CN107985432B - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
- Publication number
- CN107985432B CN107985432B CN201711318384.1A CN201711318384A CN107985432B CN 107985432 B CN107985432 B CN 107985432B CN 201711318384 A CN201711318384 A CN 201711318384A CN 107985432 B CN107985432 B CN 107985432B
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- sucker
- crawler
- air distribution
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- athey wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of climbing robots.It is badly in need of climbing robot at present to replace manual work.The present invention includes equipment carrying platform, sufficient formula barrier getting over mechanism, crawler type climbing mechanism and air distribution system；Air distribution system includes the flat skirt sucker of hinge type, gas distribution plate and sucker connector；Gas distribution plate and crawler type climbing mechanism rotate synchronously；N sucker connector is equidistantly fixed on crawler belt；Sucker connector and the flat skirt sucker tail end ball-joint of hinge type；The inner hollow of sucker connector, one end are connected to the inside of the flat skirt sucker of hinge type, and the other end is connected to by gas-guide tube with an air distribution hole of gas distribution plate；Two-position four way change valve changes the alternating pumping with the flat skirt sucker of two hinge types of group；The bleeding point of all two-position four way change valves is connected to by appendix with vacuum generator.The present invention is creeped barrier getting over mechanism using carrying out sufficient formula, and obstacle climbing ability is strong；It is adsorbed on concrete wall surface by the intracavitary pressure difference with external atmosphere pressure of sucker.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of climbing robot.
Background technique
Concrete construction is a kind of most commonly seen building in the world today.Due to the influence of external environment and human factor,
There are security risks for many concrete constructions, it may appear that the Disease Characters such as crack, peeling, surface honeycomb to construction quality and make
Have an adverse effect with effect and safety.In handling apparent disease, it is sometimes desirable to disease position increase fill out concrete slurry into
Row reinforcement is administered.
Currently, for concrete wall surface detection and administration way there are two types of.First method is that worker is slow by lifting rope
Slow decline, then carry out operation.Second method is first to set up the scaffold of climbing, and worker relies on scaffold to carry out operation again.
First method is extremely hazardous and labor intensity is very big, and second method is at high cost, working efficiency is low, and some positions are difficult to
It reaches.
Thus need to design a kind of climbing robot to replace manual work.There are two technical sides for the exploitation of climbing robot
Face: adsorption technology and technology of creeping.Adsorption technology is a kind of technology instigated climbing robot not slide, tumbled.At present
The common suction type in climbing robot field have deboost formula, magnetic force adsorption type, vacuum adsorption type, based on Van der Waals force
Four seed type of animal bionic type.Deboost formula is although easy to control, but noise is very big, and job insecurity；Magnetic adsorption type
Reliable and stable, but restricted application is adsorbed, irony wall surface is only applicable to；Before animal bionic type application based on Van der Waals force
Scape is very wide, but research also prematurity at present, it is difficult to investment application；Vacuum adsorption type has a biggish adsorption capacity, adsorption reliability,
The disadvantage is that adsorption system is complex, and it is easy gas leakage.The technology of creeping is to instigate climbing robot can be on all kinds of metopes certainly
By creeping, a kind of technology of neatly crossing over blockage.The common reptile fashion in climbing robot field relies primarily on sufficient formula at present
Wall climbing mechanism, crawler-type wall climbing mechanism, wheel type wall climbing mechanism.But sufficient formula wall climbing mechanism creep speed is excessively slow, crawler-type wall climbing
Mechanism and wheel type wall climbing mechanism obstacle climbing ability be not strong.
Therefore, it is badly in need of a kind of climbing robot for carrying detection and maintenance of equipment based on concrete wall surface at present, it can
Above-mentioned technical problem is solved with comprehensive, instead of the detection and maintenance that manually carry out concrete wall surface.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of more safe and efficient climbing robots, use
To handle routine testing and the maintenance, the various fields such as transport and rescue, chemical industry equipment cleaning and maintenance of speedily carrying out rescue work of concrete construction
Encountered in problem.
