CN103056882A - Inchworm gait imitation climbing robot - Google Patents
Inchworm gait imitation climbing robot Download PDFInfo
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- CN103056882A CN103056882A CN2013100128157A CN201310012815A CN103056882A CN 103056882 A CN103056882 A CN 103056882A CN 2013100128157 A CN2013100128157 A CN 2013100128157A CN 201310012815 A CN201310012815 A CN 201310012815A CN 103056882 A CN103056882 A CN 103056882A
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Abstract
The invention provides an inchworm gait imitation climbing robot which mainly comprises a bowing portion, a turning portion, a front claw and a rear claw. The bowing portion and the turning portion are fixedly connected with each other by two connecting plates with identical structures. The front claw is fixedly connected with two side frames of a first section of the bowing portion by a claw fixing plate and a connecting frame. The rear claw is fixedly connected with two side frames of a third section of the bowing portion by two identical claw fixing plates and a connecting frame. The robot climbs mainly by the aid of coordinated movement of the bowing portion, the turning portion, the front claw and the rear claw. The robot is simple in structure and convenient to operate, can act flexibly, not only can linearly move along a rod, but also can cross sway rods, further can climb on trees owing to a special structural design of a manipulator, and accordingly is applicable to a wide range and broad fields.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of climbing robot.
Background technology
Along with the development of Robotics, the fields such as China's agricultural, forestry and building industry will become the wide world of robot application.The characteristics such as high-altitude dangerous operation, environment is abominable, workload is large are the problems that the worker in these fields will face always.Therefore, people need urgently to wish robot to help people from dangerous, abominable working environment, free in the hard work.Therefore, the exploitation climbing robot replaces manually removing to be engaged in these high-altitude dangerous operations with significant.
At present, the mechanism that some that propose both at home and abroad depend on body of rod surface automatic creeping mainly by pneumatic, surge and electric transmission provides power.。The Pneumatic pole-climbing robot of professor Chen Junlong of Zhejiang University design, and be that disclosed in 200420041989.2 the patent document " climbing level robot grasp device outside the pipe " all belongs to pneumatic crawling formula climbing level robot at number of patent application, alternately clamp and move with the air cylinder driven winding machine, the process of cylinder action one-period was that lower cylinder clamps when it was upwards creeped, upper cylinder is unclamped, the lifting cylinder piston rod stretches out, and rises on the top; Upper cylinder clamps, and lower cylinder is unclamped, and the lifting cylinder body rises, and rises on the bottom.So repeatedly, robot just can creep continuously.In view of it rises and descending motion realizes controlling by air pressure, need source of the gas and atmospheric control, complex structure, equipment cost is higher.In addition, also requiring robot to climb to far distance must have sufficiently long pipe to support, has limited like this scope of activities of robot.
A kind of stepped pipe, the line climbing mechanism of Beijing Institute of Technology's research and development.This mechanism is connected with arthrodia by cradle head by two pawls, arm assembly and organizations, can keep away more flange obstacle.The side direction slide rail is arranged between body, in crawling process, can correct the pole-climbing attitude by the side direction slide rail between two bodies, but the attitude rectify effect of its side direction slide rail is passive, does not have initiative, can not realize veritably flexible motion.Record in addition little just, number of patent application for provide in 200910031199.3 the patent document a kind of can do rectilinear motion and rotatablely move, the wider pole-climbing robot with multiple postures of the scope of application and field.But this robot adopts wheeled climbing mode, although control is convenient, translational speed is fast, and obstacle climbing ability is poor, easily skids.
Summary of the invention
The object of the present invention is to provide a kind of more coarse trees of shaft-like building and surface that can climb the certain diameter scope, motion is flexible, steady, control is convenient, and simple in structure, easy to operate, the readily removable imitative looper gait formula climbing robot that easily changes.
