CN102774440B - Track chuck component applicable to climbing robot - Google Patents
Track chuck component applicable to climbing robot Download PDFInfo
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- CN102774440B CN102774440B CN201210299724.1A CN201210299724A CN102774440B CN 102774440 B CN102774440 B CN 102774440B CN 201210299724 A CN201210299724 A CN 201210299724A CN 102774440 B CN102774440 B CN 102774440B
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- electromagnetic vacuum
- sucker
- vacuum sucker
- curtain wall
- piston
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Abstract
The invention relates to a track chuck component applicable to a climbing robot, wherein the track is composed of a plurality of adsorption joints having the same structure; each adsorption joint comprises at least one normally closed electromagnetic vacuum chuck which is controlled by a chuck control circuit; the electromagnetic vacuum chuck is at the state waiting for adsorption when being electrified, and is at the adsorption state when being discharged; and when the track rolls, the chuck control circuit is used for controlling all the electromagnetic vacuum chucks in the suspended state and contacted with a curtain wall to be discharged, and controlling the electromagnetic vacuum chucks about to be contacted with or departed from the curtain wall to be electrified. The track chuck component adopts independent normally closed electromagnetic vacuum chucks, each chuck is an independent vacuum source, when the robot climbs the wall, the whole vacuum source can not be weakened by the tile gaps, and the normal operation of other chucks can not be influenced.
Description
Technical field
The present invention relates to a kind of crawler belt Suction cup assembly that is applicable to Climbing Robot.
Background technology
We are in the time making glass curtain wall cleaning machine device people, needing a kind of vacuum cup that cleaning robot is attached on glass curtain wall acts on one's own, existing vacuum cup all needs an external vacuum generator and multiple solenoid electric valve, control the UNICOM of vacuum cup and atmosphere or vacuum source, complex structure.Generally, also can walk at complicated exterior wall in order to make cleaning robot, mostly adopt multiple vacuum cups to form sucker array, just expose the weakness of public vacuum source this time, for example, in the time of the metope walking of posting ceramic tile, owing to there is the gap that ceramic tile is large, in sucker array, just there is suction cup sealed not tight, cause common vacuum source degree of vacuum to decline, impact is used.
Application number CN96205687.1 discloses a kind of " automatic wall cleaning device for high building ", this device has adopted the adsorption plant of multi-sucker, between each sucker, not independently, when one of them sucker is revealed, the degree of vacuum that will affect whole sucker reduces and causes washing equipment can not rest on wall.
Application number 01274743.2 discloses a kind of " climbing robot that the single sucking disc and crawler multi-sucker combine " although mentioned independently the single sucking disc, but need to utilize absorption fan for water continuous firing to maintain overall vacuum degree, so there is no the independent sucker of realizing of real meaning.
In order to overcome above shortcoming, need to prepare independently vacuum source or install pressure-detecting device additional to control in real time for each sucker, this all brings the rising of system complexity and cost, if and this robot employing independent current source, vacuum source must be worked in the moment, so rely on a large amount of electric weight to maintain vacuum, if so adopt the words of independent current source, this robot is continuous firing for a long time, if adopt external source, makes troubles again to lifting.
Summary of the invention
The primary technical matters solving of the present invention is to provide a kind of simple in structure, the crawler belt Suction cup assembly that the vacuum source of each sucker is independent of each other.
The present invention has also solved second technical matters and has been to provide one and can reduces power consumption, and can extend the crawler belt Suction cup assembly of robot work-hours.
For solving the problems of the technologies described above, the invention provides a kind of crawler belt Suction cup assembly that is applicable to Climbing Robot, the crawler belt being formed by the identical absorption joints of several structures, described each absorption joints comprises the ELECTROMAGNETIC VACUUM sucker of at least one closed type, and described ELECTROMAGNETIC VACUUM sucker is by the control of sucker control circuit; Described ELECTROMAGNETIC VACUUM sucker be suitable for when electric in state upon adsorption, when dead electricity in adsorbed state; Described sucker control circuit is suitable for, in the time that described crawler belt rolls, controlling in vacant state and each ELECTROMAGNETIC VACUUM sucker dead electricity contact with curtain wall, controls the ELECTROMAGNETIC VACUUM sucker that is about to contact or is about to leave described curtain wall simultaneously and obtains electric.
Wherein, described in described state upon adsorption, the card of the rubber suction cups of ELECTROMAGNETIC VACUUM sucker is flat state.
