle sensing mechanism comprises a second angle sensor which is installed on the bearing plate through a threaded part, and the second angle sensor is located on the upper side of the two-degree-of-freedom rotating device.
Preferably, the driving mechanism comprises two motors, two groups of speed change gear sets, a fixed frame and two magnetic wheels; the two motors are respectively fixed on two sides of the fixing frame, the two magnetic wheels are respectively rotatably installed on two sides of the fixing frame, and the motors and the magnetic wheels are in transmission connection through speed change gear sets on the same side.
Compared with the prior art, the invention has the beneficial effects that: when moving on the non-flat working face, the displacement and the rotation angle of the passive posture changing device are sensed according to the sensing device, parameters are sent to the control box, the control box can adjust the rotating speed of the motors in the driving units, the rotating speed of each magnetic wheel is adjusted, and therefore the phenomenon that each motor is asynchronous when the wheeled magnetic adsorption wall-climbing robot walks on the non-flat working face is effectively avoided, the wheeled magnetic adsorption wall-climbing robot can walk more accurately according to a preset route, and the use reliability of the wheeled magnetic adsorption wall-climbing robot is improved.
Drawings
Fig. 1 is a schematic structural view of a first view angle of a wheeled magnetic adsorption wall-climbing robot;
FIG. 2 is a second perspective view of the wheeled magnetic attraction wall-climbing robot;
fig. 3 is a schematic structural diagram of a third viewing angle of the wheeled magnetic adsorption wall-climbing robot;
FIG. 4 is a schematic top view of the passive attitude change device shown in FIG. 1;
FIG. 5 is a schematic view of the lateral self-adjustment mechanism of FIG. 4;
fig. 6 is a schematic structural view of the longitudinal self-adjustment mechanism of fig. 4.
The figures in the drawings represent:
1-a frame; 21-a first drive mechanism; 22-a second drive mechanism; 201-a motor; 202-a speed change gear set; 203-a magnetic wheel; 204-a fixed mount; 3-a control box; 41-a lateral self-adjustment mechanism; 401-optical axis; 402-a slider; 403-a spring; 42-longitudinal self-adjustment mechanism; 43-a fixed frame; 44-a bearing plate; 45-two degree of freedom rotating means; 5-a sensing device; 51-a displacement sensing mechanism; 52-angle sensing means; 501-a rack; 502-gear; 503-first angle sensor.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
The embodiment provides a technical scheme: a wheeled magnetic adsorption wall-climbing robot is disclosed, referring to fig. 1-3, and comprises a frame 1, a passive posture changing device, a driving device, a sensing device 5 and a control box 3.
The device comprises a rack 1, wherein the rack 1 is formed by erecting a plurality of aluminum profiles, and the upper part of the rack is a flat plane for mounting matched equipment;
referring to fig. 3 to 6, the passive posture changing device is disposed at a lower side of the frame 1, and has a multi-dimensional displacement and rotation function. The passive posture changing device comprises:
the transverse self-adjusting mechanisms 41 are arranged on the frame 1, the number of the transverse self-adjusting mechanisms 41 is preferably two, stability is ensured, and the transverse self-adjusting mechanisms 41 comprise an optical axis 401, a sliding block 402 and two springs 403; the two transverse self-adjusting mechanisms 41 are respectively arranged in a 'mu' -shaped frame at the top of the rack 1, the optical axis 401 is fixed at the inner side of the rack 1, the sliding block 402 is arranged on the optical axis 401 in a sliding manner, the two springs 403 are both sleeved on the optical axis 401 at the two sides of the sliding block 402, the two sides of the springs 403 are respectively fixedly connected with the rack 1 and the sliding block 402, and the sliding block 402 is pushed to the central position of the optical axis 401 under the influence of other external force due to the action of the springs 403 at the two sides;
the fixing frame 43 is formed by enclosing four aluminum profiles, the fixing frame 43 is fixed at the lower side of the sliding block 402 of the transverse self-adjusting mechanism 41, and the fixing frame 43 and the sliding block 402 are fixed through a connecting plate;
the number of the longitudinal self-adjusting mechanisms 42 is preferably two, the longitudinal self-adjusting mechanisms 42 are fixed to the fixing frame 43, the structure of the longitudinal self-adjusting mechanisms 42 is the same as that of the lateral self-adjusting mechanisms 41, in this embodiment, two sliding blocks 402 are used for the sliding blocks 402 of the longitudinal self-adjusting mechanisms 42, and the optical axes 401 of the longitudinal self-adjusting mechanisms 42 and the optical axes 401 of the lateral self-adjusting mechanisms 41 are perpendicularly intersected;
the bearing plate 44 is fixed on the lower side of the sliding block 402 of the longitudinal self-adjusting mechanism 42, and the bearing plate 44 moves in the longitudinal dimension and the transverse dimension due to the action of the longitudinal self-adjusting mechanism 42 and the transverse self-adjusting mechanism 41;
and a two-degree-of-freedom rotating device 45, wherein the upper end of the two-degree-of-freedom rotating device 45 is horizontally and rotatably mounted on the bearing plate 44, and a rotating shaft which rotates in the vertical direction is arranged on the lower side of the two-degree-of-freedom rotating device 45.
