CN108502043A - It is strong to squeeze adsorbed wall-climbing robot - Google Patents
It is strong to squeeze adsorbed wall-climbing robot Download PDFInfo
- Publication number
- CN108502043A CN108502043A CN201810400582.0A CN201810400582A CN108502043A CN 108502043 A CN108502043 A CN 108502043A CN 201810400582 A CN201810400582 A CN 201810400582A CN 108502043 A CN108502043 A CN 108502043A
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- China
- Prior art keywords
- main body
- wall
- magnet
- climbing robot
- bottom plate
- Prior art date
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Links
- 239000000696 magnetic material Substances 0.000 claims abstract description 7
- 230000035699 permeability Effects 0.000 claims abstract description 7
- 229920001971 elastomer Polymers 0.000 claims abstract description 6
- 238000010521 absorption reaction Methods 0.000 claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 229920003225 polyurethane elastomer Polymers 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 2
- DEGLFTVQHFLGRC-UHFFFAOYSA-N [B].[Fe].[Nd].[Fe] Chemical group [B].[Fe].[Nd].[Fe] DEGLFTVQHFLGRC-UHFFFAOYSA-N 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 26
- 238000001179 sorption measurement Methods 0.000 abstract description 14
- 238000012360 testing method Methods 0.000 abstract description 6
- 235000009854 Cucurbita moschata Nutrition 0.000 abstract description 5
- 240000001980 Cucurbita pepo Species 0.000 abstract description 5
- 235000009852 Cucurbita pepo Nutrition 0.000 abstract description 5
- 235000020354 squash Nutrition 0.000 abstract description 5
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 230000005489 elastic deformation Effects 0.000 abstract description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004224 protection Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a kind of strong extruding adsorbed wall-climbing robots, including at least bottom plate main body made of permeability magnetic material, arrangement is equipped with several magnets in main body, and one of each magnet magnetic pole is respectively facing the bottom plate of main body, and the magnetic pole of each magnet towards the bottom plate of main body is homopolarity setting；Main body bottom end arrangement is equipped with driving wheel, and driving wheel correspondence is sequentially connected with power plant, and main body bottom end is also rotatablely equipped with universal wheel；Driving wheel and universal wheel are rubber wheel；The homopolarity of magnet is arranged towards the bottom plate of main body, farthest it is effectively utilized the magnetic force of magnetic line of force formation, it is equivalent to and squash type adsorption capacity is formd to main body, rubber wheel generates elastic deformation and greatly improves it and grab wall power between wall surface simultaneously, make main body be covered in securely to climb on wall surface, it can be adsorbed securely on vertical wall surface by testing this structure, realize each angle wall surface is creeped zero and fall off, improve the reliability and stability of climbing robot work.
Description
Technical field
The present invention relates to climbing robot technical fields, more particularly to a kind of strong extruding adsorbed wall-climbing robot.
Background technology
Climbing robot is also known as wall-surface mobile robot, and being one kind can climb on vertical wall surface and complete related work
The automatic machinery people of industry, can be used for the defect detecting test of various large scale equipment inner walls, plane paint, ball blast, spray painting or metal surface its
Its process is cleaned or is sprayed to the wall surface of building or hull, and inspection thickness measuring operation is carried out in nuclear industry
Deng since vertical walls operation belongs to limit operation scope, climbing robot is also referred to as limit operation robot.Make at present
Climbing robot mainly has following two：
One, crawler-type wall climbing robot, this kind of climbing robot is disposed with magnet piece in the space that crawler belt surrounds, in magnetic
Under the action of iron block, crawler belt is made to be adsorbed on wall surface.The disadvantage is that after crawler belt is installed on climbing robot both sides, its is increased
Own wt is turned under meeting under self gravitation effect and is fallen off, therefore stability in use is poor when wall surface is more than certain angle.
Have magnet arrangements in track outer surface, the climbing robot of this structure when walking, especially in robot both ends crawler belt
When commutation, due to the presence of magnet block, make to be formed with certain gap between crawler belt and wall surface, be unfavorable for robot and wall surface it
Between absorption, and magnetic patch is directly contacted with wall surface, and the adsorption capacity between wall surface causes frictional force excessive, can excessive consumption climb
The kinetic energy of wall robot.