The present invention includes equipment carrying platform and creeps obstacle detouring machine along the sufficient formula of circumferentially distributed three shoes of equipment carrying platform
Structure；Shoe foot formula barrier getting over mechanism of creeping includes bottom plate, sufficient formula barrier getting over mechanism, crawler type climbing mechanism and vacuum suction system
System.The sufficient formula barrier getting over mechanism includes steering engine, steering engine transmission shaft, robotic arm one and robotic arm two；Robotic arm one and robotic arm
Two one end is hinged by steering engine transmission shaft, and the output shaft of steering engine transmission shaft and steering engine is fixed；The other end of robotic arm one passes through
Bolt is fixed on bottom plate, and the other end of robotic arm two is bolted on equipment carrying platform.The crawler type is climbed
Row mechanism includes symmetrically arranged two crawler type crawler components；The crawler type crawler component includes crawler haulage axis, carries out
Band, speed reducing gear pair, Athey wheel one, Athey wheel two and direct current generator；Athey wheel one and Athey wheel two are fixed on two crawler belts and pass
On moving axis, wherein a crawler haulage axis is supported on a bearing block by bearing, another crawler haulage axis passes through deceleration
The output axis connection of gear pair and direct current generator；The pedestal of direct current generator is fixed on an electric machine support；Bearing block and motor
Bracket is each attached on bottom plate；Crawler belt connecting band track wheel one and Athey wheel two.
The vacuum suction system includes two air distribution systems；The air distribution system includes that the flat skirt of hinge type is inhaled
Disk, distribution transmission shaft, gas distribution plate, synchronous pulley one, synchronous pulley two, sucker connector, and connection synchronous pulley one and same
Walk the synchronous belt of belt wheel two；Distribution transmission shaft is supported on a bearing block by bearing；Synchronous pulley two and gas distribution plate are fixed
In distribution both ends of the drive shaft, and synchronous pulley two is arranged between two crawler type crawler components, and gas distribution plate setting is carried out at two
On the outside of belt crawler component；N sucker connector is equidistantly fixed on crawler belt, n >=6, and is even number；Sucker connector and hinge
The flat skirt sucker tail end ball-joint of formula；The flat skirt sucker of the hinge type hollow round table shape big for the small head end of tail end, and head end
It is connect with circular flat skirt inner sidewall；The inner hollow of sucker connector, one end and the flat skirt sucker of hinge type
Inside connection, the other end are connected to by gas-guide tube with an air distribution hole of gas distribution plate；Track length l, Athey wheel one and Athey wheel
Two radius r1, synchronous pulley one radius r2With the radius r of synchronous pulley two3Meet formulaEach distribution system
In system, the air distribution hole number of gas distribution plate is identical as the number of the flat skirt sucker of hinge type；The synchronous pulley of each air distribution system
One is fixed on a wherein crawler haulage axis for a corresponding crawler type crawler component.In same air distribution system, along synchronous belt
Circumferential each adjacent two sucker connector is a sucker connector group；Two air distribution systems are along synchronous belt circumferential direction corresponding position
In two sucker connector groups, be connected to two sucker connectors of different groups of corresponding positions two air distribution holes and one two four
The same working hole of logical reversal valve is connected, and two air distribution holes and the two-position four way change valve of another two sucker connector are connected to
Another working hole connect；The bleeding point of all two-position four way change valves is connected to by appendix with vacuum generator；Air
Compressor provides positive pressure gas source to vacuum generator.
The material of the Athey wheel one and Athey wheel two is all made of polycarbonate, and the material of crawler belt uses natural rubber or suitable
Buna.
It further include safety device, the safety device includes hoist engine and wirerope；Wire rope rope is being set
On standby carrying platform.
The air compressor uses piston type oilless (oil free) compressor.
The bleeding point of the vacuum generator is equipped with vacuum feed valve, pressure stable throttle valve and vacuum filter；Two-position four-way
Reversal valve, vacuum feed valve, pressure stable throttle valve, vacuum generator and air compressor are controlled by PLC.
