CN208221901U - A kind of modularized wall-climbing robot - Google Patents
A kind of modularized wall-climbing robot Download PDFInfo
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- CN208221901U CN208221901U CN201820379453.3U CN201820379453U CN208221901U CN 208221901 U CN208221901 U CN 208221901U CN 201820379453 U CN201820379453 U CN 201820379453U CN 208221901 U CN208221901 U CN 208221901U
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- climbing robot
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- magnetic adsorption
- vacuum chuck
- wheel
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Abstract
The utility model provides a kind of modularized wall-climbing robot, belongs to artificial intelligence field.The modularized wall-climbing robot includes sufficient formula vacuum chuck skeleton (1), magnetic adsorption wheel group (2), vision system (3) and (4) four, chassis functional module, this four functional modules can form the climbing robot for having different function by different combinations.Compared with the prior art, modularized wall-climbing robot designed by the utility model disparate modules can be freely combined according to the actual conditions of pipe-line system in actual operation, with two kinds of suction types of sufficient formula vacuum chuck and wheel type electromagnetic adsorption, suitable for a variety of different materials surfaces, more flexible stabilization.
Description
Technical field
The utility model belongs to artificial intelligence field, and in particular to a kind of modularized wall-climbing robot.
Background technique
The internal structure and component of modern pipe-line system are frequently necessary to supervise and detect, in pipeline fault exclusion process,
Due to modern pipe-line system and its complexity, and tubular structure is of different thickness, more diversified, increases the tired of troubleshooting
Difficulty, traditional artificial means not exclusively can satisfy requirement.It adapts to inside the deep enough pipeline of climbing robot energy of tubular structure
Inner wall of the pipe and its internal component are checked or detected, and monitors its working condition, is increasingly becoming the research of artificial intelligence field
One of direction.
Climbing robot needs to be adsorbed on wall at work, currently, difference of the climbing robot according to suction type
Magnet adsorption wall climbing robot and vacuum suction climbing robot can be divided into.The advantages of magnet adsorption wall climbing robot, is: speed
Degree is fast, excellent adsorption, and controllability is high；Disadvantage is: the scope of application is small, is only used for magnetic medium composition surface.Vacuum suction
The advantages of climbing robot, is: can move on all smooth surfaces, and sufficient formula vacuum suction mode has centainly
The ability of crossing over blockage；Disadvantage is: forward speed is slow, and adsorption capacity is weaker, and needs to increase machine to promote adsorption capacity
Human body's volume.
The inner wall of modern pipe-line system be not exclusively it is smooth, the material of different components is not also identical, various structures, and
There is also the obstacles such as certain partition, and this requires climbing robots can overcome gravity, and adsorption capacity is from zero until can prop up
Ontology and load are supportted, but also can adapt to 360 ° of ontology overturnings, while also requiring climbing robot can be according to pipeline system
The specific structure of system changes to adaptation to local conditions reptile fashion, while it is excellent with vacuum suction climbing robot that there is magnet to adsorb
Point.
Utility model content
The utility model provides a kind of modularized wall-climbing robot, overcomes above-mentioned the deficiencies in the prior art, can have
Effect solves existing climbing robot because single adsorption mode can not adapt to pipe-line system architectural characteristic, can not be in a variety of different materials
With used in plane and the problem inflexible in face of the mode of operation of different height barrier.
A kind of modularized wall-climbing robot, it is characterised in that: including sufficient formula vacuum chuck skeleton (1), magnetic adsorption vehicle
Wheel group (2), vision system (3) and (4) four, chassis functional module, this four functional modules can pass through different combinations
Form the climbing robot for having different function.
The foot formula vacuum chuck skeleton (1) is made of leg and trunk, and every leg has 6 freedom degrees, wherein hip joint
(11), knee joint (12) and ankle-joint (13) respectively have 1 freedom degree, flexural pivot (15) and vacuum chuck (16) of podarthrum (14)
It is connected, forms 1 gimbal suspension, there are 3 freedom degrees, hip joint (11), knee joint (12) and ankle-joint (13) is actively to drive
Movable joint, hip joint (11) is orthogonal with knee joint (12) and ankle-joint (13) respectively, and hip joint (11) is connected with trunk and axis
Direction is vertical with collective.