The object of the present invention is achieved like this:
Mainly comprise personally bent portions, turn fractions, front claw portion and rear claw portion;
The described bent portions of bending forward comprises three joints, each joint mainly comprises frame, bends forward bent motor, rotating shaft, transmission mechanism and link, bending forward bent motor is fixed on the frame, the two ends of rotating shaft are installed on the frame by bearing and stretch out frame, bend forward bent motor and rotating shaft by the transmission mechanism transmission, the two ends of link and rotating shaft are connected; The link of first segment and second section is connected with turn fractions respectively, and the frame of the link of second section and the 3rd joint is connected;
Described turn fractions mainly comprises turning motor, the first ring flange, turning cylinder and the rotating turret that is fixed on the motor cabinet, the first ring flange is connected with the turning motor, one end and first ring flange of rotating turret fixed, the other end is enclosed within on the turning cylinder, and turning cylinder is fixed on the motor cabinet;
Described front claw portion mainly comprises fore paw drive motors, the second ring flange, second connecting rod, front manipulator, the fore paw drive motors is fixed on first segment by link and bends forward on the frame of bent portions, the second ring flange is connected with the fore paw drive motors, and, the other end hinged with an end the second ring flange of second connecting rod are connected front manipulator;
After mainly comprising, described rear claw portion grabs drive motors, three-flange dish, first connecting rod, driving shaft, two identical rear manipulators, the rear solid end drive motors is fixed on the 3rd joint by link and bends forward on the frame of bent portions, the three-flange dish with after grab drive motors and be connected, one end of first connecting rod is hinged with the three-flange dish, the other end is connected driving shaft, and manipulator is installed on the described driving shaft after two.
The present invention can also comprise:
1, identical eight identical manipulator connecting rods of structure identical four fingers, structure, a push rod, a gathering sill and bearing of mainly comprising of structure of front manipulator and rear manipulator, gathering sill and bearing are positive cross shape, one end of push rod is arranged in gathering sill, the other end is connected with bearing, an end points of the top of each finger and the positive cross of gathering sill is hinged, one end of the centre of each finger and two manipulator connecting rods is hinged, and an end points of the other end of manipulator connecting rod and the positive cross of bearing is hinged.
2, described frame comprise U-shaped with the bogie side frame that is connected on two U-shaped arms of U-shaped, also comprise the L-type support, the L-type support is fixed on U-shaped, bends forward bent motor and is fixed on the L-type support.
3, described transmission mechanism is made of the first straight spur gear, the second straight spur gear and power transmission shaft, one end of power transmission shaft by bearings on a bogie side frame, the other end with bend forward bent motor and be connected, the first straight spur gear is connected on the power transmission shaft, the second straight spur gear is connected in the rotating shaft, and the first straight spur gear is meshed with the second straight spur gear.
4, the turning motor is fixed on the motor cabinet by gland, is provided with rubber between turning motor and the motor cabinet.
Imitative looper gait formula climbing robot of the present invention mainly comprises personally bent portions I, turn fractions II, front claw portion III and rear claw portion IV four parts.The climbing process mainly realizes by this four parts coordinated movement of various economic factors.
Realistic meaning of the present invention and advantage are:
Imitative looper gait formula climbing robot disclosed by the invention, simple in structure, easy to operate, motion is flexibly; Be provided with turning mechanism, make robot along the bar rectilinear motion, can cross over again the brace motion.Based on modular design concept, this robot is readily removable easily to be changed, and diverse in function can be climbed the shaft-like building and the more coarse trees in surface of certain diameter scope.
Description of drawings
Fig. 1 is the general assembly drawing of imitative looper gait formula climbing robot of the present invention.
Fig. 2 bends forward the bent portions structure chart.
Fig. 3 is the turn fractions structure chart.
Fig. 4 is fore paw part-structure figure.
Fig. 5 is the manipulator cutaway view along D-D line among Fig. 1.
Fig. 6 is rear solid end part-structure figure.
The specific embodiment
For example the present invention is done more detailed description below in conjunction with accompanying drawing.
In conjunction with Fig. 1, robot of the present invention mainly forms by bending forward bent portions I, turn fractions II, front claw portion III and rear claw portion IV four parts.The climbing process of robot mainly realizes by this four parts coordinated movement of various economic factors.