Two, wheeled climbing robot, this kind of climbing robot, which is arranged to be equipped on body, climbs wall wheel, climbs uniformly distributed in wall wheel
There is magnet piece, and magnet piece is the poles N, the poles S are staggered, the magnetic line of force generated between adjacent two blocks of magnet acts on wall surface,
And then wall wheel will be climbed and be adsorbed on wall surface, it can be seen that reduced the availability of magnet, in addition climb wall wheel and contacted with wall surface
Area is smaller, and the adsorption capacity for climbing wall wheel can be also influenced when the gap of very little occurs in wall surface, and then absorption is caused to fail, and makes to climb wall
Robot falls off.
And above-mentioned various climbing robots are chain drive or gear drive, power is small, turning radius is big, based on above each
The defect of kind climbing robot, it is necessary to which the various aspects such as magnet arrangements, the type of drive of climbing robot are improved.
Invention content
Technical problem to be solved by the invention is to provide a kind of strong adsorption force, turn to flexible strong extruding adsorbed wall-climbing
Robot.
In order to solve the above technical problems, the technical scheme is that：It is strong to squeeze adsorbed wall-climbing robot, including at least
Bottom plate main body made of permeability magnetic material, the interior arrangement of the main body are equipped with several magnets, one of each described magnet magnetic
Pole is respectively facing the bottom plate of the main body, and the magnetic pole of bottom plate of each magnet towards the main body is homopolarity setting；Institute
It states main body bottom end arrangement and driving wheel is installed, the power dress of drive connection corresponding with the driving wheel is packaged in the main body
It sets, the main body bottom end is also rotatablely equipped with universal wheel；The driving wheel and the universal wheel are rubber wheel.
It is also equipped in the main body as a preferred technical solution, and the main body is assisted to be detached from the absorption that wall surface is detached from
Device.
The absorption release unit includes at least one electromagnetism being mounted in the main body as a preferred technical solution,
Mandril or/and hydraulic mandril, the bottom plate of the main body is equipped with to be led to for what the electromagnetism mandril or/and the hydraulic mandril stretched out
Hole.
The magnet is set as permanent magnet as a preferred technical solution,.
The permanent magnet is ndfeb magnet as a preferred technical solution,.
The magnet is set as electromagnet as a preferred technical solution, and the electromagnet is electrically connected to the power dress
It sets.
The power plant includes the driving motor being fixedly mounted in the main body, institute as a preferred technical solution,
It states and is in series with electric machine controller on the current supply line of driving motor, the line shaft of the driving motor is connected to institute by speed reducer
State driving wheel.
The driving wheel and the universal wheel are respectively set to polyurethane rubber wheel as a preferred technical solution,.
The magnet is not more than towards the distance between the bottom plate side of the main body and wall surface as a preferred technical solution,
2cm。
It is also packaged in the main body as a preferred technical solution, and climbs wall controller, peace is rotated in the main body wall
Equipped with the starting switch climbed wall controller and be electrically connected, be equipped with the remote controler that is used cooperatively with the wall controller of climbing.
By adopting the above-described technical solution, adsorbed wall-climbing robot is squeezed by force, including at least bottom plate is by permeability magnetic material
Manufactured main body, the interior arrangement of the main body are equipped with several magnets, and one of each described magnet magnetic pole is respectively facing described
The bottom plate of main body, and the magnetic pole of bottom plate of each magnet towards the main body is homopolarity setting；The main body bottom end arrangement
Driving wheel is installed, the power plant of drive connection corresponding with the driving wheel, the main body bottom end are packaged in the main body
Also it is rotatablely equipped with universal wheel；The driving wheel and the universal wheel are rubber wheel；The beneficial effects of the invention are as follows：The magnetic line of force
Magnetic force is most strong when extremely being come out from the one of magnet, can be gradually weak after permeability magnetic material, by the homopolarity of magnet towards main body
Bottom plate setting, be farthest effectively utilized the magnetic line of force formation magnetic force, during main body is adsorbed onto wall surface, phase
When in foring squash type adsorption capacity to main body, under squash type adsorption force, rubber wheel generates elastic deformation and carries significantly
High its grabs wall power between wall surface, and so that main body is covered in securely and climb on wall surface, even if by testing this structure perpendicular
It can also be adsorbed securely on straight wall surface, realize each angle wall surface is creeped zero and fall off, improve climbing robot work
Reliability and stability.