Further, described ELECTROMAGNETIC VACUUM sucker comprises: cylindrical shell, be located at piston in described cylindrical shell, be located at being suitable in described cylindrical shell and make described piston stretch the magnet coil of action, be located at described cylindrical shell bottom and the rubber suction cups that is connected with the bottom of described piston, be located at being suitable in described cylindrical shell and make described piston make the elastic mechanism that contracting is moved.
Further, described magnet coil is located in described cylindrical shell, and the upper and lower of this magnet coil is respectively equipped with first, second cavity; The middle and upper part of described piston is through the center through hole of described magnet coil, and piston head is fixed with the first positioning plate in described the first cavity, and piston central portion is fixed with the second positioning plate in described the second cavity; Between the below of this second positioning plate and described rubber suction cups, form the 3rd cavity, the inwall of the 3rd cavity is provided with circular table, between described the second positioning plate and circular table, be provided with the spring that forms described elastic mechanism, the middle and lower part of described piston is through the center through hole of described spring.
Further, described magnet coil is located in described cylindrical shell, and the upper and lower of this magnet coil is respectively equipped with first, second cavity; Described elastic mechanism is the spring in described the first cavity, and the middle and upper part of described piston is through the center through hole of described spring, piston head is fixed with the first positioning plate in described the first cavity, and piston central portion is fixed with the second positioning plate in described the first cavity and in described spring bottom; The inwall of this first cavity is provided with circular table, and described spring is located between described the first positioning plate and circular table; The middle and lower part of described piston is through the center through hole of described magnet coil.
Further, in order better to detect described ELECTROMAGNETIC VACUUM sucker adsorbed state, described sucker control circuit comprises: the bottom, rear end that the front bottom end of being located at described climbing robot is about to the first sensor of the described curtain wall of contact to detect described ELECTROMAGNETIC VACUUM sucker, be located at described climbing robot is about to leave the second sensor of described curtain wall to detect described ELECTROMAGNETIC VACUUM sucker; And the control module being connected with described first, second sensor.
The present invention also provides a kind of method of creeping of the climbing robot of applying described crawler belt Suction cup assembly, comprising:
1., when initial, the magnet coil of the sucker control circuit control ELECTROMAGNETIC VACUUM sucker of described climbing robot is in power failure state;
2. in the time being located at the first sensor of front bottom end of described climbing robot and detecting that an ELECTROMAGNETIC VACUUM sucker on described crawler belt approaches curtain wall face, the magnet coil of this ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control obtains electric, be that described magnet coil attracts described piston and drives rubber suction cups in state upon adsorption, described ELECTROMAGNETIC VACUUM sucker is in state upon adsorption; After described first sensor detects that this ELECTROMAGNETIC VACUUM sucker is affixed on curtain wall completely, the magnet coil dead electricity of this ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control, the elastic mechanism in this ELECTROMAGNETIC VACUUM sucker is adsorbed on curtain wall piston driving rubber suction cups, and described ELECTROMAGNETIC VACUUM sucker is in adsorbed state;
3. 2. repeating step, is adsorbed on curtain wall the driving surface entirety of described crawler belt;
4. in the time that crawler belt rolls, the control of described sucker control circuit obtains electric by the ELECTROMAGNETIC VACUUM sucker of the described curtain wall of contact, make corresponding ELECTROMAGNETIC VACUUM sucker contact respectively curtain wall, and then control corresponding ELECTROMAGNETIC VACUUM sucker dead electricity; And in the time being located at second sensor of rear end bottom of described climbing robot and detecting that an ELECTROMAGNETIC VACUUM sucker on described crawler belt is about to leave curtain wall face, the magnet coil of this ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control obtains electric, make corresponding ELECTROMAGNETIC VACUUM sucker leave curtain wall, and then by the corresponding ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control dead electricity.
The present invention has the following advantages: (1) adopts the independently ELECTROMAGNETIC VACUUM sucker of described closed type, each sucker is independent vacuum source, in the time that robot is climbed wall, can not cause because running into ceramic tile gap whole vacuum source to weaken, more can not affect other suckers and normally work simultaneously; (2) described ELECTROMAGNETIC VACUUM sucker is closed type, obtains when electric in state upon adsorption, and when dead electricity, in adsorbed state, robot is climbing in wall process like this, and the sucker contacting with metope in crawler belt bottom, without power supply is being provided, has been saved a large amount of electric weight; (3) owing to adopting the ELECTROMAGNETIC VACUUM sucker of normally closed property, so if work as, robot breaks down or suddenly when dead electricity, can not drop and cause damage; (4) in the time that sucker leaves curtain wall, to this sucker energising, make rubber suction cups discharge negative pressure, improve the wall speed of climbing; (5) connect and compose crawler belt sucker by the axle of each absorption joints, be convenient to realize the restructural of crawler belt.
