CN106240668A - A kind of convex articular type climbing robot - Google Patents
A kind of convex articular type climbing robot Download PDFInfo
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- CN106240668A CN106240668A CN201610829353.1A CN201610829353A CN106240668A CN 106240668 A CN106240668 A CN 106240668A CN 201610829353 A CN201610829353 A CN 201610829353A CN 106240668 A CN106240668 A CN 106240668A
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- ancon
- stepper motor
- climbing robot
- convex articular
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention discloses a kind of convex articular type climbing robot, including frame and control system, described frame is divided into upper spider and lower bearing bracket；Described lower bearing bracket is installed on the central shaft lower end of upper spider by hinge structure and rotary apparatus；Described hinge structure is connected with rotary apparatus；The lower vertical direction of described upper spider connects A system leg structure；The lower vertical direction, end of described lower bearing bracket connects B system leg structure；Control corresponding circuit by control system and control the behavior of robot；The change according to curvature of curved surface in moving process of the robot of the present invention constantly adjusts self attitude and preferably presses close to curved surface and move, and has the highest curved surface adaptive；The present invention uses the move mode of foot, no matter is mobile or obstacle detouring, can preferably complete various task, thus have and be widely applied very much field and scope.
Description
Technical field
The invention belongs to field in intelligent robotics, be specifically related to a kind of convex articular type climbing robot, it is possible to self adaptation
Different curvature curved surface, can substitute for manually carrying out various operation.
Background technology
Climbing robot refers in vertical walls fulfil assignment task, the automatization with adsorption function of motion and sets
Standby, very important effect will be played in intelligentized future.Climbing robot can be applied to as a kind of load platform
A lot of fields, such as, at building field, climbing robot carries paint or water tank replaces manually spraying paint wall or right
Glass is carried out；At petrochemical field, climbing robot is commonly used magnetic suck mode and is moved on canister wall, and carries
Some special equipments carry out damage check or weld canister seam crossing canister surface；At aviation field, fly
The damage influence of machine skin-surface the safety of aircraft flight, and climbing robot is as the carrier of various detection equipment, at aircraft
Surface crawls, and completes Detection task.Visible climbing robot has the widest application prospect.
Existing technology has been disclosed for a few class climbing robot, such as a kind of negative pressure adsorption wall-climbing robot (Shen
Please number: 200910024927.8), this robot move mode uses wheeled construction, and it moves and compares flexibly and fast；Negative pressure occurs
Using twice " L " font labyrinth gap to seal in device between impeller and the pump housing, this is very for adsorption effect in the plane
It will be evident that be not easy to adsorb disabled status, but this robot is difficult to move on curved surface, and this robot band holds
Easily damaged, stability is inadequate；The most such as climbing robot (application number: CN97121896), this climbing robot uses and rotates slurry
Or ducted fan allows the robot to be attached on wall have novelty as power, but the wall mode of climbing of this robot is imitated
Rate is relatively low, is therefore very restricted in following actual application aspect.
In sum, current most of climbing robots mainly move on the wall of flat smooth and turn to,
But directly cannot carry out operation on curved surface.Climb the inefficient of wall in other words, limited for the operation under conditions of curved surface
System.And the leg structure of the climbing robot of prior art is fixing cannot be adjusted, and the angle between leg structure can not
Enough adjustment, more limit the following intelligent operation of climbing robot, and therefore a kind of climbing robot of design can adjust lower limb
The length of portion's structure, and it is adapted to the wall of different curvature, the technology that always those skilled in the art's strategic point is to be solved
A difficult problem.