Referring to fig. 2-3, the driving device includes a first driving mechanism 21 and a second driving mechanism 22, the first driving mechanism 21 and the second driving mechanism 22 are both located at the lower side of the rack 1 and located at the same plane, the first driving mechanism 21 is fixed at the lower side of the rack 1, the second driving mechanism 22 is installed at the lower side of the passive posture changing device, the specific position is a rotating shaft of a two-degree-of-freedom rotating device 45, under the action of the two-degree-of-freedom rotating device 45, the second driving mechanism 22 has a rotating function in the horizontal direction and the vertical direction, the longitudinal self-adjusting mechanism 42 and the transverse self-adjusting mechanism 41 have an offset in the transverse direction and the longitudinal direction, so that the multi-dimensional displacement and rotation of the second driving mechanism 22 are realized, the curved surface can be better adapted, and the driving device adsorbs and drives the rack 1 to integrally move;
the driving mechanism comprises two symmetrical driving units and a fixing frame 204, wherein each driving unit comprises a motor 201, a speed change gear 502 group 202 and a magnetic wheel 203; the both sides of mount 204 all are provided with vertical mounting panel, motor 201 is fixed in the mounting panel of mount 204, magnetic wheel 203 rotates the mounting panel of installing in mount 204 through the axis of rotation, the axis of rotation that passes through change gear 502 group 202 transmission with motor 201 and magnetic wheel 203 is connected, when motor 201 moves, the speed reduction through change gear 502 group 202 drives magnetic wheel 203 and rotates, and then the driving robot walks, when two magnetic wheels 203 in the second actuating mechanism 22 have the differential, the degree of freedom above two degree of freedom rotating device 45 realizes turning, when the robot moves at the non-plane, the better laminating non-plane of magnetic wheel 203 of two degree of freedom rotating device 45 below.
Referring to fig. 5-6, the sensing device 5 is disposed on the passive posture changing device, and is used for sensing data of multidimensional displacement and rotation of the passive posture changing device, and the sensing device 5 includes two sets of displacement sensing mechanisms 51 and angle sensing mechanisms 52; the two sets of displacement sensing mechanisms 51 respectively sense the displacement amounts of the transverse self-adjusting mechanism 41 and the longitudinal self-adjusting mechanism 42, the angle sensing mechanism 52 senses the horizontal rotation angle of the two-degree-of-freedom rotating device 45, and the sensed data is sent to the control box 3;
the displacement sensing mechanism 51 arranged on the transverse self-adjusting mechanism 41 comprises a rack 501, a gear 502 and a first angle sensor 503; a cross bar is fixed between aluminum profiles on two sides of the rack 1, the cross bar is parallel to the optical axis 401, meanwhile, a rack 501 is fixed on the cross bar, a mounting seat is fixed on the outer side of a corresponding sliding block, a gear 502 is rotatably mounted in the mounting seat, the gear 502 is meshed with the rack 501, a first angle sensor 503 is mounted on the mounting seat, when the fixing frame 43 is transversely deviated, the sliding block 402 can slide to one corresponding side along with the sliding block, when the sliding block slides, due to the meshing of the gear 502 and the rack 501, the gear 502 can rotate by a corresponding angle, and the first angle sensor 503 can sense the rotating angle of the gear 502 and transmit data to the control box 3;
the displacement sensing mechanism 51 disposed in the longitudinal self-adjusting mechanism 42 has the same structure as the displacement sensing mechanism 51 disposed in the lateral self-adjusting mechanism 41, except that the mounting seat and the sliding block 402 in the displacement sensing mechanism 51 of the longitudinal self-adjusting mechanism 42 are both fixed to the receiving plate 44, the rack 501 of the longitudinal self-adjusting mechanism 42 is disposed in the longitudinal direction, when the receiving plate 44 is longitudinally offset, the sliding block 402 slides to the corresponding side, when sliding, due to the engagement between the gear 502 and the rack 501, the gear 502 rotates by a corresponding angle, the first angle sensor 503 senses the angle of rotation of the gear 502 and transmits data to the control box 3, the angle sensing mechanism 52 includes a second angle sensor mounted on the receiving plate 44 by a screw, the second angle sensor is located on the upper side of the two-degree-of-freedom rotating device 45, and the second angle sensor is used for sensing the angle parameter of the two-degree-of-freedom rotating device 45 relatively rotating around the central axis 44 of the receiving plate and providing the angle parameter to the control box 3.