Compared with prior art, beneficial effects of the present invention are as follows:
1) present invention is creeped barrier getting over mechanism using carrying out sufficient formula, and obstacle climbing ability is strong, and adsorption capacity is big, creep speed is fast, Ke Yi
On various concrete wall surfaces freely, quickly and safely move, can crossing over blockage, and between the wall surface of different angle back and forth
Appointed task is completed in movement.Air distribution system forms vacuum environment in suction cup interior using air compressor and vacuum generator, borrows
It helps sucker intracavitary and the pressure official post climbing robot of external atmosphere pressure is adsorbed on concrete wall surface, possess very strong wall surface and inhale
Attached ability, suitable for the work on the various wall surfaces such as cement, lime, ceramic tile.
2) the flat skirt sucker of hinge type of the invention can be freely rotated according to the difference of wall angle to adapt to wall
Face increases the wall surface adaptability of sucker.
3) crawler belt of the invention and Athey wheel use macromolecule polymeric material under the premise of can satisfy service load, no
Only mitigate the weight bearing of robot itself, moreover it is possible to increase its safety of creeping.
4) structure of the invention is compact, firm, safe and reliable, and easy to disassemble, assembling and maintenance；Easy to operate,
It is convenient, automation control is realized by PLC；Equipment carrying platform can load the inspection such as Crack Detection instrument, concrete glue-injection machine
Survey and to maintain equipment realize functional diversities.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is the structural schematic diagram of mesopodium formula barrier getting over mechanism of the present invention；
Fig. 3 is to carry out sufficient formula in the present invention to creep the structural perspective of barrier getting over mechanism；
Fig. 4 is to carry out sufficient formula in the present invention to creep the structure top view of barrier getting over mechanism；
Fig. 5 is the structural perspective of air distribution system in the present invention；
Fig. 6 is that sucker connector and the flat skirt sucker of hinge type are assemblied in the schematic diagram on crawler belt in the present invention.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.
As shown in Figure 1, a kind of climbing robot, including safety device, equipment carrying platform 6 and carried along equipment flat
The sufficient formula of circumferentially distributed three shoes of platform 6 is creeped barrier getting over mechanism 11；Equipment carrying platform 6 can load Crack Detection instrument, coagulation
The detections such as native glue-injection machine and to maintain equipment realize functional diversities；Protective device of the safety device as robot；Safety
Protective device includes hoist engine and wirerope；Hoist engine is installed aloft, and wire rope rope is on equipment carrying platform；Wirerope work
It makes comparisons stabilization, and can be connected on climbing robot together with power supply line, appendix, do not need other wiring；Sufficient formula is carried out to creep
Barrier getting over mechanism 11 includes bottom plate 1, sufficient formula barrier getting over mechanism 7, crawler type climbing mechanism 8 and vacuum suction system 12；Crawler type is creeped
Mechanism 8 mainly completes to fast move, and sufficient formula barrier getting over mechanism 7 mainly completes obstacle detouring, and vacuum suction system is mainly completed to concrete
The absorption of wall surface guarantees safe and reliable.
As shown in Figure 1,2 and 3, sufficient formula barrier getting over mechanism 7 includes steering engine 10, steering engine transmission shaft 5, robotic arm 1 and robotic arm
2 16；One end of robotic arm 1 and robotic arm 2 16 is hinged by steering engine transmission shaft 5, and steering engine transmission shaft 5 is defeated with steering engine 10
Shaft is fixed；The other end of robotic arm 1 is bolted on bottom plate 1, and the other end of robotic arm 2 16 is solid by bolt
It is scheduled on equipment carrying platform 6.
As shown in Fig. 1,3 and 4, crawler type climbing mechanism 8 includes symmetrically arranged two crawler type crawler components；Crawler type
Crawler component includes crawler haulage axis 3, crawler belt 9, speed reducing gear pair 14, Athey wheel 1, Athey wheel 2 22 and direct current generator 17；
Athey wheel 1 and Athey wheel 2 22 are fixed on two crawler haulage axis 3, wherein a crawler haulage axis 3 is supported by bearing
On a bearing block 2, another crawler haulage axis 3 passes through the output axis connection of speed reducing gear pair 14 and direct current generator 17；Directly
The pedestal of galvanic electricity machine 17 is fixed on an electric machine support 19；Bearing block and electric machine support are bolted on bottom plate 1；
9 connecting band track wheel 1 of crawler belt and Athey wheel 2 22；17 differential of the direct current generator rotation of two crawler type crawler components, which is realized, to be turned
To.