Brief description of the drawings
For content of the present invention is more likely to be clearly understood, below the specific embodiment by reference to the accompanying drawings of basis, the present invention is further detailed explanation, wherein
The structural representation of Fig. 1 absorption joints of the present invention;
A kind of mode of the distributed architecture schematic diagram of Fig. 2 absorption joints of the present invention;
The second way of the distributed architecture schematic diagram of Fig. 3 absorption joints of the present invention;
Fig. 4 is the structural representation that ELECTROMAGNETIC VACUUM sucker of the present invention obtains a kind of embodiment when electric;
Fig. 5 is the structural representation that ELECTROMAGNETIC VACUUM sucker of the present invention obtains the another kind of embodiment when electric.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
Embodiment 1
As Fig. 1-3, a kind of crawler belt Suction cup assembly that is applicable to Climbing Robot, the crawler belt 2 being formed by the identical absorption joints of several structures, described each absorption joints comprises the ELECTROMAGNETIC VACUUM sucker 1 of at least one closed type, described ELECTROMAGNETIC VACUUM sucker 1 is by the control of sucker control circuit; Described ELECTROMAGNETIC VACUUM sucker 1, its be suitable for when electric in state upon adsorption, when dead electricity in adsorbed state; Described sucker control circuit, it is suitable in the time that described crawler belt 2 rolls, and controls in vacant state and each ELECTROMAGNETIC VACUUM sucker 1 dead electricity contact with curtain wall, controls the ELECTROMAGNETIC VACUUM sucker 1 that is about to contact or is about to leave described curtain wall simultaneously and obtains electric.
The U-shaped support adapter shaft that is installed on described absorption joints rear side is connected with the support mounting hole of the described absorption joints of a rear joint, to form the crawler belt 2 of described Climbing Robot.
Described absorption joints also can be put into 1 above described ELECTROMAGNETIC VACUUM sucker 1.
Described absorption joints can be for being laterally uniformly distributed, or matrix is uniformly distributed to form crawler belt.
Described ELECTROMAGNETIC VACUUM is inhaled 1 and is comprised: cylindrical shell 1-1, be located at piston 1-2 in described cylindrical shell 1-1, be located at being suitable in described cylindrical shell 1-1 make described piston 1-2 stretch action magnet coil 1-3, be located at described cylindrical shell 1-1 bottom and the rubber suction cups 1-6 that is connected with the bottom of described piston 1-2, be located at being suitable in described cylindrical shell 1-1 and make described piston 1-2 make the elastic mechanism 1-5 that contracts and move.
The embodiment of the ELECTROMAGNETIC VACUUM sucker 1 of described closed type can have following three kinds:
As shown in Figure 4, the first embodiment of described ELECTROMAGNETIC VACUUM sucker 1, described magnet coil 1-3 is located in described cylindrical shell 1-1, and the upper and lower of this magnet coil 1-3 is respectively equipped with first, second cavity; The middle and upper part of described piston 2 is through the center through hole of described magnet coil 1-3, and piston 1-2 top is fixed with the first positioning plate 2-1 in described the first cavity, and piston 1-2 central portion is fixed with the second positioning plate 2-2 in described the second cavity; Between the below of this second positioning plate 2-2 and described rubber suction cups 1-6, form the 3rd cavity, the inwall of the 3rd cavity is provided with circular table, between described the second positioning plate 2-2 and circular table, be provided with the spring that forms described elastic mechanism 1-5, the middle and lower part of described piston 1-2 is through the center through hole of described spring.
The mode of operation of the ELECTROMAGNETIC VACUUM sucker 1 of the normally closed property of described the first: when dead electricity, spring 1-5 forces described the second positioning plate 2-2 to do contracting action, described the second positioning plate 2-2 drives described rubber suction cups 1-6 to do contracting action, and described rubber suction cups 1-6 produces on negative-pressure adsorption and curtain wall wall; When electric, described magnet coil 1-3 produces magnetic field suction the first positioning plate 2-1 and does and stretch action, described the first positioning plate 2-1 drives described rubber suction cups 1-6 to do to stretch action, therefore described rubber suction cups 1-6 discharges negative pressure.
