CN108482503B - Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot - Google Patents
Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot Download PDFInfo
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- CN108482503B CN108482503B CN201810402460.5A CN201810402460A CN108482503B CN 108482503 B CN108482503 B CN 108482503B CN 201810402460 A CN201810402460 A CN 201810402460A CN 108482503 B CN108482503 B CN 108482503B
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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Abstract
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a magnetic wheel-track type obstacle crossing mechanism of a wall-climbing robot. The crawler-type and wheel-type moving mechanisms are combined, and move in a matched manner when walking on the magnetic conduction wall surface and the obstacles on the wall surface, so that the adsorption force, the load bearing capacity and the obstacle crossing capacity of the wall-climbing robot are increased in the moving process, the safety and the flexibility of walking over the obstacles are enhanced, the working efficiency is improved, and the working cost is saved.
Description
Technical Field
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a magnetic wheel-track type obstacle crossing mechanism of a wall-climbing robot.
Background
The magnetic wall-climbing robot is a branch of the field of mobile robots, combines the ground mobile robot technology with the magnetic adsorption technology, can adhere to and climb on a steel magnetic conduction wall surface, can carry tools to complete certain operation tasks, and greatly expands the application range of the robot. At present, the magnetic wall-climbing robot is mainly applied to nuclear industry, petrochemical industry, shipbuilding industry, underwater, fire-fighting departments, investigation activities and the like, the cleaning and detection work of the working surface in the industries such as petrochemical industry, power plants, underwater operation of shipbuilding industry and the like is completed manually, the working environment of workers is severe and has certain danger, and the working efficiency is also very low. The magnetic wall-climbing robot has the advantages that the magnetic wall-climbing robot is used, so that the labor cost of dangerous industries is greatly reduced, the labor environment of workers is improved, and the labor productivity is improved.
Chinese patent document CN102923205B discloses a wall-climbing robot walking mechanism for welding pipe walls of pipeline-shaped boilers, which comprises an axial walking mechanism, a circumferential walking mechanism and a magnetic adsorption mechanism, wherein the axial walking mechanism is mounted on a chassis, the circumferential walking mechanism is mounted on two sides of the chassis, and the magnetic adsorption mechanism is mounted below the chassis; the crawler-type movement mechanism and the wheel-type movement mechanism have stronger load capacity, the magnetic adsorption mechanism adopts a bistable permanent magnet structure to realize the switching between the magnetic on state and the magnetic off state, the change of the magnetic force is gradually adjustable and is in direct proportion to the resistance to be overcome when the whole mechanism moves axially, the characteristic that the robot walking is influenced by overlarge resistance is avoided, the safety and the flexibility of the walking of the wall-climbing robot are improved, the requirement that the welding robot has higher adsorption force while moving in the circumferential tangential direction and the axial direction of the pipe wall of the pipeline-shaped boiler in the two-way mode in the welding process of the pipe wall of the pipeline-shaped boiler is met, and the working efficiency is improved.
At present, the magnetic wall-climbing robot mainly comprises a wheel type magnetic wall-climbing robot, a crawler type magnetic wall-climbing robot and other magnetic wall-climbing robots. The wheel type adsorption device comprises two or more permanent magnet wheels, each magnetic wheel is composed of a permanent magnet and a yoke iron, a closed magnetic circuit is formed between each magnetic wheel and a magnetic conduction wall surface during working, and the robot has the advantages that the adsorption device and a driving mechanism are combined together, the structure is simple, the crawling speed is high, the control is flexible, and the defects that the contact area between each magnetic wheel and the wall surface is small, the adsorption force ratio is small, the load cannot be born, and the robot is easy to fall off. The crawler-type magnetic wall-climbing robot generally adopts a single-vehicle double-crawler structure, and the permanent magnet units are embedded on the chains to provide the robot with the adsorption force required during climbing. Other types include foot type, bionic type, electromagnetic type and the like, and the requirements on the use environment are high, so that the requirements of people on operation cannot be met, and the electric heating device is not widely used.