The control box 3 is respectively connected with the sensing device 5 and the driving device in a signal transmission way, and the control box 3 sends instructions to the driving device and receives output signals of the driving device.
When the wheeled magnetic adsorption wall-climbing robot is used, when the wheeled magnetic adsorption wall-climbing robot moves on a non-flat working surface, the passive posture changing device has certain relative displacement in the left-right direction of the wheeled magnetic adsorption wall-climbing robot relative to the frame 1, and the bearing plate 44 drives the two-degree-of-freedom rotating device 45 and has certain relative displacement in the front-back movement direction of the wheeled magnetic adsorption wall-climbing robot relative to the upper frame; the sensing device 5 that sets up can sense wheeled magnetism respectively and adsorb wall climbing robot in the horizontal direction and the horizontal angle variation of the last relative displacement volume of each and two degree of freedom rotating device 45 of fore-and-aft direction, and give control box 3 with the data transmission who senses, thereby effectively avoided wheeled magnetism to adsorb each motor 201 asynchronous phenomenon that appears when walking on the uneven working face of wall climbing robot, be favorable to wheeled magnetism to adsorb wall climbing robot more accurate walk according to predetermined route, the reliability that wheeled magnetism adsorbed wall climbing robot used has been increased.
The foregoing is illustrative of the preferred embodiments of the present invention, which is set forth only, and not to be taken as limiting the invention. It will be appreciated by those skilled in the art that many variations, modifications, and equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the claims.
Claims (9)
1. The utility model provides a wheeled magnetism adsorbs wall climbing robot which characterized in that: the method comprises the following steps:
a frame;
the passive posture changing device is arranged on the lower side of the rack and has the multi-dimensional displacement and rotation functions;
the driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is fixed on the lower side of the rack, the second driving mechanism is arranged on the lower side of the passive posture changing device, the passive posture changing device realizes multi-dimensional displacement and rotation of the second driving mechanism, and the driving device adsorbs the pipe wall and drives the rack to move integrally;
the sensing device is arranged on the passive posture changing device and used for sensing data of multi-dimensional displacement and rotation of the passive posture changing device;
and the control box is respectively connected with the driving device in a device signal transmission manner.
2. The wheeled magnetic-adsorption wall-climbing robot of claim 1, wherein the passive posture-changing device comprises:
the transverse self-adjusting mechanism is arranged on the rack;
a fixed frame fixed to a lower side of the lateral self-adjustment mechanism;
the longitudinal self-adjusting mechanism is fixed on the fixed frame;
the bearing plate is fixed on the lower side of the longitudinal self-adjusting mechanism;
the upper end of the two-degree-of-freedom rotating device is horizontally and rotatably arranged on the bearing plate, the lower end of the two-degree-of-freedom rotating device is provided with a rotating shaft which rotates in the vertical direction, and the second driving mechanism is arranged on the rotating shaft.
3. The wheeled magnetic-adsorption wall-climbing robot of claim 2, wherein the transverse self-adjusting mechanism comprises an optical axis, a sliding block and two springs; the optical axis is fixed in the frame, the slider slides and sets up in the optical axis, two the spring all overlaps on the optical axis of locating the slider both sides, fixed frame is fixed in the slider downside.
4. A wheeled magnetic-adsorption wall-climbing robot as claimed in claim 3, wherein the longitudinal self-adjusting mechanism and the transverse self-adjusting mechanism are identical in structure, the optical axis of the longitudinal self-adjusting mechanism is perpendicular to the optical axis of the transverse self-adjusting mechanism, and the receiving plate is fixed to the sliding block of the longitudinal self-adjusting mechanism.
5. The wheeled magnetic-adsorption wall-climbing robot of claim 3, wherein the sensing device comprises two sets of displacement sensing mechanisms and angle sensing mechanisms; the two sets of displacement sensing mechanisms respectively sense the displacement of the transverse self-adjusting mechanism and the longitudinal self-adjusting mechanism, and the angle sensing mechanism senses the horizontal rotation angle of the two-degree-of-freedom rotating device.
6. The wheeled magnetic-adsorption wall-climbing robot of claim 5, wherein the displacement sensing mechanism arranged on the transverse self-adjusting mechanism comprises a rack, a gear and a first angle sensor; the rack is arranged in parallel with the optical axis, the rack is fixed on the rack, the gear is fixed on the corresponding sliding block through the mounting seat, the gear is meshed with the rack and connected with the rack, and the first angle sensor is mounted on the mounting seat.
