CN106240668B - A kind of convex articular type climbing robot - Google Patents

A kind of convex articular type climbing robot Download PDF

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Publication number
CN106240668B
CN106240668B CN201610829353.1A CN201610829353A CN106240668B CN 106240668 B CN106240668 B CN 106240668B CN 201610829353 A CN201610829353 A CN 201610829353A CN 106240668 B CN106240668 B CN 106240668B
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China
Prior art keywords
stepper motor
ancon
leg
climbing robot
convex articular
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CN106240668A (en
Inventor
古嘉樾
王从庆
谢勇
吴林峰
贾峰
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN201610829353.1A priority Critical patent/CN106240668B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls

Abstract

The invention discloses a kind of convex articular type climbing robots, and including rack and control system, the rack is divided into upper spider and lower bearing bracket;The lower bearing bracket is installed on the central shaft lower end of upper spider by hinge structure and rotating device;The hinge structure is connect with rotating device;The lower vertical direction of the upper spider is connected with A system leg structures;The end lower vertical direction of the lower bearing bracket is connected with B system leg structure;The behavior of corresponding circuit control robot is controlled by control system;The robot of the present invention constantly adjusts the posture of itself preferably to be moved close to curved surface in moving process according to the variation of curvature of curved surface, has very high curved surface adaptive;The present invention uses the move mode of foot, either moves or obstacle detouring, can preferably complete various tasks, thus with being widely applied very much field and range.