The existing wheel type magnetic wall-climbing robot has the defects that the magnetic wheels are small in contact area with the wall surface, the adsorption force is weak, the falling of the magnetic wheels due to unstable adsorption is easy to cause, the load cannot be born, the application range of the robot is limited, and the overturning falling is easy to occur due to the weak adsorption force when the robot surmounts the obstacle; the existing crawler-type magnetic wall-climbing robot is not easy to turn, and the wall surface is easy to scratch when the robot turns, so that the wall-climbing robot cannot be used for the wall surface with a coating.
Disclosure of Invention
The invention aims to provide a magnetic wheel-track type obstacle crossing mechanism of a wall climbing robot, which adopts a mode of combining a permanent magnet wheel and a magnetic track, and moves in a matched manner when walking on a steel magnetic conductive wall surface and an obstacle on the wall surface, so that the adsorption force, the load bearing capacity and the obstacle crossing capacity of the wall climbing robot are increased in the moving process, and the problems that the movement is inflexible, the steering is difficult and the magnetic conductive wall surface is easy to scratch when the steering is performed are also solved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a magnetic wheel-track type obstacle crossing mechanism of a wall climbing robot comprises a front permanent magnet wheel frame and a rear permanent magnet wheel frame which are horizontally arranged in parallel, wherein two sides of the permanent magnet wheel frame are respectively and horizontally and fixedly provided with a track frame;
one end of a permanent magnet wheel driven wheel support is rotatably installed in the middle of a front permanent magnet wheel frame through a bearing, the other end of the permanent magnet wheel driven wheel support is fixedly installed with a left helical gear, the bottom of the permanent magnet wheel driven wheel support is fixedly provided with a permanent magnet wheel driven shaft, two ends of the permanent magnet wheel driven shaft are respectively rotatably installed with a permanent magnet wheel driven wheel through bearings, the left helical gear is meshed with one side of an heightening gear, the other side of the heightening gear is meshed with a right helical gear, the right helical gear is installed at one end of a permanent magnet wheel driving wheel support, the other end of the permanent magnet wheel driven shaft is rotatably installed in the middle of a rear permanent magnet wheel frame through a bearing, two ends of the permanent magnet wheel driving shaft are respectively rotatably installed with a permanent magnet wheel driving wheel through bearings; the height-adjusting gear is fixedly arranged at one end of a height-adjusting gear shaft, the other end of the height-adjusting gear shaft is sequentially connected with a height-adjusting reducer and a height-adjusting motor, the height-adjusting reducer and the height-adjusting motor are fixedly arranged on a height-adjusting motor and a permanent magnet wheel driving motor base, the height-adjusting motor and the permanent magnet wheel driving motor base are also provided with a working mechanical arm, a permanent magnet wheel driving motor and a permanent magnet wheel driving wheel reducer, one end of a permanent magnet wheel driving chain is connected with the output end of the permanent magnet wheel driving wheel reducer, and the other end of the;
the tensioning springs are uniformly distributed on the crawler frame, the top parts of the tensioning springs are rotatably provided with upper guide wheels of the crawler, the front parts of the crawler frame are rotatably provided with driven crawler wheels, the rear parts of the crawler frame are rotatably connected with crawler driving wheels, the bottom parts of the crawler frame are uniformly and fixedly provided with lower guide wheel set connecting bearings, the lower guide wheel set connecting bearings are rotatably connected with the lower guide wheel set mounting frame of the crawler in the vertical direction, the two ends of the lower guide wheel set mounting frame of the crawler are respectively rotatably provided with lower guide wheels of the crawler, the rubber crawler is sequentially sleeved on the upper guide wheels of the crawler, the driven crawler wheels, the lower guide wheels of the crawler and the upper guide wheels of the crawler driving wheels for rotating and linking, one end of a driving shaft of the crawler driving wheel fixedly arranged at the center of, the other end of the track driving wheel driving chain is connected with a track driving wheel driving chain wheel, the track driving wheel driving chain wheel is installed on an output shaft of a track driving wheel reducer, the track driving wheel reducer is connected with an output end of a track driving wheel driving motor and is installed on a track driving wheel driving motor base at the rear part of the rear permanent magnet wheel frame, permanent magnets are uniformly distributed and embedded on the rubber track, and a rubber layer is adhered on the permanent magnets.
