30results about How to "Improve wall adaptability" patented technology

The invention is applicable to the technical field of wall-climbing robots, and provides a derusting wall-climbing robot for a ship. The derusting wall-climbing robot aims at providing the technical problem that in the prior art, an existing derusting wall-climbing robot for the ship is poor in obstacle climbing capacity. The derusting wall-climbing robot for the ship comprises a washing plate, a caterpillar track making contact with the wall face of the ship, a drive assembly, a driven floating assembly with driven wheels, a floating connection assembly driving the washing plate to automatically move up and down relative to the wall face of the ship, and a pressing assembly providing pre-pressing force so as to press the caterpillar track. According to the derusting wall-climbing robot for the ship, driving wheels are driven by the drive assembly to drive the driven wheels to move, and therefore the caterpillar track is driven to walk on the wall face of the ship; when the derusting wall-climbing robot encounters obstacles in the walking process, the washing plate is driven by the floating connection assembly to climb the obstacles; meanwhile, the inner tension of the caterpillar track is increased, and therefore the center distance between the driving wheels and the driven wheels can be reduced and the caterpillar track can be tightly attached to the wall face of the ship to climb the obstacles, and the wall face adaptability of the derusting wall-climbing robot for the ship is improved.

The invention discloses an automatic cleaning machine for high-rise buildings. The automatic cleaning machine for the high-rise buildings comprises a box body structure (1), a drive device (2), a cleaning working device (4) and an absorption device (3), and is characterized in that the absorption device (3) comprises a sucking disc structure and an air-extracting device; the cleaning working device (4) is placed inside the sucking disc structure; and a remote control system is placed. The automatic cleaning machine for the high-rise buildings can clean outer walls of buildings instead of manual work, needs few safeguard measures, does not have construction danger and is not limited by time.

The invention discloses an obstacle-crossing wall-climbing robot with a wall surface converting function. The obstacle-crossing wall-climbing robot comprises two single wall-climbing robot bodies and a pitching deflection mechanism; the two single wall-climbing robot bodies are connected through the pitching deflection mechanism in the middle; each single wall-climbing robot body comprises a brushless motor, a motor base, a motor supporting frame, centrifugal fan blades, a robot shell body, motion mechanisms and a sealing gasket. The brushless motors drive the centrifugal fan blades to rotate to pump out air inside the robot shell bodies, so that negative pressure is formed inside the robot shell bodies, and accordingly the robot bodies are adsorbed on the wall. The pitching deflection mechanism can assist the robot bodies to cross obstacles and turn. The double-body wall-climbing robot can move flexibly on the surface of the wall and can cross grooves and large protruding obstacles in the wall and complete conversion between the adjacent wall surfaces, so that the motion range of the wall-climbing robot is effectively increased.

The invention relates to a micro multi-chamber negative pressure suction cup driven by an embedded type shape memory alloy wire driver in the special robot technical field, comprising an embedded type shape memory alloy wire driver, an elastic basic body material, an elastic body round ring, a rigid body supporting layer and a multi-chamber elastomer base which are sequentially bonded together to form a multi-layer structure. When the embedded type shape memory alloy wire driver is electrified and heated, the elastic basic body material is driven to deform, leading the volume of the air in the chamber formed by the elastic basic body material, the rigid body supporting layer and the elastomer round ring to become large and form negative pressure; because a diffusion port on the rigid body supporting layer is communicated with the small chamber on the multi-chamber elastomer base, the small chamber of the multi-chambe elastomer base also generates negative pressure. The invention avoids the shortages of the existing negative pressure suction cup of not being easy to be microminiaturized, large noise and low power ratio and provides the adsorption device with minitype, high-efficiency, reliability and excellent wall surface adaptability for micro wall-climbing robots.