In conjunction with Fig. 2, to bend forward bent portions and comprise three joints, mechanism mainly comprises: three bent motors of bending forward that are fixed on the L-type support 9, three U-shaped, three power transmission shafts 5 and 16, three spur gear transmission mechanisms of three rotating shafts.Power transmission shaft 5 one ends by flat key 6 with bend forward that bent motor is connected, an end is circumferentially located by deep groove ball bearing 26.The first spur gear wheel 2 is connected with power transmission shaft 5 by the first flat key 3, the second spur gear wheel 4 is connected with rotating shaft 16 by the second flat key 7, the first spur gear wheel 2, the second spur gear wheel 4 carry out axial location by the first axle sleeve 15, the second axle sleeve 13 with the shaft shoulder respectively, and rotating shaft 16 is circumferentially located by a pair of deep groove ball bearing 11 in bottom.The first spur gear wheel, the second spur gear wheel and power transmission shaft form transmission mechanism, drive rotating shaft 16 by gear drive and rotate.The frame of first segment is made of U-shaped 1, bogie side frame D10 and bogie side frame C27, and the frame of second section is made of U-shaped 22, bogie side frame B14 and bogie side frame A20, and the frame of the 3rd joint is made of U-shaped 1, bogie side frame 17 and bogie side frame 19.Bogie side frame A20, bogie side frame B14 are connected with frame to connect with rotating shaft 16 by key and are connected.Bending forward bent motor for three fixes with bogie side frame 19, bogie side frame 17, bogie side frame 20, bogie side frame 14, bogie side frame 27 and bogie side frame 10 by one first U-shaped 1, two second U-shaped 22 respectively.In the climbing process, coordinate to drive three and bend forward bent motor, first bends forward bent motor 8 band moving frames 12 turns over certain angle a, thereby claw portion has individual angle a before making turn fractions relatively, the 3rd bends forward that bent motor 18 drives bogie side frames 20 and bogie side frame 14 turns over equal angular a, bend forward under the cooperation of bent motor 23 second simultaneously, the Distance Shortened between fore paw and the rear solid end is realized the imitative looper of the robot arc attitude of walking.
Bending forward bent portions I and turn fractions II is connected with two identical connecting plates 24 of structure.Front claw portion III is connected by pawl fixed head 52, link B44 and bogie side frame 27 and bogie side frame 10.Rear claw portion IV is connected by two identical pawl fixed heads 61 and link A58 and bogie side frame 19 and bogie side frame 17.In order to guarantee robot in the climbing process, be unlikely to because robot head weight causes integral body to topple greatly, rear claw portion adopts two manipulators, guarantees robot motion's stationarity.
In conjunction with Fig. 3, turn fractions mechanism mainly comprises: be fixed on turning motor 28, the first ring flanges 36, turning cylinder 32, rotating turret 34 and the second link 35 on the Z-type motor cabinet 38.In order to prevent robot in the climbing process, fixing with Z-type motor cabinet 38 gland 29 with four hexagon socket head cap screws between turning motor 28 and the Z-type motor cabinet 38 because the motor own wt causes the robot motion not steady, motor bottom rubber 30 fixed supports.The first ring flange 36 is connected with turning motor 28 by exempting from key axle bush 37, four equally distributed bolts of the second link 35 usefulness and the first ring flange 36 are fixing, turning cylinder 32 bottoms are fixed on the transverse slat 31, relatively rotate by a pair of taper roll bearing 33 and rotating turret 34 formation, rotating turret 34 and six bolts that are evenly distributed of the second link 35 usefulness are fixed.Drive turning motor 28, drive the second link 35 and rotating turret 34 rotations, realize the robot head turning motion.