Summary of the invention
The present invention is achieved in that and the invention discloses a kind of convex articular type climbing robot, including frame and
Control system, described frame is divided into upper spider and lower bearing bracket；Described lower bearing bracket is by hinge structure and rotary apparatus
Being installed on the central shaft lower end of upper spider, described hinge structure is connected with rotary apparatus；Described upper spider lower vertical side
A system leg structure is had to connection；The lower vertical direction, end of described lower bearing bracket connects B system leg structure；Wherein
Upper spider and A system leg structure define the A system of the present invention；Lower bearing bracket and B system leg structure define the B of the present invention
System, described control system is driving of the corresponding motor of the motor-driven running controlling whole convex articular type climbing robot
The high-speed switch valve that galvanic electricity road, the high-speed switch valve controlling the release of corresponding sucker suction and control respective cylinder are flexible.By control
Respective drive circuit in system processed controls dual system switching and the effect of hinge structure of A system and B system, is possible not only to
Control robot being moved forward or rearward on wall, and be capable of this robot by rotary apparatus and carry out in original place
Divertical motion.
Further, described hinge structure includes forearm, the first ancon, the second ancon, upper arm and rotary apparatus；Described
Forearm upper end be connected with upper spider, the stator of the first described ancon is arranged on forearm, under the first ancon upper end and forearm
End connects, and the rotor of the first ancon is arranged on upper arm, and the first ancon lower end is connected with the upper end of upper arm；The second described ancon
Rotor be arranged on the lower end of upper arm, the second ancon is connected with the lower end of upper arm, and stator and rotation are passed through in the lower end of the second ancon
Device connects, and hinge arrangement is similar to the structure of human arm, is equivalent to the link joint structure of elbow joint, by stator and rotor
The state of Spin Control leg structure, control whole wall-climbing device human agent and move forward.
Further, described rotary apparatus includes gear wheel, upper turntable and rotating part motor, described upper turntable
Upper end center axle on the stator of the second ancon is installed, connected by the lower end of stator and the second ancon, the lower end of upper turntable
Connect and have gear wheel；Controlling rotating part motor by corresponding circuit, control rotary apparatus realizes climbing robot can
Rotating in place function.
Further, the number of described A system leg structure is four groups, and described A system leg structure includes that A system is double
Active cylinder, is connected to the A system stepper motor of A system double-acting air cylinder piston part, connects and A system stepper motor
A system sucker.
Further, described A system stepper motor includes the first stepper motor and the 4th stepper motor, described
A system stepper motor is connected with A system double-acting air cylinder piston part by stator, by rotor and A system sucker company
Connect, owing to the control accuracy of motor is high, A system motor can be controlled by corresponding drive circuit, then control A
The kinestate of system leg structure.
Further, the number of described B system leg structure is four groups, and described B system leg structure includes that B system is double
Active cylinder, is connected to the B system stepper motor of B system double-acting air cylinder piston part, connects and B system stepper motor
B system sucker.
Further, described B system stepper motor includes the second stepper motor and the 3rd stepper motor, described
B system stepper motor is connected with B system double-acting air cylinder piston part by stator, by rotor and B system sucker company
Connect, control B system stepper motor by corresponding drive circuit, then control the kinestate of B system leg structure.
Further, described A system sucker and B system sucker are the suckers with organ type air chamber.
The present invention has the beneficial effects that with prior art:
(1) pass through selection is that A, B dual system switches adsorption design scheme, utilizes multivariant leg mechanism to coordinate control
System so that robot can self adaptation curved surface, and can to press close to curvature less by changing the angle between dual system
Curved surface；
(2) by being similar to the structure of human arm, be equivalent to the hinge arrangement of the link joint structure of elbow joint, control ancon fortune
Dynamic and to rotary apparatus step motor control can realize movement and the divertical motion of robot, the Robot Design of the present invention
Can carry more load, and simple in construction is flexible, absorption is stable；
(3) each system is equipped with four leg mechanisms, and they have the flexible of leg structure and pitching behavior, to leg mechanism
Motor and double-acting cylinder be controlled adjusting the attitude of robot so that robot each leg sucker can
Adsorb completely on curved surface.