Furthermore, the heightening motor and the permanent magnet wheel driving motor seat are symmetrically distributed around the center of the permanent magnet wheel frame and are respectively fixed on the inner sides of the left crawler frame and the right crawler frame.
Furthermore, the height between the bottom of the rubber crawler and the magnetic conduction wall surface is 5mm-10mm, when the rubber crawler moves on the flat magnetic conduction wall surface, the permanent magnet wheel driving wheel and the driven wheel are attracted to the wall surface to move, the movement can be flexible, the steering is convenient, when the rubber crawler encounters an obstacle or an uneven wall surface, the height-adjusting gear rotates to fold the four permanent magnet wheels, the rubber crawler is attracted to the wall surface to move, the attraction is firm, and the rubber crawler is not prone to overturning and falling.
Furthermore, the two ends of the installation frame of the lower guide wheel group of the crawler are respectively and rotatably provided with the lower guide wheels of the crawler, when the lower guide wheels of the crawler meet an obstacle or an uneven wall surface, the horizontal fall of the lower guide wheels of the front crawler and the lower guide wheels of the rear crawler can be realized, the gap between the rubber crawler and the wall surface is reduced, and the adsorption force between the rubber crawler and the wall surface is increased.
Furthermore, two ends of the driving motor seat of the crawler driving wheel are respectively fixed on the inner sides of the left and right crawler frames.
Compared with the prior art, the invention has the beneficial effects that:
the crawler-type and wheel-type moving mechanisms are combined, and move in a matched manner when walking on the magnetic conduction wall surface and the obstacles on the wall surface, so that the adsorption force, the load bearing capacity and the obstacle crossing capacity of the wall-climbing robot are increased in the moving process, the safety and the flexibility of walking over the obstacles are enhanced, the working efficiency is improved, and the working cost is saved. Specifically, the method comprises the following steps:
1. compared with the magnetic attraction wheel type wall climbing robot, the two tracks on the two sides are 5mm-10mm away from the magnetic conduction wall surface and are arranged in a suspending mode, the wall surface is attracted to the magnetic conduction wall surface through the four permanent magnet wheels to move, a differential driving mode is adopted, the moving is flexible, the turning is convenient, the problems that the magnetic attraction wheel type wall climbing robot is not easy to turn and scratch the wall surface and the like are solved, when an obstacle is encountered, the four permanent magnet wheels are folded through the rotation of the heightening gear, the tracks are attracted to the wall surface to move, the attraction is firm and not easy to overturn and fall off, and the attraction force between the robot and.
2. Two bearings of the lower crawler guide wheel are movably connected to the frame, one wheel is lifted and the other wheel is lowered when the lower crawler guide wheel crosses a barrier, the distance between the crawler and the magnetic conduction wall surface is reduced, and the adsorption force of the lower crawler guide wheel is larger.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a right-view structural diagram of the present invention.
Fig. 4 is a schematic structural view of the obstacle crossing mechanism of the magnetic crawler type wall-climbing robot of the present invention.
Fig. 5 is a schematic structural view of an obstacle crossing mechanism of the magnetic attraction wheel type wall climbing robot in the invention.