In conjunction with Fig. 4, Fig. 5 and Fig. 6, the fore paw part body mainly comprises: fore paw drive motors 43, the second ring flange 41, second connecting rod 39, manipulator A, the second ring flange 41 is connected with fore paw drive motors 43 by exempting from key axle bush 42, and second connecting rod 39 1 ends are hinged by eccentric block 40 and the second ring flange 41, and an end is hinged with push rod A50 by split pin 53.The transmission mechanism of manipulator is slider-crank mechanism, and power source is that fore paw drive motors 43, the second ring flanges 41 are equivalent to crank, and push rod A50 is slide block.Robot manipulator structure and slider-crank mechanism are similar, and the driving link that the control manipulator opens and closes is push rod A50, and driven member is four fingers 46, and each cradle head is hinged by split pin 45.The rear solid end part body mainly comprises: rear solid end drive motors 57, the second ring flanges 56, and first connecting rod 54,64, two same mechanical hands of driving shaft B, the second ring flange 56 is connected with rear solid end drive motors 57 by exempting from the key axle bush.First connecting rod 54 1 ends are hinged by eccentric block 55 and the second ring flange 56, and an end is connected with driving shaft 64 by two bolts, and 64 of first connecting rod 54 and driving shafts relatively rotate.Two manipulator B are fixing by circular hole and the driving shaft 64 of push rod B60 end, and are loosening in order to prevent manipulator, and the drive rod two ends are fixing dead with locking nut 59.Two manipulator B of rear solid end can realize being synchronized with the movement with a power source.Identical four fingers 46, eight manipulator connecting rods 47 that structure is identical, a push rod 50, a gathering sill 51 and the bearings 48 that comprise that mainly structure is identical of the structure of front manipulator and rear manipulator, gathering sill and bearing are positive cross shape, one end of push rod is arranged in gathering sill, the other end is connected with bearing, an end points of the top of each finger and the positive cross of gathering sill is hinged, one end of the centre of each finger and two manipulator connecting rods is hinged, and an end points of the other end of manipulator connecting rod and the positive cross of bearing is hinged.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the climbing process of imitative looper gait formula climbing robot is carried out following explanation: inactive state, fore paw mechanism and the rear solid end mechanism of robot hold bar simultaneously tightly; Uphill process, fore paw is held bar tightly, two manipulator B of rear solid end connect with driving shaft 64, and be fixed on the pawl fixed head 61, rear solid end drive motors 57 drives the second ring flange 56 and rotates, and top eccentric block 55 drives first connecting rod 54, so that driving shaft 64 moves up and down, be synchronized with the movement up and down along gathering sill 62 thereby drive push rod B60,4 fingers 63 that drive two manipulator B rotate around rotating shaft separately, realize unclamping of rear solid end.Meanwhile, the 3rd bends forward bent motor 18 clockwise rotates the first straight spur gear 2 that (seeing towards motor) drive is fixedly connected with motor output end, driving the second straight spur gear 4 rotates, realize that bogie side frame 20 turns over certain angle a, making has an in relative rotation angle a between bogie side frame 20 and the bogie side frame 19.First bends forward bent motor 8 rotates counterclockwise (seeing towards motor), the first straight spur gear 2 that is fixedly connected with motor output end drives the first straight spur gear 4 and rotates, thereby band moving frame 12 turns over certain angle a, and making has one and relatively rotate angle a between bogie side frame 27 and the turning mechanism.Bend forward under the cooperation of bent motor 23 second simultaneously, finish the personally curved shape of the isosceles triangle of imitative Inchworm type, Distance Shortened between fore paw and the rear solid end is realized ascending motion.Rear solid end is held bar tightly, and fore paw drive motors 43 drives the second ring flange 41 and rotates, and top eccentric block 40 drives second connecting rod 39, moves up and down along gathering sill 51 thereby drive push rod A50, so that 4 fingers 46 rotate around rotating shaft separately, realizes unclamping of fore paw.Meanwhile, the 3rd bends forward bent motor 18 rotates counterclockwise the first straight spur gear 2 that (seeing towards motor) drive is fixedly connected with motor output end, thereby driving the second straight spur gear 4 rotates, realize that bogie side frame 20 turns over certain angle b, making has an in relative rotation angle b between bogie side frame 20 and the side frame 19.First bends forward bent motor 8 clockwise rotates (seeing towards motor), the first straight spur gear 2 that is fixedly connected with motor output end drives