Description

A kind of convex articular type climbing robot
Technical field
The invention belongs to field in intelligent robotics, and in particular to a kind of convex articular type climbing robot, it can be adaptive Different curvature curved surface can replace manually carrying out various operations.
Background technology
Climbing robot is that the automation for referring to move the task that fulfils assignment in vertical walls, have adsorption function is set It is standby, it will play very important effect in intelligentized future.Climbing robot can be applied to as a kind of load platform Many fields, for example, in building field, climbing robot carrying is painted or water tank replaces manually painting to wall or right Glass is cleaned;In petrochemical field, climbing robot is often moved, and carry with magnetic suck mode on metal can wall surface Some special equipments carry out metal can surface damage check or metal can seam crossing are welded;In aviation field, fly The damage influence of machine skin-surface the safety of aircraft flight, carrier of the climbing robot as various detection devices, in aircraft Surface crawls, and completes Detection task.It can be seen that climbing robot has very wide application prospect.
A few class climbing robots, such as a kind of negative pressure adsorption wall-climbing robot are had been disclosed in existing technology(Shen Please number:200910024927.8), the robot move mode is using wheeled construction, and mobile comparison is flexibly and fast;Negative pressure occurs It is sealed between impeller and the pump housing using twice " L " font labyrinth gap in device, this is very for adsorption effect in the plane It will be evident that it is not easy to adsorb disabled status, but this robot is difficult to be moved on curved surface, and the robot band holds Easily damaged, stability is inadequate;In another example climbing robot(Application number:CN97121896), the climbing robot is using rotation slurry Or ducted fan allows the robot to be attached to novelty on wall surface as power, but the wall mode of climbing of the robot is imitated Rate is relatively low, therefore is very restricted in terms of following practical application.
In conclusion most of climbing robots are mainly moved and are turned on the wall surface of flat smooth at present, But operation can not be carried out directly on curved surface.The inefficient of wall is climbed in other words, it is limited for the operation under conditions of curved surface System.And the leg structure fixation of the climbing robot of the prior art cannot adjust, and the angle between leg structure cannot Enough adjustment more limit the following intelligent operation of climbing robot, therefore a kind of climbing robot of design can adjust leg The length of portion's structure, and the wall surface of different curvatures is adapted to, it is always those skilled in the art's strategic point technology to be solved Problem.
Invention content
The invention is realized in this way the invention discloses a kind of convex articular type climbing robot, including rack and Control system, the rack are divided into upper spider and lower bearing bracket;The lower bearing bracket passes through hinge structure and rotating device The central shaft lower end of upper spider is installed on, the hinge structure is connect with rotating device;The upper spider lower vertical side To being connected with A system leg structures;The end lower vertical direction of the lower bearing bracket is connected with B system leg structure;Wherein Upper spider forms the A systems of the present invention with A system leg structures;Lower bearing bracket forms the B of the present invention with B system leg structure System, the control system are the drives of the corresponding stepper motor for the motor-driven running for controlling entire convex articular type climbing robot The high-speed switch valve that dynamic circuit, the high-speed switch valve of the corresponding sucker suction release of control and control respective cylinder are stretched.Pass through control The dual system switching and the effect of hinge structure of respective drive circuit control A systems and B system in system processed, not only can be with Robot being moved forward or rearward on wall surface is controlled, and can realize that the robot carries out in situ by rotating device Divertical motion.
Further, the hinge structure includes forearm, first ancon, the second ancon, upper arm and rotating device;It is described Forearm upper end connect with upper spider, the stator of the first ancon is mounted on forearm, first ancon upper end under forearm End connection, the rotor of first ancon are mounted on upper arm, the upper end connection of first ancon lower end and upper arm;Second ancon Rotor be mounted on the lower end of upper arm, the lower end of the second ancon and upper arm connects, and the lower end of the second ancon passes through stator and rotation Device connects, and hinge arrangement is similar to the structure of human arm, is equivalent to the link joint structure of elbow joint, passes through stator and rotor Rotation control leg structure state, entire wall-climbing device human agent is controlled to move forward.
Further, the rotating device includes gear wheel, upper turntable and rotating part stepper motor, the upper turntable Upper end center axis on the stator of the second ancon is installed, connect by stator with the lower end of the second ancon, the lower end of upper turntable It is connected with gear wheel;Rotating part stepper motor is controlled by corresponding circuit, control rotating device realizes that climbing robot can In situ spinfunction.
Further, the number of the A system leg structures is four groups, and it is double that the A systems leg structure includes A systems Active cylinder is connected to the A system stepper motors of A system double-acting air cylinder pistons part, connection and A system stepper motors A system suckers.
Further, the A systems stepper motor includes the first stepper motor and the 4th stepper motor, described A systems stepper motor connect by stator with A system double-acting air cylinder pistons part, pass through rotor and A systems sucker and connect It connects, since the control accuracy of stepper motor is high, can A system stepper motors be controlled by corresponding driving circuit, then control A The motion state of system leg structure.
Further, the number of the B system leg structure is four groups, and it is double that the B system leg structure includes B system Active cylinder is connected to the B system stepper motor of B system double-acting air cylinder piston part, connection and B system stepper motor B system sucker.