The magnetic adsorption wheel group (2) is made of 2 magnetic adsorption wheel modules (21), 2 magnetic adsorptions
Wheel module structure is identical, places side by side；The magnetic adsorption wheel module (21) by 2 magnetic adsorption wheels (22),
2 control steering engines (23) and 2 magnetic adsorption wheel interface (24) compositions；Wherein the 1st magnetic adsorption wheel (22-1)
It is connect with the 1st control steering engine (23-1), the 1st magnetic adsorption wheel interface (24-1) is located at magnetic adsorption wheel module
Outside, close 1st magnetic adsorption wheel (22-1), the 2nd magnetic adsorption wheel (22-2) and the 2nd control steering engine
(23-2) connection, the 2nd magnetic adsorption wheel interface (24-2) are located on the outside of magnetic adsorption wheel module, close to the 2nd
Magnetic adsorption wheel (22-2).
The vision system (3) is made of holder (31), steering engine (32) and camera (33)；Camera (33) and steering engine
(32) be connected, establish on holder (31), can 360 ° rotation, camera (33) can 180 ° of pitching；The bottom of vision system (3)
The mounting hole being connected equipped with the chassis (4) with climbing robot.
The chassis (4) is accompanied with communication module (41), control module (42), power supply (43) and 5 chassis interfaces (44)；
5th chassis interface (44-5) and power supply (43) are located among chassis (4), and communication module (41) is located at the 5th chassis interface
The left side of (44-5) and power supply (43), control module (42) are located at the right of the 5th chassis interface (44-5) and power supply (43),
Remaining 4 chassis interface (44-1,44-2,44-3,44-4) is divided to two groups of both ends for being located at chassis (4).
The foot formula vacuum chuck skeleton (1) and chassis (4), which is combined, constitutes the climbing robot that sufficient formula vacuum chuck is advanced.
The magnetic adsorption wheel (2) and chassis (4) combination constitute the climbing robot that magnetic adsorption wheel is advanced.
The foot formula vacuum chuck skeleton (1), vision system (3) and chassis (4) combination constitute the foot with visual performance
The climbing robot that formula vacuum chuck is advanced.
The magnetic adsorption wheel (2), vision system (3) and chassis (4) combination constitute the magnet for having visual performance
The climbing robot that absorption type wheel is advanced.
Structure is combined in the foot formula vacuum chuck skeleton (1), magnetic adsorption wheel (2), vision system (3) and chassis (4)
At and deposit vacuum chuck absorption and four wheel electromagnetic adsorption two ways and switch the wall-climbing device for having visual performance of traveling
People.
The utility model the utility model has the advantages that
1) modularized wall-climbing robot designed by the utility model has sufficient formula vacuum chuck and wheel type electromagnetic adsorption
Two kinds of suction types, the combination of both suction types is so that modularized wall-climbing robot is suitable for a variety of different materials surfaces；
2) two kinds of suction types of four-footed vacuum chuck and wheel type electromagnetic adsorption can be exchanged steadily during advance, with
It is flexibly applied to different materials surface or crossing over blockage；
3) in the operation of magnetic material surface can also simultaneously using four-footed vacuum chuck and wheel type electromagnetic adsorption this two
Kind suction type, to increase the stability of adsorption capacity and wall-climbing device man-hour；
4) the modularized wall-climbing robot Demountable modular installation designed by the utility model, in actual operation can be with
Disparate modules are freely combined according to the actual conditions of pipe-line system, form the climbing robot with different function.