In fig. 2, 3, 4, 5: 1-a working mechanical arm; 2-a tension spring; 3-upper guide wheels of the caterpillar track; 4-permanent magnet blocks; 5-a rubber layer; 6-rubber track; 7-a crawler driving wheel; 8-a crawler frame; 9-the lower guide wheel set of the crawler belt is connected with a bearing; 10-crawler lower guide wheels; 11-a track drive wheel drive motor; 12-a track drive wheel reducer; 13-track drive wheel drive chain; 14-track drive wheel drive shaft;
15-permanent magnet wheel frame; 16-permanent magnet wheel driven wheel support; 17-left bevel gear; 18-permanent magnet wheel driven shaft; 181-permanent magnet wheel driven wheel; 19-a yoke; 20-permanent magnet ring; 21-rubber ring; 22-permanent magnet wheel drive wheel support; 23-right bevel gear; 24-permanent magnet wheel drive shaft; 241-permanent magnet wheel drive wheel; 25-heightening gear shaft; 26-height adjusting gear; 27-heightening the speed reducer; 28-heightening the motor; 29-permanent magnet wheel drive motor; 30-permanent magnet wheel drive wheel reducer; 31-permanent magnet wheel drive chain; 32-the heightening motor and the permanent magnet wheel drive the motor base; 33-track drive wheel drive motor base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings.
As shown in fig. 1-5, the obstacle crossing mechanism of the magnetic wheel-track type wall-climbing robot comprises permanent magnet wheel frames 15 which are horizontally arranged in parallel in front and back, wherein two sides of each permanent magnet wheel frame 15 are respectively and horizontally and fixedly provided with a track frame 8;
one end of a permanent magnet wheel driven wheel support 16 is rotatably arranged in the middle of a front permanent magnet wheel frame 15 through a bearing, the other end of the permanent magnet wheel driven wheel support is fixedly provided with a left helical gear 17, the bottom of the permanent magnet wheel driven shaft 18 is fixedly provided with a permanent magnet wheel driven wheel 181 through a bearing, the two ends of the permanent magnet wheel driven shaft 18 are respectively rotatably arranged in the middle of a rear permanent magnet wheel frame 15 through a bearing, the left helical gear 17 is meshed with one side of an heightening gear 26, the other side of the heightening gear 26 is meshed with a right helical gear 23, the right helical gear 23 is arranged at one end of a permanent magnet wheel driving wheel support 22, the other end of the heightening gear is rotatably arranged in the middle of the rear permanent magnet wheel frame 15 through a bearing, a permanent magnet wheel driving wheel 241 is rotatably arranged at the two ends of the permanent magnet wheel driving wheel 24, the permanent magnet wheel driving wheel, increasing the friction coefficient with the wall surface;
the heightening gear 26 is fixedly installed on one end of the heightening gear shaft 25, the other end of the heightening gear shaft 25 is sequentially connected with a heightening reducer 27 and a heightening motor 28, the heightening reducer 27 and the heightening motor 28 are fixedly installed on a heightening motor and permanent magnet wheel driving motor base 32, the heightening motor and permanent magnet wheel driving motor base 32 are symmetrically distributed around the middle part of the permanent magnet wheel frame 15 and are respectively fixed on the inner sides of the left and right crawler frames 8, a working mechanical arm 1, a permanent magnet wheel driving motor 29 and a permanent magnet wheel driving wheel reducer 30 are further installed on the heightening motor and permanent magnet wheel driving motor base 32, one end of a permanent magnet wheel driving chain 31 is connected with the output end of the permanent magnet wheel driving wheel reducer 30, and the other;
a crawler driven wheel is rotatably arranged at the front part of the crawler frame 8, a crawler driving wheel 7 is rotatably connected at the rear part of the crawler frame, and the crawler driven wheel and the crawler driving wheel 7 are respectively meshed with the rubber crawler 6 through chain teeth for rotation;
the bottom of the crawler frame 8 is uniformly and fixedly provided with crawler lower guide wheel set connecting bearings 9, the crawler lower guide wheel set connecting bearings 9 are rotatably connected with the crawler lower guide wheel set mounting frame in the vertical direction, the two ends of the crawler lower guide wheel set mounting frame are respectively rotatably provided with crawler lower guide wheels 10, and when an obstacle or a concave-convex wall surface is encountered, the crawler lower guide wheel set connecting bearings 9 flexibly rotate, so that the front and rear crawler lower guide wheels 10 realize high-low fall, the gap between the rubber crawler 6 and the wall surface is reduced, the adsorption force between the rubber crawler 6 and the wall surface is increased, and stronger obstacle crossing capability is achieved;