Further, the B system stepper motor includes the second stepper motor and third stepper motor, described B system stepper motor connect by stator with B system double-acting air cylinder piston part, pass through rotor and B system sucker and connect It connects, B system stepper motor is controlled by corresponding driving circuit, then controls the motion state of B system leg structure.
Further, the A systems sucker and B system sucker are the suckers with organ type gas chamber.
The advantageous effect of the present invention and the prior art are:
(1)What it is by selection is that A, B dual system switch adsorption design scheme, is assisted using multivariant leg mechanism Regulation and control system so that robot can adaptive curved surface, and can by change the angle between dual system come close to curvature compared with Small curved surface;
(2)By being similar to the structure of human arm, the hinge arrangement of the link joint structure of elbow joint is equivalent to, controls elbow Portion moves and the step motor control of rotating device can be realized movement and the divertical motion of robot, robot of the invention Design can carry more loads, and simple in structure flexible, and absorption is stablized;
(3)Each system is equipped with four leg mechanisms, they have the flexible and pitching behavior of leg structure, to leg The stepper motor and double-acting cylinder of mechanism, which carry out control, can adjust the posture of robot so that each leg sucker of robot It can completely adsorb on curved surface.
Description of the drawings
Fig. 1 is a kind of sectional view of convex articular type climbing robot of the present invention;
Fig. 2 is a kind of vertical view of convex articular type climbing robot of the present invention;
Fig. 3 is the schematic diagram for the original state that a kind of convex articular type climbing robot curved surface of the present invention climbs wall;
Fig. 4 is the leg structure state signal of A systems when a kind of convex articular type climbing robot of the present invention moves forward Figure;
Fig. 5 is the leg structure state of A systems after the completion of a kind of convex articular type climbing robot of the present invention moves forward Schematic diagram;
Fig. 6 is the leg structure shape that a kind of convex articular type climbing robot execution of the present invention rotates in place behavior B system State schematic diagram;
Fig. 7 is the leg structure state signal of B system when a kind of convex articular type climbing robot of the present invention moves forward Figure;
Fig. 8 is the leg structure state of B system after the completion of a kind of convex articular type climbing robot of the present invention moves forward Schematic diagram;
Fig. 9 is the leg structure of A systems when a kind of convex articular type climbing robot of the present invention reverts to original state Status diagram;
Figure 10 is schematic diagram when a kind of convex articular type climbing robot of the present invention reverts to original state.
Wherein, 1- upper spiders, 2-A system double-acting cylinders, the first stepper motors of 3-, 4-A system suckers, 5- canine tooths Wheel, the upper turntables of 6-, 7- first ancons, the second ancons of 8-, 9- lower bearing brackets, 10-B system double-acting cylinders, the second stepper motors of 11- Group, 12- B system suckers, 13- upper arm, 14- rotating part stepper motors, 15- forearms, 16- third stepper motors, 17- the 4th Stepper motor.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, a kind of convex articular type climbing robot of the present invention, including rack and control system, Rack 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 rotating device Axis lower end;Hinge structure is connected with rotating device;Hinge structure includes forearm 15, first ancon 7, the second ancon 8, upper arm 13 And rotating device;15 upper end of forearm is connect with upper spider 1, and 15 lower end of forearm is connect with the upper end of first ancon 7, first ancon 7 stator is mounted on forearm 15;The lower end of first ancon 7 is connect with the upper end of upper arm 13, and the rotor of first ancon 7 is mounted on On upper arm 13.The lower end of upper arm 13 is connect with the upper end of the second ancon 8, and the rotor of the second ancon 8 is mounted on the lower end of upper arm 13; The lower end of second ancon 8 is connect by stator with rotating device.Rotating device is installed between hinge structure and lower bearing bracket 9, rotation Rotary device includes gear wheel 5, upper turntable 6 and rotating part stepper motor 14, is installed on the upper end center axis of the upper turntable 6 There is the stator of the second ancon 8, connect by stator with the lower end of the second ancon 8, the lower end of upper turntable 6 is connected with gear wheel 5;It is logical Corresponding circuit control rotating part stepper motor 14 is crossed, control rotating device realizes that climbing robot being capable of in situ rotational work Energy.
1 lower vertical direction of upper spider is connected with four groups of A system leg structures;It hangs down on the downside of the end of the lower bearing bracket 9 Nogata is to being connected with four groups of B system leg structures;Wherein upper spider 1 forms the A systems of the present invention with A system leg structures; The A systems leg structure includes A systems double-acting cylinder 2, connection and the A systems of 2 piston portion of A systems double-acting cylinder Stepper motor, A systems stepper motor include the first stepper motor 3 and the 4th stepper motor 17, connection and A systems The A systems sucker 4 of stepper motor, the A systems stepper motor pass through stator and 2 piston portion of A systems double-acting cylinder Divide connection, connect by rotor with A systems sucker 4, it, can be by driving electricity accordingly since the control accuracy of stepper motor is high Road control A systems stepper motor 3;
Lower bearing bracket 9 forms the B system of the present invention with B system leg structure, and the B system leg structure includes B systems System double-acting cylinder 10, connection and the B system stepper motor of 10 piston portion of B system double-acting cylinder, B system step Stepper motor group includes the second stepper motor 11 and third stepper motor 16, connection and the B system of B system stepper motor Sucker 12, B system stepper motor are connect by stator with 10 piston portion of B system double-acting cylinder, pass through rotor and B system Sucker 12 connects, and controls B system stepper motor by corresponding driving circuit, then controls the movement of B system leg structure State.