As shown in Fig. 4,5 and 6, vacuum suction system 12 includes two air distribution systems 13；Air distribution system 13 includes hinge type
Flat skirt sucker 4, distribution transmission shaft 21, gas distribution plate 23, synchronous pulley 1, synchronous pulley 2 26, sucker connector 27, with
And the synchronous belt 25 of connection synchronous pulley 1 and synchronous pulley 2 26；Distribution transmission shaft 21 is supported on a bearing by bearing
On seat 2；Synchronous pulley 2 26 and gas distribution plate 23 are fixed on 21 both ends of distribution transmission shaft, and the setting of synchronous pulley 2 26 is carried out at two
Between belt crawler component, gas distribution plate 23 is arranged on the outside of two crawler type crawler components；(n is even number to n, and here 6) n value is
A sucker connector 27 is equidistantly fixed on crawler belt 9；Sucker connector 27 and the flat 4 tail end ball-joint of skirt sucker of hinge type,
Enhance the wall surface adaptability of sucker；The flat skirt sucker 4 of the hinge type hollow round table shape big for the small head end of tail end, and head end and circle
The inner sidewall of ring-shaped flat bottom skirt connects, the air-tightness of flat skirt enhancing sucker；The inner hollow of sucker connector 27, one end
It is connected to the inside of the flat skirt sucker 4 of hinge type, the other end is connected to by gas-guide tube with an air distribution hole of gas distribution plate 23；This
In need to guarantee crawler belt 9 when turning around, gas distribution plate 23 also just turns around, and such gas-guide tube would not be wound；Each air distribution system
In 13, the air distribution hole number of gas distribution plate 23 is identical as the number of the flat skirt sucker 4 of hinge type；The synchronization of each air distribution system 13
Belt wheel 1 is fixed on a wherein crawler haulage axis 3 for a corresponding crawler type crawler component.In same air distribution system 13,
It is a sucker connector group along synchronous belt circumferential direction each adjacent two sucker connector 27；Two air distribution systems are along synchronous belt circumferential direction
In two sucker connector groups of corresponding position, four air distribution holes being connected to four sucker connectors are using a two-position four-way
Reversal valve distribution: i.e. two air distribution systems are connected to different groups along two sucker connector groups of synchronous belt circumferential direction corresponding position
The same working hole of two air distribution holes of two sucker connectors 27 of corresponding position and a two-position four way change valve is connected,
Another working hole of two air distribution holes and the two-position four way change valve that are connected to another two sucker connector 27 is connected；Two
The flat skirt sucker 4 of the hinge type not worked at the same time is together in parallel, and two air distribution systems of connecting, and can not only save cost,
And it can simplify system, mitigate overall weight；The bleeding point of all two-position four way change valves is occurred by appendix and vacuum
Device connection；The bleeding point of vacuum generator is equipped with vacuum feed valve, pressure stable throttle valve and vacuum filter；Air compressor is to true
Empty generator provides positive pressure gas source；Air compressor uses small-sized piston formula oilless (oil free) compressor, lift gas pressure；Two-position four-way
Reversal valve, vacuum feed valve, pressure stable throttle valve, vacuum generator and air compressor are controlled by PLC.
The working principle of the climbing robot:
Direct current generator 17 drives crawler belt 9 and gas distribution plate 23 to move simultaneously, and when guaranteeing that crawler belt 9 turns around, gas distribution plate 23
It just turns around, prevents gas-guide tube from mutually winding；If 9 length of crawler belt is l, the radius of Athey wheel 1 and Athey wheel 2 22 is
r1, the radius of synchronous pulley 1 is r2, the radius of synchronous pulley 2 26 is r3, then meetI.e.When, that is, when can guarantee that crawler belt 9 turns around, gas distribution plate 23 also just turns around.The flat skirt of hinge type on crawler belt
Side sucker, is controlled by vacuum suction system, can clench wall surface；When creeping on wall surface, commutated by two-position four-way
Valve changes the alternating pumping with the flat skirt sucker of two hinge types of group, the flat skirt sucker pumping of that hinge type of front
When absorption, the subsequent flat skirt sucker of that hinge type unclamps simultaneously, and the flat skirt sucker of that hinge type of front unclamps
When, next group of the flat skirt sucker of two hinge types starts alternately to be evacuated.