the rubber crawler belt 6 is sequentially sleeved on the upper guide wheel 3, the driven wheel, the lower guide wheel 10 and the crawler belt driving wheel 7 and is in rotating connection, one end of a crawler belt driving wheel driving shaft 14 fixedly arranged at the center of the crawler belt driving wheel 7 extends towards the side of the permanent magnet wheel frame 15 and is provided with a crawler belt driving wheel driven sprocket, the crawler belt driving wheel driven sprocket is connected with one end of a crawler belt driving wheel driving chain 13, the other end of the crawler belt driving wheel driving chain 13 is connected with the crawler belt driving wheel driving sprocket, the crawler belt driving wheel driving sprocket is arranged on an output shaft of a crawler belt driving wheel reducer 12, an input shaft of the crawler belt driving wheel reducer 12 is connected with an output shaft of, and are all installed on the caterpillar driving wheel driving motor base 33 at the rear part of the permanent magnet wheel frame 15, and both ends of the caterpillar driving wheel driving motor base 33 are respectively fixed at the inner sides of the left and right caterpillar frames 8;
The height of the bottom of the rubber crawler belt 6 and the magnetic conduction wall face is 5mm-10mm, when the rubber crawler belt moves on the flat magnetic conduction wall face, the permanent magnet wheel driving wheel and the driven wheel are adsorbed on the wall face to move, the movement is flexible, the steering is convenient, when the rubber crawler belt meets an obstacle or an uneven wall face, the heightening gear 26 rotates to pack up the four permanent magnet wheels, the rubber crawler belt 6 is adsorbed on the wall face to move, the adsorption is firm, and the overturning and falling are not easy to occur.
The above-mentioned embodiments are illustrative and not restrictive, and equivalents of those skilled in the art and other modifications made based on the prior art are intended to be included within the scope of the claims of the present invention without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a magnetism wheel-tracked wall climbing robot hinders mechanism more which characterized in that: the obstacle crossing mechanism comprises a permanent magnet wheel frame (15) which is horizontally arranged in parallel and is arranged in front and at the back, and two sides of the permanent magnet wheel frame (15) are respectively and horizontally fixedly provided with a crawler frame (8);
one end of a permanent magnet wheel driven wheel support (16) is rotatably arranged in the middle of a front permanent magnet wheel frame (15) through a bearing, the other end of the permanent magnet wheel driven wheel support is fixedly provided with a left helical gear (17), the bottom of the permanent magnet wheel driven shaft (18) is fixedly provided with a permanent magnet wheel driven shaft (181), two ends of the permanent magnet wheel driven shaft (18) are respectively rotatably arranged on a permanent magnet wheel driven wheel (181) through bearings, the left helical gear (17) is meshed with one side of a height-adjusting gear (26), the other side of the height-adjusting gear (26) is meshed with a right helical gear (23), the right helical gear (23) is arranged at one end of a permanent magnet wheel driving wheel support (22), the other end of the permanent magnet wheel driven wheel support is rotatably arranged in the middle of a rear permanent magnet wheel frame (15), the bottom of the permanent magnet wheel driving shaft, the permanent magnet ring (20) is embedded and sleeved outside the yoke iron (19), the rubber ring (21) is coated outside the permanent magnet ring (20), and the yoke iron (19) is embedded on the bearing outer rings of the driving wheel (241) and the driven wheel (181) of the permanent magnet wheel;
the heightening gear (26) is fixedly installed at one end of the heightening gear shaft (25), the other end of the heightening gear shaft (25) is sequentially connected with a heightening reducer (27) and a heightening motor (28), the heightening reducer (27) and the heightening motor (28) are fixedly installed on a heightening motor and permanent magnet wheel driving motor base (32), a permanent magnet wheel driving motor (29) and a permanent magnet wheel driving wheel reducer (30) are further installed on the heightening motor and permanent magnet wheel driving motor base (32), one end of a permanent magnet wheel driving chain (31) is connected with the output end of the permanent magnet wheel driving wheel reducer (30), and the other end of the permanent magnet wheel driving chain is connected with a permanent magnet wheel driving shaft (24;