A robot platform for wind driven generator blade detection comprises a connecting plate (3), two straight walking devices (1) and a steering device (2). The structures of the two straight walking devices (1) are completely identical, and the two straight walking devices (1) are symmetrically mounted on the two sides of the lower surface of the connecting plate (3); the steering device (2) is mounted in the center of the lower surface of the connecting plate (3); each straight walking device (1) comprises two supporting frames (19), two sliding blocks (12), two guide rails (15), a straight walking top plate (11), a straight walking bottom plate (10), three suction cup assemblies, an obstacle crossing assembly and a push-pull rod (17). The steering device (2) comprises two micro vacuum pumps (24), a steering top plate (21), a steering bottom plate (22), six suction cup assemblies, two obstacle crossing assemblies and a steering engine (23). The robot platform is easy to steer, high in wall face adaptability, small in operation resistance and easy to control and has large application prospects in the field of wind driven generator blade detection.

The invention discloses a wall-climbing robot. Currently, wall-climbing robots are urgently needed for replacing manual operation. The wall-climbing robot comprises an equipment carrier platform, foottype obstacle crossing mechanisms, tracked crawling mechanisms and air distribution systems. Each air distribution system comprises hinge type flat-bottom skirted suckers, an air distribution plate and sucker connectors, wherein the air distribution plate synchronously rotates along with the corresponding tracked crawling mechanism; the n sucker connectors are fixed to tracks; the sucker connectors are spherically hinged to tail ends of the hinge type flat-bottom skirted suckers; the sucker connectors are hollow internally, one end of each sucker connector is internally communicated with thecorresponding hinge type flat-bottom skirted sucker, and the other end of each sucker connector is communicated with an air distribution hole of the air distribution plate through an air guide pipe. Alternate air suction of every two hinge type flat-bottom skirted suckers in the same group is changed through a two-position four-way reversing valve, and an air suction port of each two-position four-way reversing valve is communicate with a vacuum generator through an air delivery pipe. By adoption of the foot type obstacle crossing mechanisms, great obstacle crossing performance is achieved; owing to a difference between pressure intensity in each sucker cavity and pressure intensity of the external barometric pressure, the wall-climbing robot is attached on a concrete wall surface.

The invention discloses an electrostatic adsorption wall-climbing robot foot structure based on variable stiffness material regulation and control. The electrostatic adsorption wall-climbing robot foot structure comprises a transmission device and a foot sole. The transmission device comprises a crank, a connecting rod, a rocker and a steering engine frame which form a four-rod mechanism; the footsole is rotatably connected with the lower end of the connecting rod through a connecting layer, and the connecting layer is composed of a variable stiffness material, an electrostatic adsorption film and an insulating medium; the variable stiffness material is composed of multiple layers of dielectric elastomer driver DEA units. Each DEA unit comprises a clamping electrode and a driving electrode; when the clamping electrodesare powered on, the electrostatic adsorption force between the DEA units enables the rigidity of the whole structure of the variable-rigidity material to be increased, the foot adsorption performance is improved; and when the driving electrode is powered on, the dielectric elastomer adjacent to the driving electrode deforms, then the variable-rigidity material deforms integrally, and foot desorption is achieved. Rapid adsorption and desorption response of the food sole is achieved through rigidity regulation and control and electrostatic adsorption of the variable-rigidity material.

The invention relates to the technical field of construction machinery, in particular to a nozzle device and spraying equipment. The nozzle device comprises a mounting frame, a nozzle assembly and a driving mechanism; the nozzle assembly comprises a fixing frame, a first nozzle and a second nozzle, the fixing frame is movably arranged on the mounting frame, and the first nozzle and the second nozzle are arranged on the fixing frame; the driving mechanism is arranged on the mounting frame, the output end of the driving mechanism is in transmission connection with the fixing frame, and the driving mechanism can drive the fixing frame and the mounting frame to be overlapped and unfolded; and when the fixing frame and the mounting frame are in an overlapped state, the spraying direction of thefirst nozzle intersects with the spraying direction of the second nozzle, and when the fixing frame and the mounting frame are in an unfolded state, the spraying direction of the first nozzle is thesame as that of the second nozzle. According to the nozzle device, the wall surface adaptability of the nozzle device is improved while the spraying efficiency is improved, so that the spraying operation is more flexible.