Detailed description of the invention
Fig. 1 is the whole composition block diagram of modularized wall-climbing robot designed by the utility model；
Fig. 2 is sufficient formula vacuum chuck skeleton structure schematic diagram；
Fig. 3 is magnetic adsorption wheel group structural schematic diagram；
Fig. 4 is the structural schematic diagram of vision system；
Fig. 5 is the structural schematic diagram on chassis；
Fig. 6 is the climbing robot structural schematic diagram that overhead foot formula vacuum chuck is advanced；
Fig. 7 is the climbing robot structural schematic diagram that underneath type foot formula vacuum chuck is advanced；
Fig. 8 is the climbing robot structural schematic diagram that front and rear magnetic adsorption wheel is advanced；
Fig. 9 is the climbing robot structural schematic diagram that the traveling of magnetic adsorption wheel is set in left and right；
Figure 10 sets the climbing robot structural schematic diagram that the sufficient formula vacuum chuck of visual performance is advanced on being；
Figure 11 be underlying visual performance sufficient formula vacuum chuck advance climb wall machine robot architecture's schematic diagram；
Figure 12 sets the climbing robot structural schematic diagram that visual performance front and rear magnetic adsorption wheel is advanced on being；
Figure 13 is the climbing robot structural schematic diagram that underlying visual performance front and rear magnetic adsorption wheel is advanced；
Figure 14 sets the climbing robot structural schematic diagram that visual performance or so sets the traveling of magnetic adsorption wheel on being；
Figure 15 is the climbing robot structural schematic diagram that underlying visual performance or so sets the traveling of magnetic adsorption wheel；
Figure 16 sets the climbing robot structure of the underlying sufficient formula vacuum pan skeleton front and rear wheel absorption of visual performance and shows on being
It is intended to；
Figure 17 is to set the climbing robot structure that sufficient formula vacuum pan skeleton front and rear wheel adsorbs in underlying visual performance to show
It is intended to；
Figure 18 sets underlying sufficient formula vacuum pan skeleton of visual performance or so and sets the climbing robot structure of wheel absorption and show on being
It is intended to；
Figure 19 sets underlying sufficient formula vacuum pan skeleton of visual performance or so and sets the climbing robot structure of wheel absorption and show on being
It is intended to；
Figure 20 sets climbing for the bottom set disk front and rear underlying four-footed vacuum chuck skeleton of magnet-type sorption wheel in vision system on being
Wall robot architecture's schematic diagram；
Figure 21 is negative pressure production principle schematic diagram；
Figure 22 is positive pressure production principle schematic diagram；
Wherein, 1 is sufficient formula vacuum chuck skeleton, and 11 be hip joint, and 12 be knee joint, and 13 be ankle-joint, and 14 be podarthrum,
15 be flexural pivot, and 16 be vacuum chuck, and 2 be magnetic adsorption wheel group, and 21 be magnetic adsorption wheel module, and 21-1,21-2 divide
It is not the 1st, 2 magnetic adsorption wheel module, 22 be magnetic adsorption wheel, and 22-1,22-2 are that the 1st, 2 magnet is inhaled respectively
Attached formula wheel, 23 be control steering engine, and 23-1,23-2 are the 1st, 2 control steering engine respectively, and 24 be magnetic adsorption wheel interface,
24-1,24-2 are the 1st, 2 magnetic adsorption wheel interface respectively, and 3- vision system, 31 be holder, and 32 be steering engine, and 33 be to take the photograph
As head, 4 be chassis, and 41 be communication module, and 42 be control module, and 43 be power supply, and 44 be chassis interface, 44-1,44-2,44-3,
44-4,44-5 are the 1st~5 chassis interface respectively, and 51 be internal push rod, and 52 be injection tube, and 53 be air.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1, a kind of modularized wall-climbing robot provided in this embodiment, including sufficient formula vacuum chuck skeleton 1, magnetic
Iron absorption type wheel group 2, vision system 3 and 4 four, chassis functional module.
As shown in Fig. 2, sufficient formula vacuum chuck skeleton 1 is made of leg and trunk, every leg has 6 freedom degrees, and wherein hip closes
Section 11, knee joint 12 and ankle-joint 13 respectively have 1 freedom degree, and the flexural pivot 15 of podarthrum 14 is connected with vacuum chuck 16, composition 1
A gimbal suspension has 3 freedom degrees, and hip joint 11, knee joint 12 and ankle-joint 13 are active drive joint, and hip joint 11 divides
Not orthogonal with knee joint 12 and ankle-joint 13, hip joint 11 is connected with trunk and axis direction is vertical with collective.