the crawler belt driving device is characterized in that tensioning springs (2) are uniformly distributed on a crawler belt frame (8), upper guide wheels (3) of a crawler belt are rotatably arranged at the tops of the tensioning springs (2), a crawler belt driven wheel is rotatably arranged at the front part of the crawler belt frame (8), a crawler belt driving wheel (7) is rotatably connected at the rear part of the crawler belt frame, lower guide wheel set connecting bearings (9) are uniformly and fixedly arranged at the bottom of the crawler belt frame (8), the lower guide wheel set connecting bearings (9) of the crawler belt are rotatably connected with a lower guide wheel set mounting frame of the crawler belt in the vertical direction, lower guide wheels (10) of the crawler belt are rotatably arranged at the two ends of the lower guide wheel set mounting frame of the crawler belt respectively, a rubber crawler belt (6) is sequentially sleeved on the upper guide wheels (3), the crawler belt driven wheels, the lower guide wheels (10) of the crawler belt and the crawler belt driving wheel (7), track drive wheel driven sprocket is connected with track drive wheel drive chain (13) one end, track drive wheel drive chain (13) other end is connected with track drive wheel drive sprocket, track drive wheel drive sprocket is installed on the output shaft of track drive wheel reduction gear (12), track drive wheel reduction gear (12) are connected with track drive wheel driving motor (11), and all install on track drive wheel drive motor seat (33) at permanent magnet wheel frame (15) rear portion, the equipartition is inlayed and is had permanent magnetism piece (4) on rubber track (6), it has rubber layer (5) to paste on permanent magnetism piece (4).
2. The obstacle crossing mechanism of the magnetic wheel-track type wall-climbing robot as claimed in claim 1, characterized in that: the heightening motor and the permanent magnet wheel driving motor seats (32) are symmetrically distributed around the middle part of the permanent magnet wheel frame (15) and are respectively fixed on the inner sides of the left and right crawler frames (8).
3. The obstacle crossing mechanism of the magnetic wheel-track type wall-climbing robot as claimed in claim 1 or 2, wherein: the height-adjusting motor and the permanent magnet wheel driving motor seat (32) are also provided with a working mechanical arm (1).
4. The obstacle crossing mechanism of the magnetic wheel-track type wall-climbing robot as claimed in claim 1, characterized in that: the height of the bottom of the rubber track (6) and the magnetic conduction wall surface is 5mm-10mm, when the rubber track moves on the flat magnetic conduction wall surface, the permanent magnet wheel driving wheel and the driven wheel are adsorbed on the wall surface to move, the movement is flexible, the steering is convenient, when the rubber track meets an obstacle or an uneven wall surface, the height-adjusting gear (26) rotates to pack up the four permanent magnet wheels, the rubber track (6) is adsorbed on the wall surface to move, the adsorption is firm, and the rubber track is not easy to overturn and fall off.
5. The obstacle crossing mechanism of the magnetic wheel-track type wall-climbing robot as claimed in claim 1, characterized in that: the input shaft of the crawler driving wheel reducer (12) is connected with the output shaft of the crawler driving wheel driving motor (11) through a flange by a bolt.
6. The obstacle crossing mechanism of the magnetic wheel-track type wall-climbing robot as claimed in claim 1, characterized in that: two ends of the crawler driving wheel driving motor seat (33) are respectively fixed on the inner sides of the left and right crawler frames (8).
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| CN201810402460.5A CN108482503B (en) | 2018-04-28 | 2018-04-28 | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot |
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| CN201810402460.5A CN108482503B (en) | 2018-04-28 | 2018-04-28 | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot |
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| CN108482503B true CN108482503B (en) | 2020-07-24 |
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| CN113443028A (en) * | 2020-03-24 | 2021-09-28 | 苏州捷利易农科技有限公司 | Heavy-load chassis of pesticide applying robot |
| CN113002652A (en) * | 2021-03-16 | 2021-06-22 | 昆明理工大学 | Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof |
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| CN108482503A (en) | 2018-09-04 |
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