CN105945894A - Track type wall climbing robot capable of randomly steering - Google Patents
Track type wall climbing robot capable of randomly steering Download PDFInfo
- Publication number
- CN105945894A CN105945894A CN201610350079.XA CN201610350079A CN105945894A CN 105945894 A CN105945894 A CN 105945894A CN 201610350079 A CN201610350079 A CN 201610350079A CN 105945894 A CN105945894 A CN 105945894A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- climbing robot
- type wall
- crawler
- magnetic
- Prior art date
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- 230000009194 climbing Effects 0.000 title claims abstract description 22
- 230000008878 coupling Effects 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 239000000725 suspension Substances 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000005347 demagnetization Effects 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 abstract 4
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 4
- 239000003973 paint Substances 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a track type wall climbing robot capable of randomly steering. The track type wall climbing robot capable of randomly steering comprises a frame; four steering motors are arranged at the bottom of the frame; an output end of each steering motor is tightly connected with a telescopic cylinder; an output end of each telescopic cylinder is tightly connected with a track component; the track components include rubber tracks and multiple magnetic absorbing units tightly connected with the tracks; the magnetic absorbing units include cylindrical permanent magnets, left yokes, right yokes, upper separation magnetic blocks, lower separation magnetic blocks and steering engines; the cylindrical permanent magnets are rotationally arranged in a hollow cylinder surrounded by the left yokes, the right yokes, the upper separation magnetic blocks and the lower separation magnetic blocks; one end of the hollow cylinder is tightly connected with a back cover plate; output ends of the steering engines are connected with the cylindrical permanent magnets through couplings; the steering engines has two angle states of 0 degree and 90 degrees; when the steering engines are located in the angle state of 0 degree, the magnetic absorbing units are located in a magnetizing state; and when the steering engines are located in the state of 90 degrees, the magnetic absorbing units are located in a demagnetizing state.
Description
Technical field
The present invention relates to a kind of optionally rotated crawler-type wall climbing robot, belong to specialized robot technical field.
Background technology
In industries such as nuclear energy, boats and ships, chemical industry, wind-powered electricity generations, it is widely present magnetic conductor metal outer wall.These walls are through long-term
Expose to the weather, saline and alkaline erosion, dust adhere to, gravel friction, and it is existing that or even surface there will be dirt, depainting, corrosion etc.
As.These problems not only affect attractive in appearance, and may jeopardize the safe operation of wall body, it is impossible to meet safely, clearly
Clean industrial management requirement.At present, the work such as the cleaning of above-mentioned wall, rust cleaning, touch-up paint and maintenance mostly uses manually
, there is the problems such as high-risk, poor efficiency, high cost in operating type.Climbing robot be one in specialized robot important
Classification, can be widely applied to the O&M in said circumstances and service work, replaces manual work, improve work efficiency,
Reduce operating cost.Absorption and walking are two big basic functions of climbing robot, suction widely used in current industry
Subsidiary formula formula has magnetic-adsorption and negative-pressure adsorption, conventional walking manner to comprise crawler type, wheeled and sufficient formula.Above-mentioned absorption
Mode and the various combination of walking manner, can form multiple climbing robot design.In view of operating mode is special, should
Climbing robot under aforementioned circumstances, need possess flexibly turn to and appropriateness obstacle climbing ability, the most also needed bigger
Load capacity.And existing most of climbing robot is not the most well positioned to meet duty requirements.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of possess the ability of flexibly turning to and appropriateness obstacle climbing ability can
The crawler-type wall climbing robot arbitrarily turned to.
For achieving the above object, the present invention is by the following technical solutions: a kind of optionally rotated crawler-type wall climbing machine
People, it is characterised in that: it includes frame, is provided with four steer motor in the bottom of described frame, each described turns
All it is fastenedly connected with a telescoping cylinder to the outfan of motor, the outfan of described telescoping cylinder and a track assembly fastening
Connect；Described track assembly includes the magnetic absorbing unit that rubber belt track and multiple and described crawler belt are fastenedly connected, described magnetic
Absorbing unit include cylindrical permanent magnet, left yoke, right yoke, on every magnetic piece, under every magnetic piece and steering wheel, described circle
Cylindricality permanent magnet rotating be arranged on by described left yoke, right yoke, on every magnetic piece and under the hollow cylinder that is encircled into every magnetic piece
In, one end of described hollow cylinder is fastenedly connected with back shroud, and the outfan of described steering wheel is by shaft coupling and described cylinder
Shape permanent magnet connects；Described steering wheel has 0 ° and 90 ° of two angle states；Described steering wheel is in 0 ° of angle state
Time, the N pole of described cylindrical permanent magnet is positioned at the direction parallel with wall with S pole；Described steering wheel is in 90 ° of states
Time, the N pole of described cylindrical permanent magnet is positioned at the direction vertical with wall with S pole.