The invention relates to a negative pressure suction cup driven by a dual stroke shape memory alloy spring in the special type robot technical field, comprising an internal cylinder, an external cylinder, a dual stroke SMA spring, an internal cylinder spring fixed leaf, a movable sealing ring, an external cylinder spring fixed bar and an elastic base. The external cylinder and the elastic base are bonded together; the external cylinder spring fixed bar is clamped between the external cylinder and the elastic base; the lower end of the dual stroke SMA spring is clamped between the external cylinder and the elastic base by the external spring fixed bar, so as to fix the lower end of the dual stroke SMA spring; the upper end of the dual SMA spring is clamped on the internal cylinder spring fixed leaf which is fixed at the upper end of the internal cylinder; the internal cylinder and the external are sealed by the movable sealing ring. The invention avoids the shortages of the existing negative pressure suction cup of not being easy to be microminiaturized, large noise and low power ratio and provides the adsorption device with minitype, high-efficiency, reliability and excellent wall surface adaptability for micro wall-climbing robots.

The invention relates to a permanent magnet wheeled wall-climbing robot, which comprises a rack; an adsorption travelling mechanism, wherein the adsorption travelling mechanism comprises a first driving magnetic wheel and a second driving magnetic wheel which are respectively arranged at both sides of the front end of the rack and a middle driven magnetic wheel which is arranged at the rear end ofthe rack.; a walking driving mechanism, wherein the walking driving mechanism includes a first pneumatic motor, a first small synchronizing wheel, a first large synchronizing wheel, a first synchronizing belt, a second pneumatic motor, a second small synchronizing wheel, a second large synchronizing wheel and a second synchronizing belt, wherein both the first pneumatic motor and the second pneumatic motor are arranged on the rack; the first small synchronizing wheel and the second small synchronizing wheel are respectively connected with the first pneumatic motor and the second pneumatic motor. The first large synchronizing wheel and the second large synchronizing wheel are respectively connected with the first driving magnetic wheel and the second driving magnetic wheel. The first synchronizing belt is wound between the first small synchronizing wheel and the first large synchronizing wheel and the second synchronizing belt is wound between the second small synchronizing wheel and the second large synchronizing wheel. The robot has the advantages of simple structure, flexible walking and strong wall surface adaptability.

The invention provides a magnetic attraction type self-adapting wall surface moving robot. The magnetic attraction type self-adapting wall surface moving robot comprises a bottom plate and driving devices. A plurality of magnetic rolling wheels are all hinged to the bottom plate, the driving devices are mounted on the bottom plate and connected with the magnetic rolling wheels so as to drive the magnetic rolling wheels to rotate. The magnetic attraction type self-adapting wall surface moving robot is attracted on the wall surface through magnetic force between the magnetic rolling wheels and the wall surface, attraction force is large, and thus falling is avoided; the attraction mode is simple and convenient, attraction is conducted directly through the magnetic force between the multiplemagnetic rolling wheels and the wall surface, and other attraction devices do not need to be additionally arranged; according to the magnetic attraction type self-adapting wall surface moving robot, through hinging between the magnetic rolling wheels and the bottom plate, the hinged position of each magnetic rolling wheel and the bottom plate is equivalent to a joint of the robot; the magnetic rolling wheels can rotate relative to the bottom plate so as to adapt to wall surfaces at different conditions, and therefore, the wall surface moving robot has the function of climbing on the wall surfaces of different curvatures flexibly and freely and is high in adaptability.