As shown in Figure 5, the second implementation method of described ELECTROMAGNETIC VACUUM sucker, described magnet coil 3 is located in described cylindrical shell 1-1, and the upper and lower of this magnet coil 1-3 is respectively equipped with first, second cavity; Described elastic mechanism 1-5 is the spring in described the first cavity, and the middle and upper part of described piston 1-2 is through the center through hole of described spring, piston 1-2 top is fixed with the first positioning plate 2-1 in described the first cavity, and piston 1-2 central portion is fixed with the second positioning plate 2-2 in described the first cavity and in described spring bottom; The inwall of this first cavity is provided with circular table, and described spring is located between described the first positioning plate 2-1 and circular table; The middle and lower part of described piston 1-2 is through the center through hole of described magnet coil 1-3.
Described the first positioning plate 2-1, the second positioning plate 2-2 are also referred to as the first head, the second head of piston 1-2.Described the first positioning plate 2-1 is the material that is suitable for attraction, for example, iron, nickel.If adjust the pole orientation of magnet coil 1-3 simultaneously, described the first positioning plate 2-1 can be also the magnetic rubber of respective poles, and the elastic force of elastomeric material is greater than the magnetic of described the first positioning plate 2-1 material itself.
The third embodiment, on the basis of first and second kind of embodiment of the above ELECTROMAGNETIC VACUUM sucker 1, the material of piston 1-2 is improved, middle and upper part or the middle and lower part of passing the described piston 1-2 of the center through hole of described magnet coil 3 are ferrous material, or can be also the polarity magnetic rubbers corresponding with magnet coil 1-3.
On the basis of three kinds of embodiments of the above ELECTROMAGNETIC VACUUM sucker, the opening of described cylindrical shell 1-1 is exit skirt, and the size of described rubber suction cups 1-6 is corresponding with exit skirt, to increase the adsorption affinity of sucker.
Described in other, described in the method for work of the embodiment of ELECTROMAGNETIC VACUUM sucker 1 and the first, the method for work of ELECTROMAGNETIC VACUUM sucker 1 is same or similar.
Described sucker control circuit comprises: the front bottom end of being located at described climbing robot is about to the first sensor of the described curtain wall of contact, the bottom, rear end of being located at described climbing robot and is about to leave to detect described ELECTROMAGNETIC VACUUM sucker the second sensor of described curtain wall to detect described ELECTROMAGNETIC VACUUM sucker 1; And the control module being connected with described first sensor, the second sensor.
Described first, second sensor can adopt infradred sensor; Or draw the current state of described ELECTROMAGNETIC VACUUM sucker 1 according to the rotational angle that detects the roller that drives crawler belt.
Embodiment 2
See Fig. 1-5, in the method for creeping of the above climbing robot of the basis of embodiment 1, comprising:
1., when initial, the magnet coil 1-3 of the sucker control circuit control ELECTROMAGNETIC VACUUM sucker 1 of described climbing robot is in power failure state;
2. in the time being located at the first sensor of front bottom end of described climbing robot and detecting that an ELECTROMAGNETIC VACUUM sucker 1 on described crawler belt 2 approaches curtain wall face, the magnet coil 1-3 of this ELECTROMAGNETIC VACUUM sucker 1 of described sucker control circuit control obtains electric, be that described magnet coil 1-3 attracts described piston 1-2 and drives rubber suction cups 1-6 in state upon adsorption, described ELECTROMAGNETIC VACUUM sucker 1 is in state upon adsorption; After described first sensor detects that this ELECTROMAGNETIC VACUUM sucker 1 is affixed on curtain wall completely, the magnet coil 1-3 dead electricity of this ELECTROMAGNETIC VACUUM sucker 1 of described sucker control circuit control, the elastic mechanism 1-5 in this ELECTROMAGNETIC VACUUM sucker 1 makes piston 1-2 drive rubber suction cups 1-6 to be adsorbed on curtain wall, and described ELECTROMAGNETIC VACUUM sucker 1 is in adsorbed state;
3. 2. repeating step, is adsorbed on curtain wall the driving surface entirety of described crawler belt 2;
4. in the time that crawler belt 2 rolls, the control of described sucker control circuit obtains electric by the ELECTROMAGNETIC VACUUM sucker 1 of the described curtain wall of contact, make corresponding ELECTROMAGNETIC VACUUM sucker 1 contact respectively curtain wall, and then control corresponding ELECTROMAGNETIC VACUUM sucker 1 dead electricity; And in the time being located at second sensor of rear end bottom of described climbing robot and detecting that an ELECTROMAGNETIC VACUUM sucker 1 on described crawler belt 2 is about to leave curtain wall face, the magnet coil 1-3 of this ELECTROMAGNETIC VACUUM sucker 1 of described sucker control circuit control obtains electric, make corresponding ELECTROMAGNETIC VACUUM sucker 1 leave fast curtain wall, and then by corresponding ELECTROMAGNETIC VACUUM sucker 1 dead electricity of described sucker control circuit control.