Description of the drawings
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is that the embodiment of the present invention removes the vertical view after the cover board of main body；
Fig. 3 is arrangement schematic diagram of the poles magnet N of the embodiment of the present invention towards wall surface；
Fig. 4 is arrangement schematic diagram of the poles magnet S of the embodiment of the present invention towards wall surface；
In figure：1- main bodys；2- climbs wall controller；3- starting switches；4- magnets；5- electromagnetism mandrils；6- through-holes；7- drives
Wheel；8- universal wheels；9- conducting wires；10- driving motors；11- electric machine controllers；12- speed reducers.
Specific implementation mode
With reference to the accompanying drawings and examples, the present invention is further explained.In the following detailed description, only pass through explanation
Mode describes certain exemplary embodiments of the present invention.Undoubtedly, those skilled in the art will recognize,
In the case of without departing from the spirit and scope of the present invention, described embodiment can be repaiied with a variety of different modes
Just.Therefore, attached drawing and description are regarded as illustrative in nature, and are not intended to limit the scope of the claims.
As depicted in figs. 1 and 2, adsorbed wall-climbing robot is squeezed by force, including at least bottom plate is main made of permeability magnetic material
Body 1, the main body 1 are equipped with the conventional components such as shell, cover board, are also packaged in the main body 1 and climb wall controller 2, the main body 1
Be rotatablely equipped on side wall with the starting switch 3 climbed wall controller 2 and be electrically connected, with it is described climb wall controller 2 be equipped with cooperation
The remote controler used.It is described to climb the peripheral incorporated protections part such as including microprocessor of wall controller 2, it is this technology neck with remote controler
Content in domain known to those of ordinary skill, is no longer described in detail herein.The starting switch 3 controls opening for climbing robot
It is dynamic, after climbing robot starts, the control of the functions such as its speed of service, direction, steering may be implemented by the remote controler, control
Processing procedure sequence etc. can be written to described and climb in wall controller 2 in advance.
Arrangement is equipped with several magnets 4, one of each described magnet 4 magnetic pole point in the main body 1 of the present embodiment
Not towards the bottom plate of the main body 1, and the magnetic pole of bottom plate of each magnet 4 towards the main body 1 is that homopolarity setting (overcomes
The technology prejudice that the poles N, the poles S are staggered in the prior art, the poles N, the poles S, which are staggered, be easy to cause the magnetic force of each magnet magnetic line of force
Loss)；As shown in figure 3, the side of the magnet 4 towards wall surface is disposed as the poles N, naturally it is also possible to be set as shown in Figure 4
State, i.e., the side of described magnet 4 towards wall surface is disposed as the poles S.The arrangement quantity of the magnet 4, arrangement
Suitably to be adjusted according to the size of the main body 1.The magnet 4 is set as permanent magnet, preferably with ndfeb magnet, neodymium
Iron boron magnets magnetism is most strong, and adsorption capacity is compared to larger.But this kind of 4 structure of magnet arrangement climbing robot due to suction it is larger,
After usage, it is removed also relatively elaborate from wall surface, therefore is also equipped with the auxiliary main body 1 in the main body 1
The absorption release unit being detached from wall surface, in order to take off climbing robot from wall surface.
Specifically, the absorption release unit includes at least one electromagnetism mandril 5 being mounted in the main body 1, described
The bottom plate of main body 1 is equipped with the through-hole 6 stretched out for the electromagnetism mandril 5.When the magnet 4 is set as permanent magnet, above structure
The permanent magnet of arrangement generates squash type adsorption capacity, and main body 1 is squeezed and is adsorbed on wall surface, makes the absorption of the main body 1 very
Securely, it can creep, and be not present since gravity is automatic on the wall surface at any angle of inclination by testing the present embodiment
The phenomenon that falling off.In addition, by the above-mentioned arrangement of the magnet 4, when gap occurs in wall surface, to the main body 1 and wall
Adsorption capacity between face will not have any influence, and the main body 1 will not be because of gap greatly and under falling off from the wall surface
Come.When 1 small volume of main body, the absorption release unit is set as the electromagnetism mandril 5, when 1 volume of the main body
When larger, the electromagnetism mandril 5 can be substituted using hydraulic mandril, to ensure that the main body 1 can smoothly fall off with wall surface,
The two can certainly be used cooperatively, can freely be adjusted according to the needs of client.