According to the vector thrust type robot, in the robot, a slewing bearing comprises an outer ring and an inner ring, the inner ring is fixed to a bottom plate, a gear rotating ring is connected with the outer ring, the gear rotating ring is meshed with a pinion so as to rotate around the axis of the slewing bearing in the plane where the bottom plate is located under the driving of a first tilting steering engine, and a second tilting steering engine is arranged at a steering engine mounting position; one end of the ducted fan module is installed in the bearing seat through a rotating shaft, the other end of the ducted fan module and the second tilting steering engine are installed on one side of the steering engine installation position together, and the second tilting steering engine is connected with the duct through a steering wheel so as to drive the ducted fan module to rotate around the rotation axis of the steering wheel of the second tilting steering engine. The gear rotating ring rotates around the axis of the slewing bearing in the plane where the bottom plate is located, and the ducted fan module rotates around the slewing axis of a second tilting steering engine steering wheel on the gear rotating ring, so that the nozzle end of a duct faces different directions in the three-dimensional space to form vector thrust.

The invention provides a magnetic adsorption type flexible self-adaptive wall climbing robot, comprising a bottom plate, a driving device and a plurality of magnetic scroll wheels. The plurality of magnetic scroll wheels are connected with the bottom plate through a spring assembly. The driving device is connected with the magnetic scroll wheels, to drive the magnetic scroll wheels to rotate. Themagnetic adsorption type flexible self-adaptive wall climbing robot is magnetically adsorbed on the wall through the magnetic attraction between the magnetic scroll wheels and the wall, the adsorptionforce is large, the condition of air leakage does not exist, and falling-off does not happen; the adsorption method is simple and convenient, adsorption is realized by virtue of magnetic attraction between the magnetic scroll wheels and the wall, no additional adsorption devices are needed, no noise is caused, the size is small, the cost is low, and the efficiency is high. In addition, the plurality of magnetic scroll wheels are connected with the bottom plate through the spring assembly, and the spring assembly has a flexible structure and has a deformation function, so that the wall climbing robot can flexibly and freely climb on various walls with different bumps, and the adaptability is high.

The invention discloses a quadrocopter vertical wall surface rapid takeoff and landing system and method based on electrostatic adsorption. The quadrocopter vertical wall surface rapid takeoff and landing system comprises a high voltage electrostatic generator, two groups of elastic foot bionic structures and electrostatic adsorption electrodes, wherein the high voltage electrostatic generator ismounted on a quadrocopter; and the electrostatic adsorption electrodes is connected with the elastic foot bionic structures. The high voltage electrostatic generator generates high voltage to electriccharges of the electrostatic adsorption electrodes so as to provide an adsorption force for the quadrocopter during landing on the wall surface; through the elastic foot bionic structures designed bysimulating elastic legs of an insect, the dynamic potential energy during landing collision of the quadrocopter is converted into elastic potential energy to realize a buffering effect so as to prevent the quadrocopter from directly colliding with the wall surface to be damaged; and by using an inertial attitude sensor of the quadrocopter, a linear acceleration and an angular velocity in the landing collision process are detected in real time to trigger a corresponding landing strategy so that the quadrocopter rapidly and stably lands on the wall surface; and when the quadrocopter needs to take off from the wall surface, the high voltage electrostatic generator is stopped to eliminate the adsorption forces of the electrostatic adsorption electrodes to the wall surface, and the quadrocopter realizes taking-off.

The invention discloses a wall-climbing robot based on a roller type suction cup. The wall-climbing robot comprises a shell, a wheat wheel assembly, a roller type suction cup assembly and a restraining assembly, the wheat wheel assembly is fixedly arranged at the bottom of the shell, and the roller type suction cup assembly and the restraining assembly are both arranged on the shell; the restraining assembly is arranged corresponding to the roller type suction cup assembly. The robot has extremely high wall surface adaptability and obstacle crossing ability, meanwhile, modular design is adopted, the boundaries of all the assemblies are clear, and assembly, maintenance and overhaul are easy.