Obviously, above-described embodiment is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also giving exhaustive to all embodiments.And these belong to apparent variation that spirit of the present invention extended out or variation still among protection scope of the present invention.
Claims (5)
1. one kind is applicable to the crawler belt Suction cup assembly of Climbing Robot, it is characterized in that: the crawler belt being formed by the identical absorption joints of several structures, described each absorption joints comprises the ELECTROMAGNETIC VACUUM sucker of at least one closed type, and described ELECTROMAGNETIC VACUUM sucker is by the control of sucker control circuit;
Described ELECTROMAGNETIC VACUUM sucker be suitable for when electric in state upon adsorption, when dead electricity in adsorbed state;
Described sucker control circuit is suitable for, in the time that described crawler belt rolls, controlling in vacant state and each ELECTROMAGNETIC VACUUM sucker dead electricity contact with curtain wall, controls the ELECTROMAGNETIC VACUUM sucker that is about to contact or is about to leave described curtain wall simultaneously and obtains electric;
Described ELECTROMAGNETIC VACUUM sucker comprises: cylindrical shell, be located at piston in described cylindrical shell, be located at being suitable in described cylindrical shell and make described piston stretch the magnet coil of action, be located at described cylindrical shell bottom and the rubber suction cups that is connected with the bottom of described piston, be located at being suitable in described cylindrical shell and make described piston make the elastic mechanism that contracting is moved.
2. crawler belt Suction cup assembly according to claim 1, is characterized in that, described magnet coil is located in described cylindrical shell, and the upper and lower of this magnet coil is respectively equipped with first, second cavity;
The middle and upper part of described piston is through the center through hole of described magnet coil, and piston head is fixed with the first positioning plate in described the first cavity, and piston central portion is fixed with the second positioning plate in described the second cavity;
Between the below of this second positioning plate and described rubber suction cups, form the 3rd cavity, the inwall of the 3rd cavity is provided with circular table, between described the second positioning plate and circular table, be provided with the spring that forms described elastic mechanism, the middle and lower part of described piston is through the center through hole of described spring.
3. crawler belt Suction cup assembly according to claim 1, is characterized in that, described magnet coil is located in described cylindrical shell, and the upper and lower of this magnet coil is respectively equipped with first, second cavity;
Described elastic mechanism is the spring in described the first cavity, and the middle and upper part of described piston is through the center through hole of described spring, piston head is fixed with the first positioning plate in described the first cavity, and piston central portion is fixed with the second positioning plate in described the first cavity and in described spring bottom;
The inwall of this first cavity is provided with circular table, and described spring is located between described the first positioning plate and circular table;
The middle and lower part of described piston is through the center through hole of described magnet coil.
4. crawler belt Suction cup assembly according to claim 1, it is characterized in that, described sucker control circuit comprises: the front bottom end of being located at described climbing robot is about to the first sensor of the described curtain wall of contact, the bottom, rear end of being located at described climbing robot and is about to leave to detect described ELECTROMAGNETIC VACUUM sucker the second sensor of described curtain wall to detect described ELECTROMAGNETIC VACUUM sucker, and the control module being connected with described first, second sensor.