As shown in figure 3, magnetic adsorption wheel group 2 is made of 2 magnetic adsorption wheel modules 21-1,21-2, two
Magnetic adsorption wheel module structure is identical, places side by side.By taking the 1st magnetic adsorption wheel module 21-1 as an example, it is by 2
Magnetic adsorption wheel 22-1 and 22-2,2 control steering engine 23-1 and 23-2 and 2 magnetic adsorption wheel interface 24-1 and
24-2 composition, wherein the 1st magnetic adsorption wheel (22-1) connect with the 1st control steering engine (23-1), the 1st magnet absorption
Formula wheel interface (24-1) is located on the outside of magnetic adsorption wheel module, close to the 1st magnetic adsorption wheel (22-1)；2nd
A magnetic adsorption wheel (22-2) connect with the 2nd control steering engine (23-2), the 2nd magnetic adsorption wheel interface (24-2)
On the outside of magnetic adsorption wheel module, close to the 2nd magnetic adsorption wheel (22-2).
As shown in figure 4, vision system 3 is made of holder 31, steering engine 32 and camera 33,32 phase of camera 33 and steering engine
Even, establish on holder 31, and holder 31 can 360 ° rotation, have 1 freedom degree, camera 33 can 180 ° bow
It faces upward, there is 1 freedom degree, the bottom of vision system 3 is equipped with the mounting hole being connected with the chassis 4 of climbing robot.
As shown in figure 5, chassis 4 be accompanied with communication module 41, control module 42, power supply 43 and 5 chassis interface 44-1,
44-2,44-3,44-4,44-5, wherein the 5th chassis interface 44-5 and power supply 43 are located among chassis 4, communication module 41
In the left side of the 5th chassis interface 44-5 and power supply 43, control module 42 is located at the right of chassis interface 44-5 and power supply 43,
Remaining 4 chassis interface 44-1,44-2,44-3,44-4 are divided to two groups of both ends for being located at chassis 4.
Four functional modules of modularized wall-climbing robot can be formed by different combinations has different function
Climbing robot.
Embodiment one:
Sufficient formula vacuum chuck skeleton 1 and the combination of chassis 4 constitute the climbing robot that sufficient formula vacuum chuck is advanced, and there are two types of groups
Conjunction mode.
The first on sufficient formula vacuum chuck skeleton 1 as shown in fig. 6, set on chassis 4, composition overhead foot formula vacuum chuck
The climbing robot of traveling；
As shown in fig. 7, sufficient formula vacuum chuck skeleton 1 is underlying on chassis 4, underneath type foot formula vacuum chuck is constituted second
The climbing robot of traveling.
Embodiment two:
Magnetic adsorption wheel group 2 and the combination of chassis 4 constitute the climbing robot that magnetic adsorption wheel is advanced, there are two types of
Combination.
The first passes through 4 rear and front end of chassis as shown in figure 8, two magnetic adsorptions wheel module 21-1 and 21-2
Connector connects and composes the climbing robot of front and rear magnetic adsorption wheel traveling；
Second as shown in figure 9, two magnetic adsorptions wheel module 21-1 and 21-2, pass through 4 left and right ends of chassis
Connector connects and composes the climbing robot that the traveling of magnetic adsorption wheel is set in left and right.
Embodiment three:
Magnetic adsorption wheel group 2, vision system 3 and the combination of chassis 4 constitute the magnetic adsorption vehicle for having visual performance
The climbing robot advanced is taken turns, there are two types of combinations.
The first above sets vision system 3, middle bottom set disk 4 as shown in Figure 10, and underlying foot formula vacuum chuck skeleton 1 constitutes tool
The climbing robot that the sufficient formula vacuum chuck of visual performance is advanced is set on having；
Second as shown in figure 11, above sets sufficient formula vacuum chuck skeleton 1, middle bottom set disk 4, and underlying vision system 3 constitutes tool
The Pa Bi machine robot for thering is the sufficient formula vacuum chuck of underlying visual performance to advance.