The invention relates to a bionic four-footed wall-climbing robot based on falcula attachment, and relates to the technical field of climbing robots. The bionic four-footed wall-climbing robot comprises a front robot body plate (3), a rear robot body plate (10), a connecting rod, a tail (12) and mechanical legs, and soles (6) are installed on the mechanical legs. The bionic four-footed wall-climbing robot is characterized in that each sole (6) comprises a sole base body (17), wherein the rear end of the sole base body (17) is installed on the corresponding mechanical leg through a damping rotating shaft (14), the axis of the damping rotating shaft (14) is parallel to the plane where the sole base body (17) is located, and the angle between the plane where the sole (6) is located and the plane where the corresponding mechanical leg is located can be adjusted by rotating the damping rotating shaft (14); a flexible connecting block (15) is installed at the front end of each sole base body (17) and provided with multiple protrusive flexible rectangular strips at the front end, and a falcula (16) is installed at the tail end of each flexible rectangular strip. The bionic four-footed wall-climbing robot is simple in structure, and easy to control and assemble.

The invention relates to the field of robots, in particular to a leak detection wall-climbing robot and a system thereof. The leak detection wall-climbing robot comprises a robot abdominal cavity; a system compartment is arranged above the robot abdominal cavity; a detection device is arranged above the system compartment; a control center is arranged inside the system compartment; the detection device is electrically connected with the control center; tracked moving mechanisms for moving the wall-climbing robot are symmetrically arranged on the two sides of the robot abdominal cavity; a driving device for driving the tracked moving mechanisms is arranged in the robot abdominal cavity; the driving device is electrically connected with the control center; and vacuum adsorption mechanisms are arranged on the external side of the tracked moving mechanisms. According to the leak detection wall-climbing robot and the system thereof, the problems that the manual detection efficiency is low and the cost is high in the prior art can be solved.

The invention relates to offset printing wallpaper and a preparation method thereof. The offset printing wallpaper is prepared from the following raw materials in parts by weight: 80 to 120 parts of polyvinyl chloride resin, 20 to 60 parts of DOP, 0.1 to 0.5 part of ED3, 8 to 12 parts of chlorinated paraffin, 1 to 5 parts of a barium-zinc liquid compound stabilizer, 8 to 12 parts of TCO, 10 to 40 parts of calcium carbonate, 0.5 to 1 part of a foam regulator, 10 to 20 parts of titanium dioxide paste and 3 to 5 parts of antimony trioxide. According to the offset printing wallpaper and the preparation method thereof, a production process is simple and the price of equipment is low; a product prepared by the preparation method has a soft hand feeling and strong wall surface adaptability, and is a good decorative material.

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

The invention relates to the technical field of construction machinery, in particular to a nozzle device and spraying equipment. The nozzle device includes a mounting frame, a nozzle assembly and a driving mechanism, the nozzle assembly includes a fixed frame, a first nozzle and a second nozzle, the fixed frame is movably arranged on the mounting frame, and the first nozzle and the second nozzle are both arranged on a fixed on the frame; the driving mechanism is arranged on the mounting frame, and the output end of the driving mechanism is connected with the fixed frame through transmission. The spraying direction of the first nozzle intersects the spraying direction of the second nozzle; when the fixed frame and the installation frame are in the unfolded state, the spraying direction of the first nozzle is the same as that of the second nozzle. The nozzle device improves the spraying efficiency while improving the wall adaptability of the nozzle device, so that the spraying operation is more flexible.

The invention discloses a wall-climbing robot based on a roller suction cup, which includes a housing, a wheat wheel assembly, a roller suction cup assembly, and a constraint assembly. The wheat wheel assembly is fixedly arranged at the bottom of the housing, and the roller Both the type suction cup assembly and the constraint assembly are arranged on the housing, and the constraint assembly is set corresponding to the roller type suction cup assembly; Design, the boundaries of each component are clear, easy to assemble, maintain and overhaul.