As shown in figure 3, order behavior 1 refers to the A systems of convex articular type climbing robot is allowed to move forward one section first The original state of convex articular type climbing robot is shown in distance L, Fig. 3, and all suckers of robot are adsorbed in song simultaneously On face, the black wherein in attached drawing represents sucker suction state, and white represents sucker release conditions.First by controlling accordingly System controls high-speed switch valve so that the A systems sucker 4 in A systems becomes release conditions, then utilizes corresponding driving circuit The rotor clockwise rotation of the first stepper motor 3 in original state is controlled, the rotor of the 4th stepper motor 17 is counterclockwise Rotation so that A systems sucker 4 is readjusted as vertically;Corresponding high-speed switch valve in control system A causes A systems Double-acting cylinder 2 is all shunk upwards to be come, and becomes the state of leg mechanism as shown in Figure 4, as shown in figure 4, by corresponding The stator of first ancon 7 rotates clockwise α degree, the rotor rotation β counterclockwise of the second ancon 8 in driving circuit control hinge arrangement Degree so that the A systems of robot move forward a distance.As shown in figure 5, the corresponding high-speed switch valve in control A systems makes It obtains A systems double-acting cylinder 2 and is all elongated to certain length downwards, respective drive circuit control is then utilized according to the curvature of curved surface The rotor for making the first stepper motor 3 rotates an angle, the rotor clockwise rotation one of the 4th stepper motor 17 counterclockwise A angle so that A systems sucker 4 can completely be bonded curved surface, this has reformed into the state of Fig. 5;At this point, it is complete to complete curved surface Orientation revolute robot's A systems move forward a distance L and successfully adsorb the action on curved surface.
Behavior 2 is that robot is allowed arbitrarily to rotate by a certain angle in situ γ degree, since the motion state of robot at this time is All suckers shown in fig. 5 are all adsorbed on curved surface, and A systems have moved forward a distance, so first with corresponding Driving circuit controls the rotor clockwise rotation of the second stepper motor 11, and the rotor of third stepper motor 16 revolves counterclockwise Turn so that the sucker 12 and B system double-acting cylinder 10 of B system point-blank, then by corresponding high-speed switch valve by B The piston of system double-acting cylinder 10 shrinks the state for reaching B system in Fig. 6 backward;In order to which robot is allowed to rotate certain angle Degree will utilize the rotor clockwise rotation alpha degree of driving circuit control 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 section;Finally utilize driving circuit control The rotating part stepper motor 14 of rotating device processed rotates γ degree, and this completes the actions of behavior 2.
Behavior 3 allows the system B of convex articular type climbing robot to move forward a distance L1, and robot is in the shape of Fig. 6 Under state, first with 1 degree of the rotor clockwise rotation alpha of corresponding driving circuit control first ancon 7, the second ancon 8 is controlled Stator is counterclockwise 1 degree of rotation β so that convex articular type climbing robot becomes the state of Fig. 7;Then according to the curvature of curved surface profit The rotor for controlling the second stepper motor 11 with respective drive circuit rotates an angle counterclockwise, third stepper motor 16 Rotor clockwise rotate an angle, while using corresponding Speed On-off Valve B system double-acting cylinder 10 extend one section away from From so that B system sucker 12 can completely be bonded curved surface, this has reformed into the state of Fig. 8;At this point, complete curved surface side entirely Position revolute robot's B system moves forward a distance L1 and successfully adsorbs the action on curved surface.
Behavior 4 allows convex articular type climbing robot to revert to original state from the state of Fig. 8.It is driven first with corresponding Dynamic circuit controls the rotor clockwise rotation of the first stepper motor 3, and the rotor of the 4th stepper motor 17 is rotated, made counterclockwise A systems sucker 4 and A systems double-acting cylinder 2 point-blank, then by corresponding high-speed switch valve by A system double croppings Shrink the state for reaching A systems in Fig. 9 backward with the piston of cylinder 2;Then first ancon 7 is controlled using corresponding driving circuit Stator rotate clockwise 1 degree of α, control 1 degree of the rotor rotation β counterclockwise of the second ancon 8 so that convex articular type wall-climbing device People becomes the state of Fig. 9;Finally control the rotor of the first stepper motor 3 inverse using respective drive circuit according to the curvature of curved surface Hour hands rotate an angle, and the rotor clockwise of the 4th stepper motor 17 rotates an angle, while pass through corresponding high speed Switch valve control A systems double-acting cylinder 2 is so that piston extends downwards, so that it is guaranteed that A systems sucker 4 can completely be bonded song Face, this has reformed into the state of Figure 10;The operation of behavior 4 is completed at this time.
Above is exactly the entire motion process of convex articular type climbing robot, which is straight trip or turns To four suckers can be firmly adsorbed on curved surface after the completion of behavior act, have very high kinetic stability;The machine People constantly adjusts the posture of itself preferably to be moved close to curved surface in moving process according to the variation of curvature of curved surface, This has very high curved surface adaptive for robot;Since the robot uses the move mode of foot, either move Dynamic or obstacle detouring can preferably complete various tasks, thus have and be widely applied very much field and range.
The technical solution provided above the embodiment of the present invention is described in detail, specific case used herein The principle and embodiment of the embodiment of the present invention are expounded, the explanation of above example is only applicable to help to understand this The principle of inventive embodiments;Meanwhile for those of ordinary skill in the art, embodiment according to the present invention, in specific embodiment party There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.