Accompanying drawing explanation
Fig. 1 is the sectional view of the present invention a kind of convex articular type climbing robot；
Fig. 2 is the top view of the present invention a kind of convex articular type climbing robot；
Fig. 3 is the schematic diagram that the present invention a kind of convex articular type climbing robot curved surface climbs the original state of wall；
Fig. 4 is the present invention a kind of convex articular type climbing robot leg structure view of A system when moving forward；
Fig. 5 is the leg structure state signal that the present invention a kind of convex articular type climbing robot has moved forward rear A system
Figure；
Fig. 6 is that the present invention a kind of convex articular type climbing robot performs to rotate in place the leg structure state of behavior B system and shows
It is intended to；
Fig. 7 is the present invention a kind of convex articular type climbing robot leg structure view of B system when moving forward；
Fig. 8 is the leg structure state signal that the present invention a kind of convex articular type climbing robot has moved forward rear B system
Figure；
Fig. 9 is the leg structure state of the present invention a kind of convex articular type climbing robot A system when reverting to original state
Schematic diagram；
Figure 10 is the present invention a kind of convex articular type climbing robot schematic diagram when reverting to original state.
Wherein, 1-upper spider, 2-A system double-acting cylinder, 3-the first stepper motor, 4-A system sucker, 5-canine tooth
Wheel, the upper turntable of 6-, 7-the first ancon, 8-the second ancon, 9-lower bearing bracket, 10-B system double-acting cylinder, 11-the second motor
Group, 12-B system sucker, 13-upper arm, 14-rotating part motor, 15-forearm, 16-the 3rd stepper motor, 17-the 4th
Stepper motor.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, one convex articular type climbing robot of the present invention, including frame and control system,
Frame is divided into upper spider 1 and lower bearing bracket 9；Lower bearing bracket 9 is installed on the center of upper spider 1 by hinge structure and rotary apparatus
Axle lower end；Hinge structure is connected with rotary apparatus；Hinge structure includes forearm 15, the first ancon 7, the second ancon 8, upper arm 13
And rotary apparatus；Forearm 15 upper end is connected with upper spider 1, and forearm 15 lower end is connected with the upper end of the first ancon 7, the first ancon
The stator of 7 is arranged on forearm 15；The lower end of the first ancon 7 is connected with the upper end of upper arm 13, and the rotor of the first ancon 7 is arranged on
On upper arm 13.The lower end of upper arm 13 is connected with the upper end of the second ancon 8, and the rotor of the second ancon 8 is arranged on the lower end of upper arm 13；
The lower end of the second ancon 8 is connected with rotary apparatus by stator.Rotary apparatus is installed between hinge structure and lower bearing bracket 9, rotation
Rotary device includes gear wheel 5, upper turntable 6 and rotating part motor 14, and the upper end center axle of described upper turntable 6 is installed
Having the stator of the second ancon 8, connected by the lower end of stator and the second ancon 8, the lower end of upper turntable 6 connects gear wheel 5；Logical
Crossing corresponding circuit and control rotating part motor 14, control rotary apparatus realizes climbing robot and can rotate in place merit
Energy.
Upper spider 1 lower vertical direction connects four groups of A system leg structures；Hang down on the downside of the end of described lower bearing bracket 9
Nogata has four groups of B system leg structures to connection；Wherein upper spider 1 and A system leg structure define the A system of the present invention；
Described A system leg structure includes A system double-acting cylinder 2, connects the A system with A system double-acting cylinder 2 piston portion
Stepper motor, A system stepper motor includes the first stepper motor 3 and the 4th stepper motor 17, connects and A system
The A system sucker 4 of stepper motor, described A system stepper motor is by stator and A system double-acting cylinder 2 piston portion
Divide and connect, be connected with A system sucker 4 by rotor, owing to the control accuracy of motor is high, can be by driving electricity accordingly
Road controls A system motor 3；
Lower bearing bracket 9 and B system leg structure define the B system of the present invention, and described B system leg structure includes that B system is double
Active cylinder 10, connects the B system stepper motor with B system double-acting cylinder 10 piston portion, described B system stepping electricity
Unit includes the second stepper motor 11 and the 3rd stepper motor 16, connects the B system sucker with B system stepper motor
12, B system stepper motor is connected with B system double-acting cylinder 10 piston portion by stator, by rotor and B system sucker
12 connect, and control B system stepper motor by corresponding drive circuit, then control the kinestate of B system leg structure.