Example IV:
Sufficient formula vacuum chuck skeleton 1, magnetic adsorption wheel group 2, vision system 3 and the combination of chassis 4 constitute and deposit vacuum
Sucker suction and four wheel electromagnetic adsorption two ways and the climbing robot for having visual performance for switching traveling, there are four types of groups
Conjunction mode.
The first above sets vision system 3, middle bottom set disk 4 as shown in figure 12, and 4 rear and front end of chassis connects magnetic adsorption
Wheel module 21-1 and 21-2, constituting has the climbing robot for above setting the traveling of visual performance front and rear magnetic adsorption wheel；
Second as shown in figure 13, underlying vision system 3, and centre is the chassis 4 comprising disparate modules installation interface, chassis
4 rear and front ends connect magnetic adsorption wheel module 21-1 and 21-2, and constituting has the absorption of underlying visual performance front and rear magnet
The climbing robot that formula wheel is advanced；
The third above sets vision system 3 as shown in figure 14, and centre is the chassis 4 comprising disparate modules installation interface, chassis
4 left and right ends connect magnetic adsorption wheel module 21-1 and 21-2, and composition sets magnet absorption with visual performance or so is above set
The climbing robot that formula wheel is advanced；
4th kind as shown in figure 15, underlying vision system 3, and centre is the chassis 4 comprising disparate modules installation interface, chassis
4 left and right ends connect magnetic adsorption wheel module 21-1 and 21-2, and constituting, there is underlying visual performance or so to set magnet absorption
The climbing robot that formula wheel is advanced.
Embodiment five:
Sufficient formula vacuum chuck skeleton 1, magnetic adsorption wheel 2, vision system 3 and the combination of chassis 4 constitute and deposit vacuum suction
Disk absorption and four wheel electromagnetic adsorption two ways and the climbing robot for having visual performance for switching traveling, there are four types of combinations
Mode.
The first above sets vision system 3, middle bottom set disk 4 as shown in figure 16, and 4 rear and front end of chassis connects magnetic adsorption
Wheel module 21-1 and 21-2, underlying foot formula vacuum chuck skeleton 1, before setting the underlying sufficient formula vacuum pan skeleton of visual performance in composition
The climbing robot of postposition wheel absorption.
Second as shown in figure 17, underlying vision system 3, middle bottom set disk 4, and 4 rear and front end of chassis connects magnetic adsorption
Wheel module 21-1 and 21-2 above set sufficient formula vacuum chuck bone 1, constitute before and after setting sufficient formula vacuum pan skeleton in underlying visual performance
Set the climbing robot of wheel absorption.
The third above sets vision system 3, middle bottom set disk 4 as shown in figure 18, and 4 left and right ends of chassis connect magnetic adsorption
It is left to set the underlying sufficient formula vacuum pan skeleton of visual performance in composition for wheel module 21-1 and 21-2, underlying foot formula vacuum chuck skeleton 1
Set the climbing robot of wheel absorption in the right side.
4th kind as shown in figure 19, above sets vision system 3, middle bottom set disk 4, and 4 left and right ends of chassis connect magnetic adsorption
It is left to set the underlying sufficient formula vacuum pan skeleton of visual performance in composition for wheel module 21-1 and 21-2, underlying foot formula vacuum chuck skeleton 1
Set the climbing robot of wheel absorption in the right side.
In addition, in the specific implementation process, the suction of all fours type vacuum can be also designed on the basis of sufficient formula vacuum chuck skeleton 1
As shown in figure 20, vision system 3 is passed through on chassis 4 by taking the first combination in embodiment five as an example by disk machinery frame 1e
The intermediary interface in face realizes physical connection and communication connection, and all fours type vacuum chuck machinery skeleton 1e passes through in below chassis indirectly
Cause for gossip shows physical connection and communication connection, and all fours type vacuum chuck skeleton 1e is by four identical sufficient 1 structures of formula vacuum chuck skeleton
At setting the wall-climbing device of the underlying four-footed vacuum chuck skeleton of bottom set disk front and rear magnet-type sorption wheel in vision system in composition
People.