When use finishes, started by electromagnetism mandril 5 described in the remote control control, end passes through the through-hole 6
1 outside of the main body is extend into until being contacted with wall surface, with the stretching of the electromagnetism mandril 5, increases the main body 1 and wall
The increasing in the distance between face, distance makes the adsorption capacity between the main body 1 and wall surface become smaller gradually, until can easily by
The main body 1 is removed from wall surface, and using simple laborsaving, relay can be arranged between the electromagnetism mandril 5 and power supply
Equal control units realize the remote controler and the cooperation for climbing wall controller 2 in order to be connect with the wall controller 2 of climbing
Control.
Certainly, the magnet 4 may be set to be electromagnet, can equally reach and be adsorbed onto main body the last 1 extruding
On wall surface, the electromagnet is electrically connected to power plant, operating voltage is provided by the power plant for the electromagnet, in institute
Stating can be with control units such as series relay, to coordinate the break-make of remote control circuit in the supply line of electromagnet.
1 bottom end of main body arrangement is equipped with driving wheel 7, and the driving wheel 7 is corresponding with the power plant to be sequentially connected,
1 bottom end of the main body is also rotatablely equipped with universal wheel 8, and in the present embodiment, the driving wheel 7 is oppositely arranged two, described universal
Wheel 8 is also oppositely arranged two.In conjunction with shown in Fig. 3, the magnet 4 is towards the distance between the bottom plate side of the main body 1 and wall surface H
No more than 2cm.By test, when the distance between the surface of the magnet 4 and wall surface are less than 2cm, between the two strong crowded
Press adsorption effect best, the absorption of the main body 1 is most secured.In order to which the installation for adjusting the driving wheel 7 and the universal wheel 8 is high
Degree, the driving wheel 7 can be arranged in the both sides of the main body 1, and be correspondingly arranged wheel cover respectively, to ensure the main body 1
Whole systematicness, and the universal wheel 8 is arranged in the bottom end of the main body 1, and each described ten thousand are corresponded in the bottom end of the main body 1
The wheel body mounting groove being used cooperatively is equipped with to wheel 8, the universal wheel 8 is respectively positioned in the wheel body mounting groove, when ensureing to climb wall
The distance between the magnet 4 and wall surface are less than 2cm.The driving wheel 7 and the universal wheel 8 of the present embodiment are respectively set to
Polyurethane rubber wheel, by force squeeze adsorption capacity under the action of, the polyurethane rubber wheel can generate certain deformation, make its with
Wall surface contact area becomes larger, and reduces reaction force of the wall surface to the main body 1, so as to avoid suction losses, utmostly
Ground is effectively utilized the adsorption capacity of the generation of the magnet 4.
The power plant of the present embodiment includes the conducting wire 9 directly being connect with power supply, and the power supply can be with
220V household electricities are set as, the commercial power of 380V can also be used, conducting wire 9, which is electrically connected with, is fixedly mounted on the main body 1
Interior driving motor 10 is in series with electric machine controller 11, the driving motor 10 between the conducting wire 9 and the driving motor 10
Line shaft the driving wheel 7 is connected to by speed reducer 12.The conducting wire 9 is not only the driving motor 10 and the motor
Controller 11 provides electric energy, is also powered for consuming parts all in the main body 1.
Each driving motor of the present invention 10 is respectively equipped with the respective electric machine controller 11, by climbing wall control with described
The control of device 2 and the remote controler processed, may be implemented the driving motor 10 in the same direction or rotates backward.Such as when advancing, pass through
The remote controler selects advancement function, it is described climb the cooperation of wall controller 2 and the electric machine controller 11 under, realize described in two
Synchronizing for driving motor 10 rotates in same direction；When turning, turning function is selected by the remote controler, wall controller is climbed described
2 and the electric machine controller 11 cooperation under, control turn to outside the driving motor 10 rotate forward, turn to inside the drive
Dynamic motor 10 inverts, and under the cooperation of the universal wheel 8, realizes the pivot stud of climbing robot, keeps its turning radius small, more
Add flexibly, is more suitable for small space wall surface and creeps.