As it is shown on figure 3, first order behavior 1 refers to allow the A system of convex articular type climbing robot move forward one section
Distance L, Fig. 3 is shown that the original state of convex articular type climbing robot, and all suckers of robot adsorb at song simultaneously
On face, wherein the black in accompanying drawing represents sucker suction state, and white represents sucker release conditions.First pass through corresponding control
System controls high-speed switch valve so that the A system sucker 4 in A system becomes release conditions, then utilizes corresponding drive circuit
The rotor clockwise controlling the first stepper motor 3 in original state rotates, and the rotor of the 4th stepper motor 17 is counterclockwise
Rotate so that A system sucker 4 is readjusted as vertically；Corresponding high-speed switch valve in control system A makes A system
Double-acting cylinder 2 the most upwards shrinks, and becomes the state of leg mechanism as shown in Figure 4, as shown in Figure 4, by accordingly
Drive circuit controls the stator of the first ancon 7 in hinge arrangement and turns clockwise α degree, the rotor rotation β counterclockwise of the second ancon 8
Degree so that the A system of robot moves forward a segment distance.As it is shown in figure 5, the corresponding high-speed switch valve controlled in A system makes
A system double-acting cylinder 2 all stretch downward to certain length, then utilize respective drive circuit control according to the curvature of curved surface
The rotor making the first stepper motor 3 rotates an angle counterclockwise, and the rotor clockwise of the 4th stepper motor 17 rotates one
Individual angle so that A system sucker 4 can be fitted curved surface completely, and this has reformed into the state of Fig. 5；Now, curved surface is completed complete
Orientation revolute robot's A system moves forward a segment distance L and successfully adsorbs the action on curved surface.
Behavior 2 is to allow robot arbitrarily rotate to an angle in original place γ degree, owing to the kinestate of now robot is
All suckers shown in Fig. 5 all adsorb on curved surface, and A system has moved forward a segment distance, so first with accordingly
Drive circuit controls the rotor clockwise of the second stepper motor 11 and rotates, and the rotor of the 3rd stepper motor 16 revolves counterclockwise
Turn so that the sucker 12 of B system and B system double-acting cylinder 10 point-blank, then pass through corresponding high-speed switch valve by B
The piston of system double-acting cylinder 10 shrinks the state of B system in Fig. 6 that reaches backward；In order to allow robot rotate certain angle
Degree, drive circuit to be utilized controls the rotor clockwise rotation alpha degree of the first ancon 7, the stator rotation β counterclockwise of the second ancon 8
Degree so that point-blank, and hinge arrangement is vertical with upper spider 1 for hinge arrangement each several part；Finally utilize drive circuit control
The rotating part motor 14 of rotary apparatus processed rotates γ degree, this completes the action of behavior 2.
Behavior 3 allows system B of convex articular type climbing robot move forward a segment distance L1, and robot is at the shape of Fig. 6
Under state, control the rotor clockwise rotation alpha 1 degree of the first ancon 7 first with corresponding drive circuit, control the second ancon 8
Stator is counterclockwise rotation β 1 degree so that convex articular type climbing robot becomes the state of Fig. 7；Then according to the curvature profit of curved surface
The rotor controlling the second stepper motor 11 with respective drive circuit rotates an angle counterclockwise, the 3rd stepper motor 16
Rotor clockwise rotate an angle, utilize simultaneously corresponding Speed On-off Valve B system double-acting cylinder 10 extend one section away from
Can fit completely curved surface from so that B system sucker 12, this has reformed into the state of Fig. 8；Now, curved surface side entirely is completed
Position revolute robot's B system moves forward a segment distance L1 and successfully adsorbs the action on curved surface.