Modularized wall-climbing robot designed by the utility model has sufficient formula vacuum chuck and wheel type electromagnetic adsorption two
Kind suction type, can steadily exchange during advance, to be flexibly applied to different materials surface or crossing over blockage.It is wherein true
The principle of suction disk mode is as shown in figure 21, and when wall surface is close to by robot, servo mechanism is past by 52 inside push rod 51 of injection tube
Post-tensioning generates negative pressure, as shown in figure 21, when robot wants making air in cylinder form vacuum state in 53 inspiration cylinder of air
When mobile, the air 53 in cylinder is excluded outward 52 inside push rod of injection tube, 51 forward impelling using servo action,
It generates positive pressure and thereby realizes the traveling of robot as shown in figure 22.Wheel type electromagnetic adsorption can guarantee robot in magnetism
There is forward speed appropriate and enough adsorption capacities, this design is primarily directed to the special of pipeline wall surface when working on material
Property, more magnetic materials are not only suitable for, the more pipeline configuration of the barriers such as partition is also applied for.
Climbing robot in realization, under, left and right and throwing over barrier when, have such several ways: 1) in non magnetic material
Material plane climbs wall and sufficient formula vacuum chuck progression can be used；2) on magnetic material surface, sufficient formula vacuum chuck can individually be taken
Or wheel type electromagnetic adsorption one of which progression；3) on magnetic material surface, it can be used alone vehicle in no obstacle
Wheel type electromagnet absorption is advanced, and to accelerate forward speed, is encountering obstacle, wheel type electromagnet absorption can not by when, it is true using sufficient formula
Suction disk obstacle detouring.
Above disclosed is only a kind of preferred embodiment of the utility model, certainly cannot be practical to limit with this
Novel interest field, therefore equivalent variations made according to the claim of the utility model still belong to what the utility model was covered
Range.
Claims (10)
1. a kind of modularized wall-climbing robot, it is characterised in that: including sufficient formula vacuum chuck skeleton (1), magnetic adsorption wheel
Group (2), vision system (3) and (4) four, chassis functional module, this four functional modules can be formed by different combinations
The climbing robot for having different function.
2. modularized wall-climbing robot according to claim 1, it is characterised in that: the foot formula vacuum chuck skeleton (1)
It is made of leg and trunk, every leg has 6 freedom degrees, and wherein hip joint (11), knee joint (12) and ankle-joint (13) respectively have 1
The flexural pivot (15) of freedom degree, podarthrum (14) is connected with vacuum chuck (16), forms 1 gimbal suspension, has 3 freedom degrees,
Hip joint (11), knee joint (12) and ankle-joint (13) be active drive joint, hip joint (11) respectively with knee joint (12) and
Ankle-joint (13) is orthogonal, and hip joint (11) is connected with trunk and axis direction is vertical with collective.
3. modularized wall-climbing robot according to claim 1, it is characterised in that: the magnetic adsorption wheel group (2)
It is made of 2 magnetic adsorption wheel modules (21), 2 magnetic adsorption wheel module structures are identical, place side by side；The magnetic
Iron absorption type wheel module (21) is by 2 magnetic adsorption wheels (22), 2 control steering engines (23) and 2 magnetic adsorption vehicles
Take turns interface (24) composition；Wherein the 1st magnetic adsorption wheel (22-1) connect with the 1st control steering engine (23-1), the 1st magnetic
Iron absorption type wheel interface (24-1) is located on the outside of magnetic adsorption wheel module, close to the 1st magnetic adsorption wheel (22-
1), the 2nd magnetic adsorption wheel (22-2) connect with the 2nd control steering engine (23-2), the 2nd magnetic adsorption wheel interface
(24-2) is located on the outside of magnetic adsorption wheel module, close to the 2nd magnetic adsorption wheel (22-2).