the second straight spur gear 4 and rotates, thereby band moving frame 12 turns over certain angle a, and angle is 180 ° between bogie side frame 27 and the turning mechanism.Bend forward under the cooperation of bent motor 23 second simultaneously, the angle between bogie side frame 14 and the turning mechanism also is 180 °, bends forward the bent portions full extension and opens, and fore paw lifts.Turning mechanism motor 28 drivings this moment the first ring flange 36 rotates, the second link 35 and rotating turret 34 and the first ring flange 36 are fixed together, turning cylinder 32 1 ends are fixed on the transverse slat 31, relative rear solid end mechanism transfixion, rotating turret 34 is realized relatively rotating by a pair of taper roll bearing 33 with turning cylinder 32, horizontally rotate thereby drive fore paw mechanism, realize the turning motion of robot.The 3rd bends forward bent motor 18 rotates counterclockwise the first straight spur gear 2 that (seeing towards motor) drive is fixedly connected with motor output end, rotates thereby drive the second straight spur gear 4, so that bogie side frame 20 is got back to original state.Fore paw drive motors 43 drives the second ring flange 41 and rotates, and top eccentric block 40 drives second connecting rod 39, moves up and down along gathering sill 51 thereby drive push rod A50, so that 4 fingers 46 rotate around rotating shaft separately, realizes the clamping of fore paw.So far, robot has finished a climbing process, and periodic motion is gone down, and can realize the climbing of the imitative looper gait formula of robot.
Claims (9)
1. an imitative looper gait formula climbing robot mainly comprises personally bent portions, turn fractions, front claw portion and rear claw portion; It is characterized in that:
The described bent portions of bending forward comprises three joints, each joint mainly comprises frame, bends forward bent motor, rotating shaft, transmission mechanism and link, bending forward bent motor is fixed on the frame, the two ends of rotating shaft are installed on the frame by bearing and stretch out frame, bend forward bent motor and rotating shaft by the transmission mechanism transmission, the two ends of link and rotating shaft are connected; The link of first segment and second section is connected with turn fractions respectively, and the frame of the link of second section and the 3rd joint is connected;
Described turn fractions mainly comprises turning motor, the first ring flange, turning cylinder and the rotating turret that is fixed on the motor cabinet, the first ring flange is connected with the turning motor, one end and first ring flange of rotating turret fixed, the other end is enclosed within on the turning cylinder, and turning cylinder is fixed on the motor cabinet;
Described front claw portion mainly comprises fore paw drive motors, the second ring flange, second connecting rod, front manipulator, the fore paw drive motors is fixed on first segment by link and bends forward on the frame of bent portions, the second ring flange is connected with the fore paw drive motors, and, the other end hinged with an end the second ring flange of second connecting rod are connected front manipulator;
After mainly comprising, described rear claw portion grabs drive motors, three-flange dish, first connecting rod, driving shaft, rear manipulator, the rear solid end drive motors is fixed on the 3rd joint by link and bends forward on the frame of bent portions, the three-flange dish with after grab drive motors and be connected, one end of first connecting rod is hinged with the three-flange dish, the other end is connected driving shaft, and rear manipulator is installed on the described driving shaft.
2. imitative looper gait formula climbing robot according to claim 1, it is characterized in that: identical four fingers that comprise that mainly structure is identical of structure of front manipulator and rear manipulator, eight manipulator connecting rods that structure is identical, a push rod, a gathering sill and a bearing, gathering sill and bearing are positive cross shape, one end of push rod is arranged in gathering sill, the other end is connected with bearing, an end points of the top of each finger and the positive cross of gathering sill is hinged, one end of the centre of each finger and two manipulator connecting rods is hinged, and an end points of the other end of manipulator connecting rod and the positive cross of bearing is hinged.
3. imitative looper gait formula climbing robot according to claim 1 and 2, it is characterized in that: described transmission mechanism is made of the first straight spur gear, the second straight spur gear and power transmission shaft, one end of power transmission shaft by bearings on frame, the other end with bend forward bent motor and be connected, the first straight spur gear is connected on the power transmission shaft, the second straight spur gear is connected in the rotating shaft, and the first straight spur gear is meshed with the second straight spur gear.