Bluetooth communication, described panel and the control being arranged in described frame it is provided with on the panel of described steering wheel
Device processed is connected by bluetooth.
Described steering wheel is arranged in the protecgulum being fastenedly connected with described hollow cylinder, arranges both positive and negative polarity two on described protecgulum
Power supply contact, described power supply contact is connected with the in-line power circuit of described steering wheel, is provided with power supply in described frame
Track, the described power supply contact on each described steering wheel obtains power supply by described power supply rail.
Described track assembly also includes chain rail and suspension holdfast；Each described magnetic absorbing unit is fastenedly connected at described chain rail
Outside；Described chain rail is propped up jointly by drivewheel, driven pulley and regulating wheel, and described drivewheel and driven pulley are all by passing
Moving axis is connected with described suspension holdfast, and described suspension holdfast is fastenedly connected with support platform, and described support platform is stretched with described
The outfan of contracting cylinder is fastenedly connected；Described drivewheel is connected by first connecting rod with described driven pulley support, described driven
Wheel is connected by second connecting rod with described tension pulley support, between described regulating wheel and described drivewheel by expansion link even
Connect.
On described suspension holdfast, the position near described drivewheel and driven pulley is respectively provided with a NFC sensor, respectively
NFC chip all it is embedded with on the panel of described steering wheel；Described NFC sensor electrically connects with described controller, will enter
Entering the information real-time Transmission of magnetic absorbing unit of self investigative range to described controller, described controller is near actively
The magnetic absorbing unit that detects of NFC sensor of wheel is implemented to magnetize controls, detects the NFC sensor near driven pulley
The magnetic absorbing unit arrived is implemented demagnetization and is controlled.
The front end of described frame is provided with sixdegree-of-freedom simulation.
Photographic head is installed in the front end of described frame.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention uses four track assembly formulas knots
Structure, and each track assembly is connected by a telescoping cylinder and a steer motor with rack shelf so that crawler belt group
Part both can lift unsettled, it is also possible to turns to, so that the ability that present device flexibly turns to.2, the present invention
Controller can control the filling of magnetic absorbing unit, erasing state at any time by Bluetooth signal, therefore can implement with track assembly
First track assembly is carried out before go to action demagnetization, eliminates and turn to difficulty.3, the present invention uses track assembly as walking
Parts, with the different curved surface wall of self adaptation, and can possess good obstacle climbing ability, be greatly improved this equipment in work
The use scene in industry field.4, the present invention configures the flexible mechanical arm of six degree of freedom, it is possible to achieve to the cleaning of wall, remove
Rust, spray paint and multiple actions such as detection.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of frame of the present invention；
Fig. 3 is the schematic diagram of track assembly of the present invention；
Fig. 4 is track assembly planar structure schematic diagram of the present invention；
Fig. 5 is the structural representation of magnetic absorbing unit of the present invention；
Fig. 6 is the generalized section of Section A-A in Fig. 5；
Fig. 7 is the structural representation after magnetic absorbing unit of the present invention omits protecgulum；
Fig. 8 is the schematic diagram that magnetic absorbing unit of the present invention is in the state of magnetizing；
Fig. 9 is the schematic diagram that magnetic absorbing unit of the present invention is in erasing state.
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present invention includes that frame 10, frame 10 are rectangle frame structure, at four angles of frame 10
It is respectively provided with a track assembly 20, for realizing present invention absorption in vertical walls and walking.In frame 10
Top mechanical arm 40 is installed, for implementing the cleaning of wall, eliminating rust, spray paint and the action such as detection.
As in figure 2 it is shown, be provided with four steer motor 11 bottom frame 10, the outfan of each steer motor 11
All being fastenedly connected with a telescoping cylinder 12, the outfan of telescoping cylinder 12 and a track assembly 20 are fastenedly connected.
As shown in Figure 3, Figure 4, track assembly 20 includes chain rail 21, rubber belt track 22, magnetic absorbing unit 23 and hangs
Hanging bracket 24.Wherein, magnetic absorbing unit 23 is multiple, and interval is fastenedly connected in the outside of chain rail 21；Rubber belt track
The inner side of 22 is fastenedly connected with each magnetic absorbing unit 23.Chain rail 21 is by the drivewheel 25 of distribution triangular in shape, driven pulley
26 and regulating wheel 27 jointly prop up, drivewheel 25 and driven pulley 26 are all connected with suspension holdfast 24 by power transmission shaft,
It is connected by connecting rod 28 between drivewheel 25 with driven pulley 26, between driven pulley 26 and regulating wheel 27, passes through connecting rod
29 connect, and are connected by expansion link 30 between regulating wheel 27 with drivewheel 25, flexible permissible by expansion link 30
Realize the tensioning to chain rail 21 and relax.It is fastenedly connected with support platform 31 on suspension holdfast 24, supports platform 31 and stretch
The outfan of contracting cylinder 12 is fastenedly connected.
As shown in Fig. 5～7, magnetic absorbing unit 23 include cylindrical permanent magnet 231, left yoke 232, right yoke 233,
On every magnetic piece 234 and under every magnetic piece 235, wherein, cylindrical permanent magnet 231 be rotatably arranged in by left yoke 232,
Right yoke 233, on every magnetic piece 234 and under in the hollow cylinder that magnetic piece 235 is encircled into, the fastening of one end of hollow cylinder is even
Being connected to back shroud 236, the other end of hollow cylinder is provided with protecgulum 237, is provided with steering wheel 238, rudder in protecgulum 237
The outfan of machine 238 is connected with cylindrical permanent magnet 231 by shaft coupling 239.Steering wheel 238 has 0 ° and 90 °
Two angle states, when steering wheel 238 is in 0 ° of angle state, the N pole of cylindrical permanent magnet 231 and position, S pole
In horizontal direction (as shown in Figure 8), the magnetic line of force is from N pole, by left yoke 232, wall 60 and right yoke
Ferrum 233 reaches S pole, forms Guan Bi；Now, magnetic absorbing unit 23 is the state of magnetizing, and magnetic absorbing unit 23 is filling
Wall can be produced suction under magnetic state.When steering wheel 238 is in 90 ° of angle states, cylindrical permanent magnet 231
Vertically (as shown in Figure 9), the magnetic line of force is from N pole, respectively by left yoke 232 He for N pole and S pole
Right yoke 233 arrives S pole, forms two closed-loop paths；Now, magnetic absorbing unit 23 is erasing state, the magnetic line of force
Loop gets around wall, and magnetic absorbing unit 23 does not produce suction to wall 60.
The control signal that two angle states of steering wheel 238 are sent by panel 241 determines, panel 241 is arranged
There is bluetooth communication, make the panel 241 can be by Bluetooth signal with the controller being arranged in frame 10 (in figure
Not shown) transmission signal, controller can need long-range control each magnetic absorbing unit 23 in the state of magnetizing according to actual condition
And switch between erasing state.
In above-described embodiment, on suspension holdfast 24, the position near drivewheel 25 and driven pulley 26 is respectively mounted one
NFC sensor, is embedded with NFC chip on the panel 241 of each steering wheel 238.Rotate at rubber belt track 22
During, when a certain magnetic absorbing unit 23 to drivewheel 25 near enough near time, NFC sensor passes through NFC core
Sheet identifies this magnetic absorbing unit, and identification information is sent to controller, and controller receives after identification information to steering wheel
The panel 241 of 238 assigns control instruction, makes steering wheel 238 switch to the state of magnetizing；When a certain magnetic absorbing unit 23
To driven pulley 25 in time obtaining enough near, NFC sensor identifies this magnetic absorbing unit by NFC chip, and will know
Other information is sent to controller, and controller assigns control instruction to the panel 241 of steering wheel 238 after receiving identification information,
Steering wheel 238 is made to switch to erasing state.Thus enable the invention to advance glibly.
In above-described embodiment, two power supply contacts 240 of both positive and negative polarity can be set on the protecgulum 237 of magnetic absorbing unit 23,
Power supply contact 240 is connected with the in-line power circuit of steering wheel 238, is provided with power supply rail in frame 10 (in figure not
Illustrate), the power supply contact 240 on each steering wheel 238 obtains power supply by power supply rail.
In above-described embodiment, mechanical arm 40 is sixdegree-of-freedom simulation, can install at the end of sixdegree-of-freedom simulation
Different end effectors, thus complete to clean, eliminate rust, spray paint and the work such as detection.
In above-described embodiment, can install photographic head 50 in the front end of frame 10, photographic head 50 is used for capturing the present invention
The working environment information in front also passes ground control terminal back by the way of being wirelessly transferred in real time.
It is characteristic of the invention that the ability arbitrarily turned to, specifically: when the present invention needs to turn to, frame 10 will be in
It is raised up to unsettled (utilizing telescoping cylinder 12) after two track assemblies 20 demagnetization on diagonal, then passes through steer motor
11 drive two unsettled track assemblies 20 to turn to, and after having turned to, these two track assemblies 20 are magnetized and are stretched out
Fit to wall.Afterwards, unsettled by being raised up to after two other track assembly 20 demagnetization, then pass through steer motor
11 drive two unsettled track assemblies 20 to turn to, and after having turned to, these two track assemblies 20 are magnetized and are stretched out
Fit to wall.So far, the entirety completing equipment turns to, and continues to drive four track assemblies 20 to rotate, and equipment is i.e.
Can carry out in the new direction.
The present invention only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all to have
Changed, on the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention and
Equivalents, the most should not get rid of outside protection scope of the present invention.
Claims (7)
1. an optionally rotated crawler-type wall climbing robot, it is characterised in that: it includes frame, in described frame
Bottom be provided with four steer motor, the outfan of each described steer motor is all fastenedly connected with a telescoping cylinder,
The outfan of described telescoping cylinder and a track assembly are fastenedly connected；Described track assembly include rubber belt track and multiple with
The magnetic absorbing unit that described crawler belt is fastenedly connected, described magnetic absorbing unit includes cylindrical permanent magnet, left yoke, right yoke
Ferrum, on every magnetic piece, under every magnetic piece and steering wheel, described cylindrical permanent magnet rotates and is arranged on by described left yoke, right yoke
Ferrum, on every magnetic piece and under in the hollow cylinder that magnetic piece is encircled into, one end of described hollow cylinder is fastenedly connected with back shroud,
The outfan of described steering wheel is connected with described cylindrical permanent magnet by shaft coupling；Described steering wheel has 0 ° and 90 ° two
Individual angle state；When described steering wheel is in 0 ° of angle state, the N pole of described cylindrical permanent magnet and S pole be positioned at
The direction that wall is parallel；When described steering wheel is in 90 ° of states, the N pole of described cylindrical permanent magnet and S pole be positioned at
The direction that wall is vertical.
A kind of optionally rotated crawler-type wall climbing robot the most as claimed in claim 1, it is characterised in that: described
Being provided with bluetooth communication on the panel of steering wheel, described panel passes through with the controller being arranged in described frame
Bluetooth connects.
A kind of optionally rotated crawler-type wall climbing robot the most as claimed in claim 1, it is characterised in that: described
Steering wheel is arranged in the protecgulum being fastenedly connected with described hollow cylinder, arranges two power supply contacts of both positive and negative polarity on described protecgulum,
Described power supply contact is connected with the in-line power circuit of described steering wheel, is provided with power supply rail, each institute in described frame
The described power supply contact stated on steering wheel obtains power supply by described power supply rail.
A kind of optionally rotated crawler-type wall climbing robot the most as claimed in claim 2, it is characterised in that: described
Track assembly also includes chain rail and suspension holdfast；Each described magnetic absorbing unit is fastenedly connected the outside at described chain rail；Institute
Stating chain rail jointly to be propped up by drivewheel, driven pulley and regulating wheel, described drivewheel and driven pulley are all by power transmission shaft and institute
Stating suspension holdfast to connect, described suspension holdfast is fastenedly connected with support platform, described support platform is defeated with described telescoping cylinder
Go out end to be fastenedly connected；Described drivewheel is connected by first connecting rod with described driven pulley support, and described driven pulley is with described
Tension pulley support is connected by second connecting rod, is connected by expansion link between described regulating wheel with described drivewheel.
A kind of optionally rotated crawler-type wall climbing robot the most as claimed in claim 4, it is characterised in that: in institute
State the position of close described drivewheel and driven pulley on suspension holdfast and be respectively provided with a NFC sensor, at each described steering wheel
Panel on be all embedded with NFC chip；Described NFC sensor electrically connects with described controller, will enter self and visit
The information real-time Transmission of the magnetic absorbing unit of survey scope gives described controller, and described controller is to the NFC near drivewheel
Magnetic absorbing unit that sensor detects is implemented to magnetize controls, the magnetic detecting the NFC sensor of close driven pulley
Coupon unit implements demagnetization and controls.
A kind of optionally rotated crawler-type wall climbing robot the most as claimed in claim 1, it is characterised in that: in institute
The front end stating frame is provided with sixdegree-of-freedom simulation.
A kind of optionally rotated crawler-type wall climbing robot the most as claimed in claim 1, it is characterised in that: in institute
Photographic head is installed in the front end stating frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350079.XA CN105945894B (en) | 2016-05-24 | 2016-05-24 | Crawler-type wall climbing robot capable of steering randomly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350079.XA CN105945894B (en) | 2016-05-24 | 2016-05-24 | Crawler-type wall climbing robot capable of steering randomly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945894A true CN105945894A (en) | 2016-09-21 |
| CN105945894B CN105945894B (en) | 2020-07-31 |
Family
ID=56909572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610350079.XA Active CN105945894B (en) | 2016-05-24 | 2016-05-24 | Crawler-type wall climbing robot capable of steering randomly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945894B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628875A (en) * | 2016-11-15 | 2017-05-10 | 合肥星服信息科技有限责任公司 | Automatic steering transportation device for industrial robot |
| CN107061195A (en) * | 2017-04-26 | 2017-08-18 | 长春财经学院 | Climbing robot and tower cleaning equipment |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
| CN107867344A (en) * | 2017-08-25 | 2018-04-03 | 中国计量大学 | A kind of permanent magnetic suck climbing robot of achievable right angle wall transition |
| CN108436948A (en) * | 2018-06-27 | 2018-08-24 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of service robot |
| CN113276975A (en) * | 2021-05-08 | 2021-08-20 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
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| CN101209676A (en) * | 2006-12-31 | 2008-07-02 | 河南农业大学 | Magnetic suspension track-mounted linear electric motor electric power driving vehicle |
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| CN205685320U (en) * | 2016-05-24 | 2016-11-16 | 邵萌 | A kind of optionally rotated crawler-type wall climbing robot |
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| JPH09136676A (en) * | 1995-11-16 | 1997-05-27 | Toyota Autom Loom Works Ltd | Crawler and crawler vehicle |
| JPH11263250A (en) * | 1998-03-16 | 1999-09-28 | Bridgestone Corp | Crawler |
| JP2001180542A (en) * | 1999-12-20 | 2001-07-03 | Yanmar Agricult Equip Co Ltd | Traveling part structure for agricultural working machine |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628875A (en) * | 2016-11-15 | 2017-05-10 | 合肥星服信息科技有限责任公司 | Automatic steering transportation device for industrial robot |
| CN106628875B (en) * | 2016-11-15 | 2020-10-30 | 合肥迈斯软件科技有限公司 | Industrial robot turns to conveyer with automation |
| CN107061195A (en) * | 2017-04-26 | 2017-08-18 | 长春财经学院 | Climbing robot and tower cleaning equipment |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
| CN107867344A (en) * | 2017-08-25 | 2018-04-03 | 中国计量大学 | A kind of permanent magnetic suck climbing robot of achievable right angle wall transition |
| CN108436948A (en) * | 2018-06-27 | 2018-08-24 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of service robot |
| CN113276975A (en) * | 2021-05-08 | 2021-08-20 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113276975B (en) * | 2021-05-08 | 2022-07-12 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105945894B (en) | 2020-07-31 |
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