It is to carry out the creep direct current generator of barrier getting over mechanism 11 of sufficient formulas by two below to control and carry out with different rotating speeds when need to turn to
The differential of band rotates to realize；When there is obstacle on wall surface, direct current generator stops working, and steering engine starts sufficient formula barrier getting over mechanism 7 and lifts
Rise it is entire carry out sufficient formula and creep barrier getting over mechanism 11, the sufficient formulas of three shoe barrier getting over mechanism 11 of creeping successively is lifted through obstacle, realization obstacle detouring
Climb wall.
Sufficient formula and crawler type combine, and greatly increase the efficiency of creeping of climbing robot.The flat skirt sucker of hinge type
Tail end ball-joint can not only make climbing robot easily pass some obstacles, and can make it different angle wall surface it
Between transition back and forth, this design greatly strengthens the flexibility that it creeps.
Claims (5)
1. a kind of climbing robot is creeped including equipment carrying platform and along the sufficient formula of three circumferentially distributed shoes of equipment carrying platform
Barrier getting over mechanism, it is characterised in that: shoe foot formula barrier getting over mechanism of creeping includes that bottom plate, sufficient formula barrier getting over mechanism, crawler type are creeped
Mechanism and vacuum suction system；The sufficient formula barrier getting over mechanism includes steering engine, steering engine transmission shaft, robotic arm one and robotic arm two；
One end of robotic arm one and robotic arm two is hinged by steering engine transmission shaft, and the output shaft of steering engine transmission shaft and steering engine is fixed；Machine
The other end of arm one is bolted on bottom plate, and the other end of robotic arm two is bolted on equipment carrying platform
On；The crawler type climbing mechanism includes symmetrically arranged two crawler type crawler components；The crawler type crawler component
Including crawler haulage axis, crawler belt, speed reducing gear pair, Athey wheel one, Athey wheel two and direct current generator；Athey wheel one and Athey wheel two
It is fixed on two crawler haulage axis, wherein a crawler haulage axis is supported on a bearing block by bearing, another shoe
V belt translation axis passes through the output axis connection of speed reducing gear pair and direct current generator；The pedestal of direct current generator is fixed on an electric machine support
On；Bearing block and electric machine support are each attached on bottom plate；Crawler belt connecting band track wheel one and Athey wheel two；
The vacuum suction system includes two air distribution systems；The air distribution system include the flat skirt sucker of hinge type,
Distribution transmission shaft, gas distribution plate, synchronous pulley one, synchronous pulley two, sucker connector, and connection synchronous pulley one and synchronous belt
The synchronous belt of wheel two；Distribution transmission shaft is supported on a bearing block by bearing；Synchronous pulley two and gas distribution plate, which are fixed on, matches
Gas both ends of the drive shaft, and synchronous pulley two is arranged between two crawler type crawler components, gas distribution plate is arranged in two crawler types
On the outside of crawler component；N sucker connector is equidistantly fixed on crawler belt, n >=6, and is even number；Sucker connector and hinge type are flat
The sucker tail end ball-joint of bottom skirt；The flat skirt sucker of the hinge type hollow round table shape big for the small head end of tail end, and head end and circle
Cricoid flat skirt inner sidewall connection；The inner hollow of sucker connector, the inside of one end and the flat skirt sucker of hinge type
Connection, the other end are connected to by gas-guide tube with an air distribution hole of gas distribution plate；Track length l, Athey wheel one and Athey wheel two
Radius r1, synchronous pulley one radius r2With the radius r of synchronous pulley two3Meet formulaEach air distribution system
In, the air distribution hole number of gas distribution plate is identical as the number of the flat skirt sucker of hinge type；The synchronous pulley one of each air distribution system
It is fixed on a wherein crawler haulage axis for a corresponding crawler type crawler component；In same air distribution system, along synchronous band
It is a sucker connector group to each adjacent two sucker connector；Two air distribution systems along synchronous belt circumferential direction corresponding position two
In a sucker connector group, it is connected to two air distribution holes and a two-position four-way of two sucker connectors of different groups of corresponding positions
The same working hole of reversal valve is connected, and two air distribution holes and the two-position four way change valve of another two sucker connector are connected to
Another working hole is connected；The bleeding point of all two-position four way change valves is connected to by appendix with vacuum generator；Air pressure
Contracting machine provides positive pressure gas source to vacuum generator.