Claims (7)

1. a kind of convex articular type climbing robot, including rack and control system, which is characterized in that the rack is divided into Upper spider(1)And lower bearing bracket(9);The lower bearing bracket(9)Upper spider is installed on by hinge structure and rotating device(1) Central shaft lower end;The hinge structure is connect with rotating device;The upper spider(1)Lower vertical direction be connected with A system leg structures;The lower bearing bracket(9)End lower vertical direction be connected with B system leg structure;The hinge Structure includes forearm(15), first ancon(7), the second ancon(8), upper arm(13);The forearm(15)Upper end and upper spider (1)Connection, the first ancon(7)Stator be mounted on forearm(15)On, first ancon(7)Upper end and forearm(15)Lower end Connection, first ancon(7)Rotor be mounted on upper arm(13)On, first ancon(7)Lower end and upper arm(13)Upper end connection;Institute The second ancon stated(8)Rotor be mounted on upper arm(13)Lower end, the second ancon(8)With upper arm(13)Lower end connection, the Two ancons(8)Lower end connect by stator with rotating device.
2. convex articular type climbing robot according to claim 1, which is characterized in that the rotating device includes big Gear(5), upper turntable(6)And rotating part stepper motor(14), the upper turntable(6)Upper end center axis on be equipped with Two ancons(8)Stator, pass through stator and the second ancon(8)Lower end connection, upper turntable(6)Lower end be connected with gear wheel (5).
3. convex articular type climbing robot according to claim 1, which is characterized in that the A system leg structures Number for four groups, the A systems leg structure includes A system double-acting cylinders(2), it is connected to A system double-acting cylinders (2)The A system stepper motors of piston portion are connected to the A system suckers of A system stepper motors(4).
4. convex articular type climbing robot according to claim 3, which is characterized in that the A system stepper motors Group includes the first stepper motor(3)And the 4th stepper motor(17), the A systems stepper motor by stator with A system double-acting cylinders(2)Piston portion connects, and passes through rotor and A system suckers(4)Connection.
5. convex articular type climbing robot according to claim 1, which is characterized in that the B system leg structure Number for four groups, the B system leg structure includes B system double-acting cylinder(10), it is connected to B system double-acting cylinder (10)The B system stepper motor of piston portion is connected to the B system sucker of B system stepper motor(12).
6. convex articular type climbing robot according to claim 5, which is characterized in that the B system stepper motor Group includes the second stepper motor(11)And third stepper motor (16), the B system stepper motor pass through stator With B system double-acting cylinder(10)Piston portion connects, and passes through rotor and B system sucker(12)Connection.
7. according to any convex articular type climbing robot of claim 3 ~ 6, which is characterized in that the A systems are inhaled Disk(4)And B system sucker(12)It is the sucker with organ type gas chamber.
CN201610829353.1A 2016-09-19 2016-09-19 A kind of convex articular type climbing robot Active CN106240668B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393052B (en) * 2016-10-28 2019-04-16 深圳精智机器有限公司 Climbing robot
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

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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
CN104648512A (en) * 2014-12-12 2015-05-27 燕山大学 Three-degree-of-freedom climbing parallel robot with swinging traction legs
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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Publication number Priority date Publication date Assignee Title
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
CN104648512A (en) * 2014-12-12 2015-05-27 燕山大学 Three-degree-of-freedom climbing parallel robot with swinging traction legs
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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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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