Behavior 4 allows convex articular type climbing robot be original state from the recovering state of Fig. 8.First with driving accordingly
Galvanic electricity road controls the rotor clockwise of the first stepper motor 3 and rotates, and the rotor of the 4th stepper motor 17 rotates counterclockwise, makes
Obtain A system sucker 4 and A system double-acting cylinder 2 point-blank, then by corresponding high-speed switch valve by A system double cropping
The state of A system in Fig. 9 that reaches is shunk backward with the piston of cylinder 2；Then corresponding drive circuit is utilized to control the first ancon 7
Stator turn clockwise α 1 degree, control the rotor rotation β counterclockwise 1 degree of the second ancon 8 so that convex articular type wall-climbing device
People becomes the state of Fig. 9；Respective drive circuit is utilized to control the rotor of the first stepper motor 3 finally according to the curvature of curved surface inverse
Hour hands rotate an angle, and the rotor clockwise of the 4th stepper motor 17 rotates an angle, simultaneously by corresponding high speed
Switch valve controls A system double-acting cylinder 2 and makes piston stretch downward, the song so that it is guaranteed that A system sucker 4 can be fitted completely
Face, this has reformed into the state of Figure 10；Now complete the operation of behavior 4.
Being exactly more than the entire motion process of convex articular type climbing robot, no matter this robot is to keep straight on or turn
To, after behavior act completes, four suckers can be firmly adsorbed on curved surface, has the highest kinetic stability；This machine
People's change according to curvature of curved surface in moving process constantly adjusts self attitude and preferably presses close to curved surface and move,
This has the highest curved surface adaptive for robot；Owing to this robot uses the move mode of foot, no matter it is to move
Dynamic still obstacle detouring, can preferably complete various task, thus have and be widely applied very much field and scope.
The technical scheme provided the embodiment of the present invention above is described in detail, specific case used herein
Principle and embodiment to the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help to understand this
The principle of inventive embodiments；Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
All will change in formula and range of application, in sum, this specification content should not be construed as limitation of the present invention.
Claims (8)
1. a convex articular type climbing robot, including frame and control system, it is characterised in that described frame is divided into
Upper spider (1) and lower bearing bracket (9)；Described lower bearing bracket (9) is installed on upper spider (1) by hinge structure and rotary apparatus
Central shaft lower end；Described hinge structure is connected with rotary apparatus；The lower vertical direction of described upper spider (1) connects to be had
A system leg structure；The lower vertical direction, end of described lower bearing bracket (9) connects B system leg structure.
Convex articular type climbing robot the most according to claim 1, it is characterised in that before described hinge structure includes
Arm (15), the first ancon (7), the second ancon (8), upper arm (13)；Described forearm (15) upper end is connected with upper spider (1), institute
The stator of the first ancon (7) stated is arranged on forearm (15), and the first ancon (7) upper end is connected with forearm (15) lower end, and first
The rotor of ancon (7) is arranged on upper arm (13), and the first ancon (7) lower end is connected with the upper end of upper arm (13)；Described second
The rotor of ancon (8) is arranged on the lower end of upper arm (13), and the second ancon (8) is connected with the lower end of upper arm (13), the second ancon (8)
Lower end be connected with rotary apparatus by stator.
Convex articular type climbing robot the most according to claim 2, it is characterised in that described rotary apparatus includes greatly
Gear (5), upper turntable (6) and rotating part motor (14), the upper end center axle of described upper turntable (6) is provided with
The stator of two ancons (8), is connected by the lower end of stator and the second ancon (8), and the lower end of upper turntable (6) connects gear wheel
(5).
Convex articular type climbing robot the most according to claim 1, it is characterised in that described A system leg structure
Number be four groups, described A system leg structure includes A system double-acting cylinder (2), connects and A system double-acting cylinder
(2) the A system stepper motor of piston portion, connects A system sucker (4) with A system stepper motor.
Convex articular type climbing robot the most according to claim 4, it is characterised in that described A system motor
Group includes the first stepper motor (3) and the 4th stepper motor (17), described A system stepper motor by stator with
A system double-acting cylinder (2) piston portion connects, and is connected with A system sucker (4) by rotor.