4. modularized wall-climbing robot according to claim 1, it is characterised in that: the vision system (3) is by holder
(31), steering engine (32) and camera (33) composition；Camera (33) is connected with steering engine (32), establishes on holder (31), can
360 ° of rotations, camera (33) can 180 ° of pitching；The bottom of vision system (3) is equipped with to be connected with the chassis (4) of climbing robot
The mounting hole connect.
5. modularized wall-climbing robot according to claim 1, it is characterised in that: the chassis (4) is accompanied with communication mould
Block (41), control module (42), power supply (43) and 5 chassis interfaces (44)；5th chassis interface (44-5) and power supply (43) position
Intermediate in chassis (4), communication module (41) is located at the left side of the 5th chassis interface (44-5) and power supply (43), control module
(42) be located at the right of the 5th chassis interface (44-5) and power supply (43), remaining 4 chassis interface (44-1,44-2,44-3,
44-4) it is divided to two groups of both ends for being located at chassis (4).
6. modularized wall-climbing robot according to claim 1, it is characterised in that: the foot formula vacuum chuck skeleton (1)
It is combined with chassis (4) and constitutes the climbing robot that sufficient formula vacuum chuck is advanced.
7. modularized wall-climbing robot according to claim 1, it is characterised in that: the magnetic adsorption wheel (22) and
Chassis (4) combination constitutes the climbing robot that magnetic adsorption wheel is advanced.
8. modularized wall-climbing robot according to claim 1, it is characterised in that: the foot formula vacuum chuck skeleton (1),
Vision system (3) and chassis (4) combination constitute the climbing robot that there is the sufficient formula vacuum chuck of visual performance to advance.
9. modularized wall-climbing robot according to claim 1, it is characterised in that: the magnetic adsorption wheel (22),
Vision system (3) and chassis (4) combination, which are constituted, has the climbing robot that the magnetic adsorption wheel of visual performance is advanced.
10. modularized wall-climbing robot according to claim 1, it is characterised in that: the foot formula vacuum chuck skeleton
(1), magnetic adsorption wheel (22), vision system (3) and chassis (4) combination constitute and deposit vacuum chuck absorption and four wheels electricity
Magnetic suck two ways and the climbing robot for having visual performance for switching traveling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820379453.3U CN208221901U (en) | 2018-03-20 | 2018-03-20 | A kind of modularized wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820379453.3U CN208221901U (en) | 2018-03-20 | 2018-03-20 | A kind of modularized wall-climbing robot |
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| Publication Number | Publication Date |
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| CN201820379453.3U Expired - Fee Related CN208221901U (en) | 2018-03-20 | 2018-03-20 | A kind of modularized wall-climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484506A (en) * | 2018-12-20 | 2019-03-19 | 清华大学 | Electromagnetic drive climbing robot module, climbing robot and its movement technique |
| CN109640047A (en) * | 2018-12-21 | 2019-04-16 | 上海电气电站设备有限公司 | It is a kind of applied to the ultrathin climbing robot detected in generator unit stator thorax |
| CN109640046A (en) * | 2018-12-21 | 2019-04-16 | 上海电气电站设备有限公司 | Module is installed applied to the camera shooting and sensor for detecting climbing robot in stator thorax |
-
2018
- 2018-03-20 CN CN201820379453.3U patent/CN208221901U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484506A (en) * | 2018-12-20 | 2019-03-19 | 清华大学 | Electromagnetic drive climbing robot module, climbing robot and its movement technique |
| CN109640047A (en) * | 2018-12-21 | 2019-04-16 | 上海电气电站设备有限公司 | It is a kind of applied to the ultrathin climbing robot detected in generator unit stator thorax |
| CN109640046A (en) * | 2018-12-21 | 2019-04-16 | 上海电气电站设备有限公司 | Module is installed applied to the camera shooting and sensor for detecting climbing robot in stator thorax |
| CN109640046B (en) * | 2018-12-21 | 2021-06-25 | 上海电气电站设备有限公司 | Camera and sensor installation module applied to detection wall-climbing robot in stator bore |
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