7. The wheeled magnetic-adsorption wall-climbing robot of claim 6, wherein the mounting seat and the sliding block are both fixed on the bearing plate in the displacement sensing mechanism of the longitudinal self-adjusting mechanism.
8. The wheeled magnetic-adsorption wall-climbing robot as claimed in claim 5, wherein the angle sensing mechanism comprises a second angle sensor mounted on the bearing plate through a screw, and the second angle sensor is located on the upper side of the two-degree-of-freedom rotating device.
9. The wheeled magnetic adsorption wall-climbing robot of claim 2, wherein the driving mechanism comprises two motors, two speed change gear sets, a fixed frame and two magnetic wheels; the two motors are respectively fixed on two sides of the fixing frame, the two magnetic wheels are respectively rotatably installed on two sides of the fixing frame, and the motors and the magnetic wheels are in transmission connection through speed change gear sets on the same side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211590660.0A CN115946789B (en) | 2022-12-12 | 2022-12-12 | Wheeled magnetic adsorption wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211590660.0A CN115946789B (en) | 2022-12-12 | 2022-12-12 | Wheeled magnetic adsorption wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115946789A true CN115946789A (en) | 2023-04-11 |
| CN115946789B CN115946789B (en) | 2024-06-18 |
Family
ID=87285289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211590660.0A Active CN115946789B (en) | 2022-12-12 | 2022-12-12 | Wheeled magnetic adsorption wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115946789B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0752843A (en) * | 1993-08-11 | 1995-02-28 | Hideji Nishiguchi | Travel control device for wall surface traveling robot |
| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
| CN211790426U (en) * | 2020-03-27 | 2020-10-27 | 国网浙江省电力有限公司金华供电公司 | Power transmission line robot with automatically adjusted posture |
| US20220045489A1 (en) * | 2019-11-08 | 2022-02-10 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
-
2022
- 2022-12-12 CN CN202211590660.0A patent/CN115946789B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0752843A (en) * | 1993-08-11 | 1995-02-28 | Hideji Nishiguchi | Travel control device for wall surface traveling robot |
| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
| US20220045489A1 (en) * | 2019-11-08 | 2022-02-10 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
| CN211790426U (en) * | 2020-03-27 | 2020-10-27 | 国网浙江省电力有限公司金华供电公司 | Power transmission line robot with automatically adjusted posture |
Non-Patent Citations (1)
| Title |
|---|
| 刘呈则 , 朱新坚 , 费艳琼 , 赵锡芳: "自导向磁吸附爬壁机器人控制***的实现", 测控技术, no. 12, 18 December 2004 (2004-12-18) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115946789B (en) | 2024-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6948576B2 (en) | Driving and transmission unit for use in rolling vehicles | |
| JP3791663B2 (en) | Omnidirectional moving vehicle and its control method | |
| CN106853843B (en) | Omnidirectional mobile platform capable of realizing synchronous steering | |
| CN108749946B (en) | Driving wheel system, mobile platform and robot | |
| CN111196309A (en) | Wheel track adjustable carrying platform | |
| Miyake et al. | Mechanisms and basic properties of window cleaning robot | |
| CN110953439A (en) | Integrated robot suitable for complex pipeline | |
| KR101204147B1 (en) | Caster wheel mechanism having dual offset structure and omnidirectional mobile robot using the same | |
| CN211710618U (en) | Differential driving device of non-independent suspension and differential-driven wheeled robot | |
| CN210971085U (en) | Direct-drive type track walking device | |
| CN115946789A (en) | Wheeled magnetic adsorption wall-climbing robot | |
| JP3809698B2 (en) | Transport device | |
| CN102700634A (en) | Small track robot based on connecting rod mechanism | |
| JP2746389B2 (en) | Crawler type wall running mechanism | |
| Miyake et al. | Development of small-size window cleaning robot by wall climbing mechanism | |
| CN110509738B (en) | Six-freedom-degree series branched chain leg based on ground sealing | |
| CN115435764B (en) | A sucking disc formula walking robot for scanning of laser tracker target spot | |
| CN110758591A (en) | Double-roller omnidirectional power caster of mobile robot and omnidirectional mobile platform | |
| CN201914349U (en) | Biped-wheel wall-climbing robot mechanism | |
| CN218822229U (en) | Positioning and measuring device for track type inspection robot | |
| CN108502049B (en) | Robot based on wheeled foot type composite chassis | |
| CN102476664A (en) | Wheel foot type wall climbing robot mechanism | |
| CN211001619U (en) | Double-roller omnidirectional power caster of mobile robot and omnidirectional mobile platform | |
| CN205766097U (en) | A kind of curved surface adaptive adsorption-type omni-directional moving platform | |
| CN113587791B (en) | Pose detection device and pose detection method of omnidirectional mobile platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |