1548 results about "Wall climbing" patented technology

The present invention is non-contact magnetically adsorbed wall climbing robot, belongs to the field of robot design technology, and aims at providing robot with both high moving flexibility and great loading capacity. The non-contact magnetically adsorbed wall climbing robot includes wheeled moving mechanism and permanent adsorption mechanism. The wheeled moving mechanism includes chassis, driving mechanism and wheels, which are laid symmetrically, driven in differential mode, and turns on wall by means of the speed difference of the wheels. The permanent adsorption mechanism has no contact with the magnetically conducting wall surface, high magnetic energy utilization, and high adsorption capacity. The wall climbing robot has high loading capacity, high motion flexibility, especially high turning flexibility, and excellent application foreground.

Disclosed is a magnetic-absorption wall-creeping robot with a self-adaptive capability to curved face, which belongs to the art of robot. Said robot comprises a wheeled shifter and a plural of permanent-magnet absorption devices, the wheeled shifter containing an undercarriage, a drive gear, a traction wheel and an auxiliary balancing wheel; one end of the permanent-magnet absorption device being equipped with the magnetic conduction wall surface by auxiliary balancing wheel, and the other end equipped with the undercarriage or other permanent-magnet absorption device by curved face self-adaptive device with rotational freedom degree of among one to three; the traction wheel being laid out symmetrically and driven by differential drive, and the differential of the traction wheel realizing the deflecting on the magnetic conduction wall surface. The wall-creeping robot having a strong loading power, a flexible motility and a super self-adaptive capability to curved face, has a perfect prospect.

The present invention discloses a crawler multicup wall-lcimbing robot. The described robot incldues main body using vacuum cup and crawler multicup drive / conversion mechanism as main body, and cleaning mechanism using backpitch structure rolling-brush and water-recovering device as main component. Said robot is suitable for cleaning and spray-coating high-rice building, specially for cleaning high-rise building glass curtain wall.

The invention discloses a wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system, belonging to the technical field of robots and comprising a robot frame, a 5-DOF (degree of freedom) robot arm, three groups of mobile absorption mechanisms, linear sliding rails, screws and drive motors, wherein the linear sliding rails, the screws and the drive motors respectively correspond to the three groups of mobile absorption mechanisms; the five-DOF robot arm is arranged above the robot frame; the three groups of linear sliding rails and screws are vertically arranged below the robot frame and two ends thereof are connected with the robot frame and the mobile absorption mechanism respectively; and the drive motor is fixedly connected with the mobile absorption mechanism. The invention solves the technical defects of the existing wall climbing robot in vertical wall surface operation, enables the robot to have the advantages of rapid speed and flexible steering of a wheeled mobile robot and have the characteristics of large magnetic absorption force and good load capacity as well as obstacle detouring capacity, and can satisfy the requirements of motion and operation in complicated environments.

The invention discloses an amphibious robot capable of flying and climbing wall and a control method of the amphibious robot. The amphibious robot comprises a flying subsystem, a wall-climbing subsystem, a connecting mechanism and an airborne control system, wherein the flying subsystem and the wall-climbing subsystem are fixed by the connecting mechanism at an angle of 0-90 degrees, the airborne control system is arranged on the flying subsystem or the wall-climbing subsystem, and the airborne control system controls the flying subsystem and the wall-climbing subsystem to enable the robot to have flying, wall-climbing and perching states. The amphibious robot can work under the three states respectively, can freely switch, and has the advantages of compact structure, reasonable design, simplicity in operation, flexibility in control and long working time, thereby having good application value and excellent promising future and being capable of meeting various task requirements.

The invention provides an intelligent glass robot cleaner based on foot type wall climbing. The intelligent glass robot cleaner comprises a robot main body, a walking unit, four absorbing units, a driving unit, a machine body control unit, a clean unit, an image identification unit and a wireless control unit. The walking unit comprises four mechanical feet, the four absorbing units are respectively arranged on the four mechanical feet to form four absorbing feet, and the four absorbing feet and the driving unit conduct coordination motion under the effect of the machine body control unit and drive the robot main body to move. The image identification unit is connected with the machine body control unit, an obstacle and a curtain wall edge are detected by real-time collection of an image signal, and the collected image signal is transmitted to the machine body control unit after processed. The wireless control unit is connected with the machine body control unit and used for remotely controlling motion of the robot main body. The intelligent glass robot cleaner absorbs obstacles such as a crossed window frame on one side of glass, has an image identification function, and is flexible in walking mode, and stable in motion.

A mobile robot generally including a first suction module, a second suction module and a hinge assembly pivotably connecting the suction modules together. Each of the suction modules includes a support frame defining a vacuum chamber and a vacuum unit supported on the support frame and communicating with the vacuum chamber. The vacuum unit includes a rotating impeller and an exhaust cowling surrounding the impeller. The impeller has an axis of rotation and is adapted to draw air from the vacuum chamber into the impeller in a direction generally parallel to the impeller axis of rotation and to discharge the drawn air in a direction substantially perpendicular to the impeller axis of rotation. The exhaust cowling is adapted to redirect the discharged air, whereby a thrusting force is applied to the support frame in a direction opposite of the direction of the drawn air from the vacuum chamber.

A wall climbing robot using an Indoor Global Positioning System (IGPS) provided in a room is disclosed. The wall climbing robot includes a navigation receiver configured to receive rotating fan beams emitted from one or more navigation transmitters of the indoor global positioning system, and recognize the rotating fan beams as IGPS signals; a robot frame provided with the navigation receiver mounted; a mobile controller configured to be installed on the robot frame, and to recognize and determine its own position using the IGPS signals; and a drive mechanism configured to travel along the surfaces of the room under control of the mobile controller. The mobile controller includes a central processing unit, an input / output unit, a motion control unit, a drive control unit, a navigation control unit, a sensor signal processor, an emergency processing unit, and an alarm generator.

The invention discloses a cam-type negative pressure adhering wall-climbing robot. By means of an inverse cam mechanism and a passive vacuum absorption mechanism, the negative pressure absorption function of a sucker is achieved and the limitation brought by a vacuum source device is eliminated. The adsorbing and detaching process of the vacuum sucker is easy through a mechanical structure. The structure is simple and the absorption force of the sucker is strong due to the negative pressure. By means of an adsorbing steering mechanism, the limitation of the minimum turning radius of a tracked robot is avoided and the pivot steering function is achieved. Adsorbing moving mechanisms are positioned on the two sides of a main baseboard of the robot; a steering power mechanism is fixed on the main baseboard; steering wheel components are connected with the steering power mechanism through flexible threaded rods; and by adjusting the position of a cam track groove, a steering auxiliary mechanism mounted on the main baseboard enables the adsorbing steering mechanism to work. The linear moving portion is connected with the linear steering portion through a screw transmission manner, the moving process of the robot is achieved through reasonable step arrangements, so that the cam-type negative pressure adsorption wall-climbing robot is easy to control and applicable to wide working range.

A mobile robot generally including a first suction module, a second suction module and a hinge assembly pivotably connecting the suction modules together. Each of the suction modules includes a support frame defining a vacuum chamber and a vacuum unit supported on the support frame and communicating with the vacuum chamber. The vacuum unit includes a rotating impeller and an exhaust cowling surrounding the impeller. The impeller has an axis of rotation and is adapted to draw air from the vacuum chamber into the impeller in a direction generally parallel to the impeller axis of rotation and to discharge the drawn air in a direction substantially perpendicular to the impeller axis of rotation. The exhaust cowling is adapted to redirect the discharged air, whereby a thrusting force is applied to the support frame in a direction opposite of the direction of the drawn air from the vacuum chamber.

A magnetic roller adsorptive climbing-on-wall robot for detecting the welded seam of oil shaft's wall is composed of the supporting frame, left and right roller structures symmetrically fixed to left and right of said supporting frame, detector unit in the front of said supporting frame, rollers, code disk, and position correcting mechanism.

The invention discloses a four-feet electromagnetic adsorption wall climbing robot. The four-feet electromagnetic adsorption wall climbing robot is formed by three parts, i.e. a chassis, walking legs and a foot adsorption apparatus. The walking leg comprises a multi-joint serial-connection mechanism connected onto the chassis and driving mechanisms installed at various joints, and a free end of the multi-joint serial-connection mechanism is connected with the foot adsorption apparatus; the foot adsorption apparatus comprises a plurality of disc mounting plates and electromagnetic suckers which are connected with the multi-joint serial-connection mechanism by virtue of passive ball hinges; and in the wall climbing process of the robot, the rotation action of each joint of the walking leg cooperates with the opening-closing state of an electromagnetic switch, so that the robot flexibly climbs a plane, a cylindrical surface and a spherical surface of any curvature and can flexibly realize the actions such as cornering and transverse movement. By adopting the four-feet electromagnetic adsorption wall climbing robot, the defects in the wall climbing process of a conventional wall climbing robot can be solved, the contradiction between the wall adsorption and the movement operation is well solved, the flexibility and applicability of the wall climbing robot in real engineering application are improved, and the popularization of the robot technology is facilitated.

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 provides a non-contact type magnetic adsorption wall-climbing robot adaptive to complex wall surface operations. The wall-climbing robot comprises a vehicle body, an adsorption device, moving modules, a mechanical arm, a nondestructive inspection module, a polishing and welding module, a paint spraying module and a control sensing module. In the operation process of the wall-climbing robot, crawler belts of the moving modules can be attached to the inner wall of a steel pipe in a self-adaptive mode; and meanwhile, a frame of the vehicle body is provided with the moving modules, the adsorption device, the mechanical arm and the control sensing module, and hence the nondestructive inspection module, the polishing and welding module and the paint spraying module can be replaced according to different functions of the wall-climbing operation of the robot. The non-contact type magnetic adsorption wall-climbing robot has the characteristics that modular design is adopted, various detection and maintenance operations can be executed, loads are large, and no power source is required in the adsorption device; and the functions of pressure steel pipe wall climbing, welded joint nondestructive inspection, welded joint repair and welded joint surface coating corrosion resistance can be provided.

The invention relates to a reverse thrust and negative pressure combined adsorption method applied to a wall-climbing robot and realization thereof. When a suction disk(1) of the wall-climbing robot is contacted with the wall surface, air flow enters a cavity(4) of the suction disk(1) from the gap between the suction disk(1) and the wall surface through a propeller(3) rotating at a high speed in a guiding channel, and is discharged from the guiding channel (5) in which the propeller(3) on the top of the suction disk(1) is arranged, and the superimposed effect of the adsorption force generated due to the negative pressure state in the suction disk(1) and the reverse thrust generated due to the high-speed rotation of the propeller(3) in the guiding channel is formed, so that the adsorption force between the suction disk(1) of the wall-climbing robot and the wall surface is kept in the range of enough threshold value. The robot is ensured to be dynamically adsorbed on the wall surface, and flexibly moved. By the application of the theory and the realization method, the wall-climbing robot can realize small size, light weight, low noise, energy conservation, unnecessary complex suction disk sealing device and strong obstacle crossing capability.

The invention discloses a wall-climbing robot for removing rust on wall surfaces of ships and a working method thereof. The wall-climbing robot comprises a frame, a chain track walking mechanism, a permanent magnetic adsorption unit, a left-upper drive motor, a left-upper decelerator, a right-lower drive motor and a right-lower decelerator, wherein the chain track walking mechanism consists of a left chain track and a right chain track, the permanent magnetic adsorption unit is mounted on the chain track walking mechanism, and an ultrahigh pressure water jet vacuum rust-removing cleaner is externally connected with a vacuum source and the permanent magnetic adsorption unit to form vacuum permanent magnetic mixed adsorption. The method comprises the steps of regulation of the tension of chains, height adjustment and movement control. In the invention, by adopting the vacuum permanent magnetic mixed adsorption mode to design the wall-climbing robot and effectively utilizing and recycling negative pressure of the rust vacuum in combination with permanent magnetic adsorption force, the wall-climbing robot achieves reliable adsorption, safe working and compact adsorption structure and is capable of realizing working with large load at high altitude.

The invention relates to iron base tank surface wall climbing robot. It is made up of decelerated electric machine, chain wheel, chain belt, ball pivot, and base seat. The caterpillar belt is changed by double bank chain belt, can make the permanent magnet fix on the outer plate of the chain belt. Meanwhile it has caterpillar belt tensioning mechanism and load dispersion machine which can make the robot adsorb on the iron base tank surface better. The robot chassis and sides caterpillar belts are hinged into parallelogram structure which can make robot walk on various iron base tank surfaces. It also can rotate from 0 degree to 360 degree in situ through different rotating directions of the two step motors.

The invention relates to a visual navigation system of a wall climbing robot for weld inspection, a welding and locating method of a welding seam and a method of obtaining welding seam offset. According to the invention, the problem that in the place with a bad natural environment, the overhauling and maintaining work for a tower cylinder in a teaching reappearing way cannot be realized by using the prior art is solved. A charge coupled camera and a cross-shaped laser transmitter of the visual navigation system are fixedly arranged at the front end of the head part of the wall climbing robot, the cross-shaped laser transmitter is arranged right above the charge coupled camera, laser transmitted by the cross-shaped laser transmitter irradiates on the surface of a welding workpiece to form a cross-shaped light spot, the charge coupled camera is used for photographing the cross-shaped light spot on the surface of the welding workpiece, and a data output end of the charge coupled camera is connected with a data input end of a computer. The visual navigation system, the welding and locating method and the method of obtaining the welding seam offset, disclosed by the invention, are suitable for the field of overhauling and maintaining the tower cylinder.

The invention discloses a high-rise curtain wall cleaning robot and a high-rise curtain wall cleaning method and belongs to the field of wall-climbing robots. The high-rise curtain wall cleaning robot and the high-rise curtain wall cleaning method have the advantages that horizontal and longitudinal movement of the entire cleaning robot is realized by the aid of alternative adsorption of an external adsorption walking mechanism and an internal adsorption walking mechanism on a curtain wall, the curtain wall cleaning robot can rotate freely through rotational movement of the internal adsorption walking mechanism, 360-degree omnidirectional movement is realized, and non-dead angle cleaning of specially-shaped curtain walls can be realized; meanwhile, sucking disks in the external adsorption walking mechanism and the internal adsorption walking mechanism are telescopic, a good barrier function of the curtain wall cleaning robot is achieved, and the curtain wall cleaning robot is applicable to cleaning of medium and high-level frameless glass curtain walls and framed glass curtain walls; a cleaning mechanism can be lifted or depressed to be better attached to the surface of the curtain walls, the optimum cleaning effect is achieved, and after the cleaning mechanism is uplifted, the curtain wall cleaning robot can walk and cross obstacles on the curtain walls flexibly.

The invention relates to a self-contained vacuum source negative pressure adsorption module. Three vacuum chucks are connected together through the module, and a self-contained vacuum pump of the module simultaneously vacuumizes to form negative pressure. The module mainly comprises the vacuum chucks, a one-way valve, the vacuum pump, a main bracket, a vacuum pressure sensor, a two-position two-way vacuum solenoid valve, a connecting frame, an air pipe, and the like. The two-position two-way vacuum solenoid valve controls the communication between inner cavities of the three vacuum chucks and the atmosphere; during non-communication, the vacuum chucks and the adsorbed surface form a sealed cavity, and the vacuum pump works to make the negative pressure formed in the cavity so as to generate the adsorption function; and during communication, the negative pressure of the vacuum chucks is relieved so as to separate the module from the adsorbed surface. The module has the advantages of simple structure, self-contained property, independent completion, and convenient connection with other modules or components, and can be used as an adsorption foot of a wall climbing robot or an end executor of a manipulation arm.

A kind of magnetism adsorb track-style wall climbing robot which bases on the synchronous dentiform track . The invention comprises two suits of track running structures, magnetism adsorb part, wind-connection rack, execution part and wiring control devices. The drive synchronous wheel and the driven synchronous wheel is uphold respectively by the front and back end of the rack of execution part, the drive synchronous wheel connects to the output axe of the reducer, whose input axe connects to the drive electromotor and speed detection plate, the axe base of the driven wheel can glides in the runner of the fasten device to fasten the synchronous dentiform track, two suits of track running structures are symmetrical, has the same structure, the execution part set on the rack, whose four corners connect to the rack of the execution part by gemel axes and the magnetism adsorb parts fixed on the track embed on the synchronous dentiform track equably. The invention has the characters of simple structure, dependable function and it can be used to many kinds of wall-climbing work and mini type light-carrying works.

The invention belongs to the technical field of robot welding, particularly an autonomous mobile double-sided double-arc welding robot system. The autonomous mobile double-sided double-arc welding robot system comprises robot bodies, a control system and a welding system; the robot bodies, the control system and the welding system are connected by cables; two robot bodies, two sets of robot body control boxes, two sets of sensing systems and two welding guns are provided; each two sets of corresponding equipment are symmetrically arranged; and the two robot bodies are respectively adsorbed at both sides of a workpiece to be welded. The autonomous mobile double-sided double-arc welding robot system has the advantages that a creeping device adopts a contact magnetic wheel adsorption and non-contact clearance adsorption composite mode and is of a three-wheel structure; all wheels are driving wheels; a redundancy control steering mode is adopted; the steering on a magnetic conducting wall surface is implemented by the differential velocity of two rear wheels and the controlled steering of the front wheel; the steering accuracy of a wall climbing robot is improved by accurately controlling the steering angle of the front wheel; the autonomous mobile double-sided double-arc welding robot system has good movement flexibility, can steer around the center of a vehicle body and has the minimum steering radius of 0; and a robot can be reliably adsorbed on the magnetic conducting wall surface and the free and flexible movement of the robot can be implemented.

The invention discloses an omni-directional floating and wall-climbing underwater robot. The omni-directional floating and wall-climbing underwater robot comprises a sealed cabin, an underwater high-definition camera, a main control module, underwater sensing equipment, an omni-directional power system and a vertical power system, wherein the underwater sensing equipment is arranged inside and outside the cabin; the omni-directional power system and the vertical power system are arranged inside and outside the cabin; the omni-directional power system comprises four shrouded propellers, shrouded propeller steering devices, climbing devices and floating devices; the floating devices are arranged in the cabin; one end of each floating device is connected with the corresponding shrouded propeller; the shrouded propeller steering devices and the climbing devices are divided into upper and lower layers, are respectively arranged in the cabin and are connected with each other through respective transmission devices; the vertical power system is vertically arranged inside the cabin. The omni-directional floating and wall-climbing underwater robot has functions of floating, adsorption, wall-climbing and underwater monitoring, is flexible to move, high in practicality, high in maneuverability and wide in application range, can be used for omni-directional floating operation or omni-directional wall-climbing operation, is suitable for working in a narrow water area, and is compact in structure and convenient and easy to operate; the manufacturing cost is reduced; the accuracy of floating movement is improved.

The invention belongs to the field of robots and relates to a wall climbing robot, in particular to a wall climbing robot used for detection and maintenance of a small-radius cone-fan tower body, which comprises four driving units (1), four chain caterpillar bands (2), a control system and a robot box body. A magnetic absorption unit is arranged on each chain caterpillar band (2), wherein connection of the driving units and a vehicle body backbone (3) through a hinged bottom plate (6) has a freedom degree of rolling, and the magnetic absorption units on the chain caterpillar bands (2) have a freedom degree of moving through a moving magnetic block hinged seat (28). The robot is capable of climbing in any direction on the small-radius cone-fan tower body and reducing the gaps between the absorption units of the wall climbing robot and the wall when the robot climbs on the small-radius cone surface, thereby facilitating detection and maintenance of walls of small-radius cone tower type structures.

The invention is suitable for the technical field of ship rust removing and washing, and provides a water jetting washing device. The water jetting washing device aims at solving the technical problem that the angles of washing nozzles in a ship rust removing and washing device in the prior art can not be adjusted. The water jetting washing device comprises a high-pressure water pipe assembly, a plurality of nozzles and a rotating assembly which is connected to the high-pressure water pipe assembly and used for driving the high-pressure water pipe assembly to rotate. The high-pressure water pipe assembly comprises a main water pipe connected with the rotating assembly and a plurality of branch water pipes communicated with the main water pipe and each provided with at least one nozzle. The water jetting washing device further comprises adjustment assemblies connected between the main water pipe and the branch water pipes to adjust the jetting angles of the branch water pipes relative to the nozzles. According to the water jetting washing device, as the nozzles are arranged on the branch water pipes, and the jetting angles of the nozzles are adjusted through the adjustment assemblies, the nozzles can conduct washing work and rust removing work at any angle, washing work and rust removing work under different working conditions can be achieved, and the washing effect and the rust removing effect are greatly improved.

The invention discloses a wall-climbing robot, comprising a front body, a back body, a waist overturning mechanism and a control unit, support legs and walking legs are respectively arranged at the two sides of the front body and the back body, the support legs and the walking legs at the two sides are arranged at opposite angles, the wall-climbing robot is characterized in that: the waist overturning mechanism comprises a clutch, a front support and a back support fixed on the back body, a rotary shaft is fixed on the front support to penetrate the front body in a sliding manner, the other end of the rotary shaft is fixed at one end of the clutch, the other end of the clutch is fixed with the front body, front and back gears which are mutually meshed are fixed on the front and the back supports, wheel shafts of the front and the back gears are movably connected through a connecting plate, wherein, the a front body overturning stepping motor and a back body overturning stepping motor are respectively arranged on the front and the back supports, output shafts of the front body and the back body overturning stepping motors are respectively connected with the wheel shafts of the front and the back gears, the front body, the back body overturning stepping motor and the clutch are respectively connected with the control unit.

The invention relates to a modality switching underwater robot and a control method thereof. The modality switching underwater robot comprises a water surface control system and an underwater control system, wherein the underwater control system comprises an underwater sensing device, an underwater controller and an underwater robot, and the underwater robot comprises a carrier module, a switching module, a trolley module and a video collecting module. According to the control method of the modality switching underwater robot, the underwater controller is adopted to enable video information collected by the video collecting module and sensing information sensed by the underwater sensing device to be uploaded to the water surface control system through umbilical cables and receive control signals sent out by the water surface control system at the same time so as to achieve control over the swimming movement and wall climbing cleaning of the underwater robot. According to the modality switching underwater robot and the control method of the modality switching underwater robot, the self-weight, the size, the manufacturing cost, the processing difficulty, the energy consumption of a power supply system and the like are reduced to the maximum degree, and the modality switching underwater robot has various functions of swimming, sorption, crawling, cleaning and underwater monitoring and is high in practicability and wide in application range.

The caterpillar track for magnetic adsorption type wall-climbing robot comprises changeable magentic adsorption units, chain, driving and driven chain wheels, shifting wheel, chain wheel axles, strainer and connecting plate, in which several changeable magnetic adsorption units are arranged according to the polarization direction of magnetic poles and the shifting bar positions are uniformly alternatively arranged on the chain, four shifting wheels and driving and driven chain wheels are coaxially mounted on the chain wheel axles, and the axial position of shifting wheel is defined by regulating sleeve. The maximum adsorption force of the invented adsorption unit can be up to 25 kgf, and the minimum adsorption force of adsorption unit of caterpillar track when it is separated from wall surface is 0.9 kfg.