Convex articular type climbing robot the most according to claim 1, it is characterised in that described B system leg structure
Number be four groups, described B system leg structure includes B system double-acting cylinder (10), connects and B system double-acting cylinder
(10) the B system stepper motor of piston portion, is connected to the B system sucker (12) of B system stepper motor.
Convex articular type climbing robot the most according to claim 6, it is characterised in that described B system motor
Group includes the second stepper motor (11) and the 3rd stepper motor (16), and described B system stepper motor passes through stator
It is connected with B system double-acting cylinder (10) piston portion, is connected with B system sucker (12) by rotor.
8. according to the arbitrary described convex articular type climbing robot of claim 4 ~ 7, it is characterised in that described A system is inhaled
Dish (4) and B system sucker (12) are the suckers with organ type air chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829353.1A CN106240668B (en) | 2016-09-19 | 2016-09-19 | A kind of convex articular type climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829353.1A CN106240668B (en) | 2016-09-19 | 2016-09-19 | A kind of convex articular type climbing robot |
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| CN106240668A true CN106240668A (en) | 2016-12-21 |
| CN106240668B CN106240668B (en) | 2018-06-26 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393052A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Wall-climbing robot |
| CN111348116A (en) * | 2019-11-22 | 2020-06-30 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN111731448A (en) * | 2020-06-03 | 2020-10-02 | 沈阳化工大学 | Wall-climbing robot capable of automatically cleaning large ship body |
| CN113086042A (en) * | 2021-03-30 | 2021-07-09 | 武汉数字化设计与制造创新中心有限公司 | Negative pressure adsorption cavity position and posture active compliance adjusting mechanism of wall-climbing robot |
| CN113697493A (en) * | 2021-09-28 | 2021-11-26 | 山东大学 | Bagged material carrying and conveying device |
| CN115541072A (en) * | 2022-10-20 | 2022-12-30 | 南京大学 | Foot pressure detection structure of wall climbing robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254544A (en) * | 2019-05-29 | 2019-09-20 | 南京航空航天大学 | A kind of passive negative-pressure adsorption microminiature climbing robot foot mechanism with sense of touch |
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| CN105059414A (en) * | 2015-07-17 | 2015-11-18 | 大连四达高技术发展有限公司 | Climb-on-surface robot |
| CN206125221U (en) * | 2016-09-19 | 2017-04-26 | 南京航空航天大学 | Curved surface articulated wall climbing robot |
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| US4674949A (en) * | 1982-01-11 | 1987-06-23 | International Robotic Engineering, Inc. | Robot with climbing feet |
| DE10219740A1 (en) * | 2002-05-02 | 2003-11-27 | Martin Christoph Schwaiger | Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393052A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Wall-climbing robot |
| CN106393052B (en) * | 2016-10-28 | 2019-04-16 | 深圳精智机器有限公司 | Climbing robot |
| CN111348116A (en) * | 2019-11-22 | 2020-06-30 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN111348116B (en) * | 2019-11-22 | 2021-07-02 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN111731448A (en) * | 2020-06-03 | 2020-10-02 | 沈阳化工大学 | Wall-climbing robot capable of automatically cleaning large ship body |
| CN113086042A (en) * | 2021-03-30 | 2021-07-09 | 武汉数字化设计与制造创新中心有限公司 | Negative pressure adsorption cavity position and posture active compliance adjusting mechanism of wall-climbing robot |
| CN113697493A (en) * | 2021-09-28 | 2021-11-26 | 山东大学 | Bagged material carrying and conveying device |
| CN115541072A (en) * | 2022-10-20 | 2022-12-30 | 南京大学 | Foot pressure detection structure of wall climbing robot |
| CN115541072B (en) * | 2022-10-20 | 2023-09-22 | 南京大学 | Foot pressure detection structure of wall climbing robot |
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| CN106240668B (en) | 2018-06-26 |
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