The invention discloses an obstacle-crossing wall-climbing robot with a wall surface converting function. The obstacle-crossing wall-climbing robot comprises two single wall-climbing robot bodies and a pitching deflection mechanism; the two single wall-climbing robot bodies are connected through the pitching deflection mechanism in the middle; each single wall-climbing robot body comprises a brushless motor, a motor base, a motor supporting frame, centrifugal fan blades, a robot shell body, motion mechanisms and a sealing gasket. The brushless motors drive the centrifugal fan blades to rotate to pump out air inside the robot shell bodies, so that negative pressure is formed inside the robot shell bodies, and accordingly the robot bodies are adsorbed on the wall. The pitching deflection mechanism can assist the robot bodies to cross obstacles and turn. The double-body wall-climbing robot can move flexibly on the surface of the wall and can cross grooves and large protruding obstacles in the wall and complete conversion between the adjacent wall surfaces, so that the motion range of the wall-climbing robot is effectively increased.

The invention discloses a piezoelectric valveless micropump suction cup based on a parallel connection compliant mechanism. The piezoelectric valveless micropump suction cup based on the parallel connection compliant mechanism comprises a monocrystalline silicon substrate, a copper-based composite film, the compliant mechanism and a piezoelectric stack driver. The compliant mechanism is provided with a deformation displacement input part, a deformation displacement output part and a locating groove. The piezoelectric stack driver is fixedly clamped at a hollowed-out position in the upper portion of the deformation displacement input part and is closely attached to the deformation displacement input part. The copper-based composite film located on the upper layer and the monocrystalline silicon substrate located on the lower layer are bonded together and assembled through epoxy structure bonding glue to form a thin film micropump. The thin film micropump is clamped into the locating groove of the compliant mechanism and is sealed in a bonding mode. The lower end face of the deformation displacement output part is attached to the upper plane of the copper-based composite film in a bonding mode. The compliant mechanism amplifies unidirectional deformation displacement generated after the piezoelectric stack driver is powered on, and then transmits the unidirectional deformation displacement to the copper-based composite film to drive the thin film micropump to operate, gas in an adsorption cavity formed in the lower portion of the monocrystalline silicon substrate is extracted, and negative pressure of the suction cup is generated. The piezoelectric valveless micropump suction cup based on the parallel connection compliant mechanism is small in size, light in weight, free of noise, and capable of being used as an adsorption device of a wall-climbing robot.

The invention relates to a wall mobile robot based on airflow lift, which includes a lift generating device and a walking mechanism along the wall. The lift generating device includes a channel fan and guide vanes. and guide vanes are installed on the airflow direction adjustment frame, and the guide vanes are located at the air outlet of the channel fan; the lift direction adjustment ring of the lift direction adjustment mechanism is connected with the airflow direction adjustment frame through a T-shaped connector, and the lift direction adjustment drive motor is installed On the lift direction adjustment ring, the drive gear is connected with the walking mechanism along the wall which is movably installed on the lift direction adjustment ring through the lift direction adjustment ring. The invention is small in size, light in weight, low in noise, and strong in wall adaptability, and can reliably absorb and move walls on rough walls that cannot be absorbed by wall-climbing robots based on the principle of vacuum or negative pressure adsorption. , wall detection and other fields have broad application prospects.

The invention relates to a tiny multi-cavity negative pressure sucker driven by an embedded shape memory alloy wire driver in the technical field of special robots, comprising an embedded shape memory alloy wire driver, an elastic base material, an elastic body ring, a rigid body support layer and multiple cavity elastomeric base, which in turn are bonded together to form a multilayer structure. When the embedded shape memory alloy wire driver is energized and heated, the elastic matrix material is driven to deform, and the volume of the gas in the cavity formed by the elastic matrix material, the rigid body support layer and the elastic body ring becomes larger to form a negative pressure. The diffusion port on the rigid support layer communicates with the small cavity on the multi-cavity elastic body base, so negative pressure is also generated in the small cavity on the multi-cavity elastic body base. The invention avoids the disadvantages of the existing negative pressure sucker adsorption device that it is not easy to miniaturize, has high noise and low power-to-weight ratio, and provides a small, efficient, reliable adsorption device with excellent wall surface adaptability for micro-miniature wall-climbing robots.