Present invention magnetic force when the magnetic line of force extremely comes out from the one of magnet 4 is most strong, can be gradually weak after permeability magnetic material,
Such as the N of magnet 4 is extremely arranged towards the bottom plate of main body 1, it is farthest effectively utilized the magnetic force of magnetic line of force formation,
It during main body 1 is adsorbed onto wall surface, is equivalent to and squash type adsorption capacity is formd to main body 1, main body 1 is enable to paste securely
It overlays on and climbs on wall surface, can be adsorbed securely on vertical wall surface by testing this structure, realize each angled wall
What face was creeped zero falls off, and improves the reliability and stability of climbing robot work.
The basic principles and main features and advantages of the present invention of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
- The last 1. squeezes adsorbed wall-climbing robot, it is characterised in that：It is described including at least bottom plate main body made of permeability magnetic material Arrangement is equipped with several magnets in main body, and one of each described magnet magnetic pole is respectively facing the bottom plate of the main body, and each The magnetic pole of the magnet towards the bottom plate of the main body is homopolarity setting；The main body bottom end arrangement is equipped with driving wheel, institute The power plant that drive connection corresponding with the driving wheel is packaged in main body is stated, the main body bottom end is also rotatablely equipped with universal Wheel；The driving wheel and the universal wheel are rubber wheel.
- 2. strong extruding adsorbed wall-climbing robot as described in claim 1, it is characterised in that：It is also equipped in the main body auxiliary The absorption release unit for helping the main body to be detached from wall surface.
- 3. strong extruding adsorbed wall-climbing robot as claimed in claim 2, it is characterised in that：The absorption release unit includes At least one electromagnetism mandril in the main body or/and hydraulic mandril, the bottom plate of the main body, which is equipped with, supplies the electromagnetism The through-hole that mandril or/and the hydraulic mandril stretch out.
- 4. strong extruding adsorbed wall-climbing robot as described in claim 1, it is characterised in that：The magnet is set as permanent magnetism Iron.
- 5. strong extruding adsorbed wall-climbing robot as claimed in claim 4, it is characterised in that：The permanent magnet is neodymium-iron-boron Iron.
- 6. strong extruding adsorbed wall-climbing robot as described in claim 1, it is characterised in that：The magnet is set as electromagnetism Iron, the electromagnet are electrically connected to the power plant.
- 7. strong extruding adsorbed wall-climbing robot as described in claim 1, it is characterised in that：The power plant includes fixing Driving motor in the main body is in series with electric machine controller, the driving on the current supply line of the driving motor The line shaft of motor is connected to the driving wheel by speed reducer.
- 8. the strong extruding adsorbed wall-climbing robot as described in claim 1 to 7 any claim, it is characterised in that：It is described Driving wheel and the universal wheel are respectively set to polyurethane rubber wheel.
- 9. strong extruding adsorbed wall-climbing robot as claimed in claim 8, it is characterised in that：The magnet is towards the main body Bottom plate side and the distance between wall surface be not more than 2cm.
- 10. strong extruding adsorbed wall-climbing robot as claimed in claim 9, it is characterised in that：It is also packaged in the main body Climb wall controller, be rotatablely equipped in the main body wall with the starting switch climbed wall controller and be electrically connected, climbed with described Wall controller is equipped with the remote controler being used cooperatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400582.0A CN108502043A (en) | 2018-04-28 | 2018-04-28 | It is strong to squeeze adsorbed wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400582.0A CN108502043A (en) | 2018-04-28 | 2018-04-28 | It is strong to squeeze adsorbed wall-climbing robot |
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| Publication Number | Publication Date |
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| CN108502043A true CN108502043A (en) | 2018-09-07 |
Family
ID=63399656
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| CN201810400582.0A Pending CN108502043A (en) | 2018-04-28 | 2018-04-28 | It is strong to squeeze adsorbed wall-climbing robot |
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| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN111497961A (en) * | 2020-04-26 | 2020-08-07 | 中船黄埔文冲船舶有限公司 | Electromagnetic adsorption type wall-climbing robot |
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| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN111497961A (en) * | 2020-04-26 | 2020-08-07 | 中船黄埔文冲船舶有限公司 | Electromagnetic adsorption type wall-climbing robot |
| CN111497961B (en) * | 2020-04-26 | 2022-03-08 | 中船黄埔文冲船舶有限公司 | Electromagnetic adsorption type wall-climbing robot |
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