5. application rights requires the method for creeping of the climbing robot of crawler belt Suction cup assembly described in 1, comprising:
1., when initial, the magnet coil of the sucker control circuit control ELECTROMAGNETIC VACUUM sucker of described climbing robot is in power failure state;
2. in the time being located at the first sensor of front bottom end of described climbing robot and detecting that an ELECTROMAGNETIC VACUUM sucker on described crawler belt approaches curtain wall face, the magnet coil of this ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control obtains electric, be that described magnet coil attracts described piston and drives rubber suction cups in state upon adsorption, described ELECTROMAGNETIC VACUUM sucker is in state upon adsorption; After described first sensor detects that this ELECTROMAGNETIC VACUUM sucker is affixed on curtain wall completely, the magnet coil dead electricity of this ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control, the elastic mechanism in this ELECTROMAGNETIC VACUUM sucker is adsorbed on curtain wall piston driving rubber suction cups, and described ELECTROMAGNETIC VACUUM sucker is in adsorbed state;
3. 2. repeating step, is adsorbed on curtain wall the driving surface entirety of described crawler belt;
4. in the time that crawler belt rolls, the control of described sucker control circuit obtains electric by the ELECTROMAGNETIC VACUUM sucker of the described curtain wall of contact, make corresponding ELECTROMAGNETIC VACUUM sucker contact respectively curtain wall, and then control corresponding ELECTROMAGNETIC VACUUM sucker dead electricity; And in the time being located at second sensor of rear end bottom of described climbing robot and detecting that an ELECTROMAGNETIC VACUUM sucker on described crawler belt is about to leave curtain wall face, the magnet coil of this ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control obtains electric, make corresponding ELECTROMAGNETIC VACUUM sucker leave curtain wall, and then by the corresponding ELECTROMAGNETIC VACUUM sucker of described sucker control circuit control dead electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210299724.1A CN102774440B (en) | 2012-08-21 | 2012-08-21 | Track chuck component applicable to climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210299724.1A CN102774440B (en) | 2012-08-21 | 2012-08-21 | Track chuck component applicable to climbing robot |
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| Publication Number | Publication Date |
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| CN102774440A CN102774440A (en) | 2012-11-14 |
| CN102774440B true CN102774440B (en) | 2014-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210299724.1A Expired - Fee Related CN102774440B (en) | 2012-08-21 | 2012-08-21 | Track chuck component applicable to climbing robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK2781438T3 (en) | 2013-03-22 | 2016-06-13 | Force Tech | Vacuum-vægkravleindretning |
| CN104058018A (en) * | 2014-05-28 | 2014-09-24 | 苏州工业园区职业技术学院 | Control system for wall-climbing robot |
| CN107662214B (en) * | 2016-07-28 | 2022-11-01 | 天津创来智能光伏科技有限公司 | Vacuum adsorption track unit, vacuum adsorption track and track adsorption robot |
| CN109015079A (en) * | 2018-09-28 | 2018-12-18 | 贵州泽宇盛世机械有限公司 | A kind of special tooling for housing cover |
| CN109625113B (en) * | 2019-01-14 | 2023-04-18 | 中国长江电力股份有限公司 | Multi-cavity sealing crawler-type wall-climbing robot and using method thereof |
| CN111015717A (en) * | 2019-12-25 | 2020-04-17 | 西安理工大学 | Controllable electrostatic adsorption structure for foot of soft robot |
| KR102337268B1 (en) * | 2020-09-23 | 2021-12-08 | (주)삼성텍 | Press process automation system of metal plate using auto-robot |
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| CN2230625Y (en) * | 1995-04-26 | 1996-07-10 | 刘俊生 | Electromagnetic attaching self-moving spray coating machine |
| CN2272786Y (en) * | 1996-03-07 | 1998-01-21 | 项中岱 | Automatic cleaning device for high-rise building wall surface |
| DE19727421A1 (en) * | 1997-06-27 | 1999-01-07 | Fraunhofer Ges Forschung | Climbing robot |
| CN101537620A (en) * | 2009-04-20 | 2009-09-23 | 北京航空航天大学 | Modular reconfigurable crawler-type wall climbing robot |
| CN201405948Y (en) * | 2009-02-16 | 2010-02-17 | 西北工业大学 | Motion adsorption device |
| CN202201082U (en) * | 2011-08-15 | 2012-04-25 | 福建工程学院 | Crawler-type wall-climbing adsorption structure |
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|---|---|---|---|---|
| CN2230625Y (en) * | 1995-04-26 | 1996-07-10 | 刘俊生 | Electromagnetic attaching self-moving spray coating machine |
| CN2272786Y (en) * | 1996-03-07 | 1998-01-21 | 项中岱 | Automatic cleaning device for high-rise building wall surface |
| DE19727421A1 (en) * | 1997-06-27 | 1999-01-07 | Fraunhofer Ges Forschung | Climbing robot |
| CN201405948Y (en) * | 2009-02-16 | 2010-02-17 | 西北工业大学 | Motion adsorption device |
| CN101537620A (en) * | 2009-04-20 | 2009-09-23 | 北京航空航天大学 | Modular reconfigurable crawler-type wall climbing robot |
| CN202201082U (en) * | 2011-08-15 | 2012-04-25 | 福建工程学院 | Crawler-type wall-climbing adsorption structure |
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| CN102774440A (en) | 2012-11-14 |
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