The invention discloses an intelligent cleaning device for a glass curtain wall. The device comprises a rack, a driving mechanism, a positioning pin, a shell, a transmission mechanism and a cleaning mechanism. The driving mechanism and the positioning pin are arranged on the rack, and the shell is arranged below the rack and the driving mechanism; the transmission mechanism is rigidly connected to the driving mechanism and the cleaning mechanism and used for transmitting power from the driving mechanism to the cleaning mechanism. Compared with the prior art, the intelligent cleaning device for the glass curtain wall can improve the wall surface adaptive capacity of a robot, the cleaning quality is improved, the operation efficiency and the energy-saving and environment-friendly performance are improved, the operation cost is lowered, and finally the working condition of cleaning personnel can be greatly improved.

The invention is applicable to the technical field of wall-climbing robots, and provides a derusting wall-climbing robot for a ship. The derusting wall-climbing robot aims at providing the technical problem that in the prior art, an existing derusting wall-climbing robot for the ship is poor in obstacle climbing capacity. The derusting wall-climbing robot for the ship comprises a washing plate, a caterpillar track making contact with the wall face of the ship, a drive assembly, a driven floating assembly with driven wheels, a floating connection assembly driving the washing plate to automatically move up and down relative to the wall face of the ship, and a pressing assembly providing pre-pressing force so as to press the caterpillar track. According to the derusting wall-climbing robot for the ship, driving wheels are driven by the drive assembly to drive the driven wheels to move, and therefore the caterpillar track is driven to walk on the wall face of the ship; when the derusting wall-climbing robot encounters obstacles in the walking process, the washing plate is driven by the floating connection assembly to climb the obstacles; meanwhile, the inner tension of the caterpillar track is increased, and therefore the center distance between the driving wheels and the driven wheels can be reduced and the caterpillar track can be tightly attached to the wall face of the ship to climb the obstacles, and the wall face adaptability of the derusting wall-climbing robot for the ship is improved.

The invention provides an electrostatic conveyor belt and an impurity removing machine. The electrostatic conveyor belt comprises an insulating base layer and an insulating adsorption layer, wherein the insulating base layer is provided with a first surface and a second surface which are oppositely arranged, and a plurality of positive electrode plates and negative electrode plates which are alternately arranged are embedded in the first surface; and the insulating adsorption layer is provided with a connecting face and an adsorption face which are oppositely arranged, the connecting face is attached to the first surface, and the adsorption face is uneven. According to the electrostatic conveyor belt, impurities on the surface of an adsorbed object are removed according to the electrostatic adsorption principle, and therefore the electrostatic conveyor belt has the advantages of being light in weight, small in power consumption, low in noise, high in wall surface adaptability and the like.

The invention discloses a wall-climbing robot. Currently, wall-climbing robots are urgently needed for replacing manual operation. The wall-climbing robot comprises an equipment carrier platform, foottype obstacle crossing mechanisms, tracked crawling mechanisms and air distribution systems. Each air distribution system comprises hinge type flat-bottom skirted suckers, an air distribution plate and sucker connectors, wherein the air distribution plate synchronously rotates along with the corresponding tracked crawling mechanism; the n sucker connectors are fixed to tracks; the sucker connectors are spherically hinged to tail ends of the hinge type flat-bottom skirted suckers; the sucker connectors are hollow internally, one end of each sucker connector is internally communicated with thecorresponding hinge type flat-bottom skirted sucker, and the other end of each sucker connector is communicated with an air distribution hole of the air distribution plate through an air guide pipe. Alternate air suction of every two hinge type flat-bottom skirted suckers in the same group is changed through a two-position four-way reversing valve, and an air suction port of each two-position four-way reversing valve is communicate with a vacuum generator through an air delivery pipe. By adoption of the foot type obstacle crossing mechanisms, great obstacle crossing performance is achieved; owing to a difference between pressure intensity in each sucker cavity and pressure intensity of the external barometric pressure, the wall-climbing robot is attached on a concrete wall surface.