4. imitative looper gait formula climbing robot according to claim 1 and 2, it is characterized in that: described frame comprise U-shaped with the bogie side frame that is connected on two U-shaped arms of U-shaped, also comprise the L-type support, the L-type support is fixed on U-shaped, bends forward bent motor and is fixed on the L-type support.
5. imitative looper gait formula climbing robot according to claim 3, it is characterized in that: described frame comprise U-shaped with the bogie side frame that is connected on two U-shaped arms of U-shaped, also comprise the L-type support, the L-type support is fixed on U-shaped, bends forward bent motor and is fixed on the L-type support.
6. imitative looper gait formula climbing robot according to claim 1 and 2, it is characterized in that: the turning motor is fixed on the motor cabinet by gland, is provided with rubber between turning motor and the motor cabinet.
7. imitative looper gait formula climbing robot according to claim 3, it is characterized in that: the turning motor is fixed on the motor cabinet by gland, is provided with rubber between turning motor and the motor cabinet.
8. imitative looper gait formula climbing robot according to claim 4, it is characterized in that: the turning motor is fixed on the motor cabinet by gland, is provided with rubber between turning motor and the motor cabinet.
9. imitative looper gait formula climbing robot according to claim 5, it is characterized in that: the turning motor is fixed on the motor cabinet by gland, is provided with rubber between turning motor and the motor cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012815.7A CN103056882B (en) | 2013-01-14 | 2013-01-14 | Inchworm gait imitation climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012815.7A CN103056882B (en) | 2013-01-14 | 2013-01-14 | Inchworm gait imitation climbing robot |
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| CN103056882A true CN103056882A (en) | 2013-04-24 |
| CN103056882B CN103056882B (en) | 2015-05-27 |
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| CN201310012815.7A Expired - Fee Related CN103056882B (en) | 2013-01-14 | 2013-01-14 | Inchworm gait imitation climbing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313077A (en) * | 2016-10-27 | 2017-01-11 | 东北林业大学 | Rod-climbing cleaning robot adaptable to different diameters |
| CN107399379A (en) * | 2017-07-25 | 2017-11-28 | 林总良 | One kind building town road environment protection multifunctional robot |
| CN108945141A (en) * | 2018-07-11 | 2018-12-07 | 西南交通大学 | A kind of compound sufficient end of climbing robot and climbing robot |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN113075743A (en) * | 2021-03-11 | 2021-07-06 | 哈尔滨工业大学 | Climbing robot for star catalogue exploration and using method thereof |
| CN113547529A (en) * | 2021-07-01 | 2021-10-26 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
| CN117578258A (en) * | 2023-10-13 | 2024-02-20 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313077A (en) * | 2016-10-27 | 2017-01-11 | 东北林业大学 | Rod-climbing cleaning robot adaptable to different diameters |
| CN107399379A (en) * | 2017-07-25 | 2017-11-28 | 林总良 | One kind building town road environment protection multifunctional robot |
| CN108945141B (en) * | 2018-07-11 | 2023-08-15 | 西南交通大学 | Climbing robot and compound foot end thereof |
| CN108945141A (en) * | 2018-07-11 | 2018-12-07 | 西南交通大学 | A kind of compound sufficient end of climbing robot and climbing robot |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN113075743A (en) * | 2021-03-11 | 2021-07-06 | 哈尔滨工业大学 | Climbing robot for star catalogue exploration and using method thereof |
| CN113075743B (en) * | 2021-03-11 | 2023-12-22 | 哈尔滨工业大学 | Climbing robot for star watch detection and application method thereof |
| CN113547529A (en) * | 2021-07-01 | 2021-10-26 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN113547529B (en) * | 2021-07-01 | 2022-08-19 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
| CN114655331B (en) * | 2022-04-22 | 2023-02-03 | 湖北工业大学 | Claw holding type inchworm robot |
| CN117578258A (en) * | 2023-10-13 | 2024-02-20 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
| CN117578258B (en) * | 2023-10-13 | 2024-05-28 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
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