2. a kind of climbing robot according to claim 1, it is characterised in that: the material of the Athey wheel one and Athey wheel two
Material is all made of polycarbonate, and the material of crawler belt uses natural rubber or butadiene rubber.
3. a kind of climbing robot according to claim 1, it is characterised in that: it further include safety device, it is described
Safety device includes hoist engine and wirerope；Wire rope rope is on equipment carrying platform.
4. a kind of climbing robot according to claim 1, it is characterised in that: the air compressor uses piston type
Oilless (oil free) compressor.
5. a kind of climbing robot according to claim 1, it is characterised in that: the bleeding point of the vacuum generator is equipped with
Vacuum feed valve, pressure stable throttle valve and vacuum filter；Two-position four way change valve, vacuum feed valve, pressure stable throttle valve, vacuum hair
Raw device and air compressor are controlled by PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318384.1A CN107985432B (en) | 2017-12-12 | 2017-12-12 | A kind of climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318384.1A CN107985432B (en) | 2017-12-12 | 2017-12-12 | A kind of climbing robot |
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| Publication Number | Publication Date |
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| CN107985432A CN107985432A (en) | 2018-05-04 |
| CN107985432B true CN107985432B (en) | 2019-05-14 |
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ID=62037152
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229227B (en) * | 2018-11-09 | 2019-10-01 | 燕山大学 | Climbing robot |
| CN109468947A (en) * | 2018-12-28 | 2019-03-15 | 山东华鉴工程检测有限公司 | A kind of intelligent box beam visual defects detection device and method greatly |
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
| CN110040190B (en) * | 2019-04-23 | 2021-09-24 | 哈尔滨理工大学 | Adsorption system for sucker crawler-type wall-climbing robot |
| CN110561254B (en) * | 2019-09-30 | 2024-04-26 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN111055948A (en) * | 2020-01-02 | 2020-04-24 | 杭州电子科技大学 | Cable tunnel inspection robot based on telescopic gear train |
| CN114889717B (en) * | 2022-04-12 | 2023-08-18 | 安徽工程大学 | High-altitude crawler-type adsorption wall climbing robot |
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| CN1428226A (en) * | 2001-12-28 | 2003-07-09 | 吴志明 | Crawler multi-sucker wall-climbing robot and its implement method |
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| CN103129639A (en) * | 2013-02-26 | 2013-06-05 | 西北工业大学 | Cam-type negative pressure adsorption wall-climbing robot |
| GB2532295A (en) * | 2014-11-13 | 2016-05-18 | Sewell Gary | Surface effect unmanned vehicle |
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| US4727949A (en) * | 1984-03-05 | 1988-03-01 | Watercraft Offshore Canada Ltd. | All terrain vehicle and method of operating same |
| CN1428226A (en) * | 2001-12-28 | 2003-07-09 | 吴志明 | Crawler multi-sucker wall-climbing robot and its implement method |
| CN1709654A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
| CN103129639A (en) * | 2013-02-26 | 2013-06-05 | 西北工业大学 | Cam-type negative pressure adsorption wall-climbing robot |
| GB2532295A (en) * | 2014-11-13 | 2016-05-18 | Sewell Gary | Surface effect unmanned vehicle |
| CN106264308A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of collapsible climbing device of glass curtain wall clean robot |
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| Publication number | Publication date |
|---|---|
| CN107985432A (en) | 2018-05-04 |
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