CN108749944A - A kind of active pawl for climbing robot pierces foot - Google Patents
A kind of active pawl for climbing robot pierces foot Download PDFInfo
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- CN108749944A CN108749944A CN201810762171.6A CN201810762171A CN108749944A CN 108749944 A CN108749944 A CN 108749944A CN 201810762171 A CN201810762171 A CN 201810762171A CN 108749944 A CN108749944 A CN 108749944A
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- vola
- seat
- foot
- pawl
- spring beam
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- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 239000004677 Nylon Substances 0.000 claims description 3
- 239000004698 Polyethylene Substances 0.000 claims description 3
- 239000003365 glass fiber Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- -1 polyethylene Polymers 0.000 claims description 3
- 229920000573 polyethylene Polymers 0.000 claims description 3
- 241000270295 Serpentes Species 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims 1
- 229910045601 alloy Inorganic materials 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 11
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 7
- 238000005452 bending Methods 0.000 description 3
- 239000000306 component Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000003795 desorption Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000004804 winding 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of active pawls for climbing robot to pierce foot, it is related to climbing robot technical field, including being used to support fixed vola seat, vola seat is connected to the leg structure end of robot by connection structure, each spring beam is parallel to be set in the seat of vola, and spring beam front end is in cantilever-shaped, is stretched out by vola seat front opening, end is affixed on the backboard of vola seat, and each pawl thorn is respectively fixedly connected in the front end of each spring beam；The upper and lower surface of spring beam first half is equipped with marmem.Function and Telescopic is actively desorbed using marmem driving realization pawl thorn in the present invention, wall ability is climbed on hydraulically rough surface by enhancing robot, the fracture damage for effectively avoiding pawl from piercing, robot is improved in level walking and climbs the motion fitness under a variety of environment such as wall, marmem is light-weight, small, more conducively realizes the miniaturization and lightweight of pawl thorn foot.
Description
Technical field
The present invention relates to climbing robot technical fields, and in particular to a kind of sufficient structure of pawl thorn for climbing robot.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Robot is in necks such as production industry, construction industries
Domain is used widely, be especially commonly used for assist or substitute the mankind carry out dangerous operation or the region that the mankind can not reach into
Row operation.
Climbing robot is type common in robot.Traditional climbing robot is adsorbed using electromagnetic adsorption, air pressure
The methods of obtain climbing ability, be widely used to wall surface detection with safeguard etc. application scenarios.However, electromagnetic adsorption climbs wall machine
Device people in permeability magnetic material surface creep, can only be carried out using passive type sucker negative-pressure adsorption climbing robot be difficult to it is concave-convex not
Air-tightness is kept on flat hydraulically rough surface.For the hydraulically rough surface being widely present in nature and human habitat, people is studied
Member pierces foot by the leg and pawl for observing insect, uses for reference their physiology and appearance and structure feature, has carried out pawl thorn formula polypody and has climbed
The research work of wall robot, and achieve certain phasic results.
Core component of the pawl thorn foot as climbing robot, the quality of structure design will directly affect climbing robot
Overall performance.Single or multiple pawls thorn laid out in parallel is generally fixed on the end of leg structure by existing climbing robot, is led to
Climbing motion is realized in the alternating movement for crossing leg.There are following two points deficiencies for current most pawls thorn foot：(1) the pawl transfixation of foot
The exposed salient point that can just catch on hydraulically rough surface is often needed to complete climbing upwards, but exposed pawl thorn can but cause to walk on level land
Inconvenience, that is to say, that, it is difficult to while good satisfaction climbs wall and pacifically walks two different motion states；(2) it is climbing
When, small pawl thorn is easy to be embedded into hydraulically rough surface, due to lacking effective active desorption measure, passive hard desorption
It can frequently result in deformation or even the fracture damage of pawl thorn.(3) the existing sufficient generally use motor driving of active pawl thorn, and it is electric
The volume and weight of machine is larger, is unfavorable for the miniaturization and lightweight of pawl thorn foot.
By patent and these retrieval, there are following known technical solutions：
Bibliography 1：
《Biologically Inspired Climbing with a Hexapedal Robot》(M.J.Spenko,
2008)；
Bibliography 2：
《Rapid Pole Climbing with a Quadrupedal Robot》(G.Clark Haynes,2009)；
Bibliography 3：
《Pawl pierces formula climbing robot bionic principle and system research》(Liu Yanwei, 2015).
Through the above search, it has been found that above technical scheme does not influence the novelty of the present invention；And document above
It is combined with each other the creativeness without destroying the present invention.
Invention content
The present invention is provided and a kind of being used for wall-climbing device precisely in order to avoid above-mentioned existing deficiencies in the technology
The active pawl thorn foot of people.
The present invention is to solve technical problem to adopt the following technical scheme that：A kind of active pawl for climbing robot pierces
Foot, including it is used to support fixed vola seat, the vola seat is connected to the leg structure of the robot by connection structure
End, each spring beam is parallel to be set in the seat of the vola, and the spring beam front end is in cantilever-shaped, by vola seat front opening
It stretches out, end is affixed on the backboard of the vola seat, and each pawl thorn is respectively fixedly connected in the front end of each spring beam；The elasticity
The upper and lower surface of beam first half is equipped with marmem.
Further, in the middle part of connection structure it is connecting plate, the connecting plate both sides, which extend outwardly, is molded tie-beam, the company
It connects beam end and sets tie-beam column pin hole；The middle part connecting portion is above the top plate of vola seat, with the top panel turns
The leg structure end of the robot is connected and is connected to, the top plate both ends correspond to the position pair of the tie-beam column pin hole
Claim arc-shaped row that each top plate column pin hole is set, two pins are connected in a pair of corresponding tie-beam column pin hole and top plate pin respectively
In hole, the relative rotation for limiting the interconnecting piece and vola seat.
Further, the marmem is in filament, snakelike to be arranged in the upper of the spring beam first half
Surface and lower surface, the snakelike side plate for extending perpendicularly to the vola seat.
Further, vola seat in cavity on the upside of front end and the cavity body structure of front openings, laying and side
The cavity of vola seat is divided into each mounting groove by the parallel each support plate of wall, each support plate, and each spring beam is set respectively
In in each mounting groove.
Further, pawl puncture tip end and the foot base plate distance h meet formula：
Wherein, L and d is respectively the length and thickness of the spring beam, and ε is that the maximum remnants of the marmem are answered
Become.
Further, the latter half of the spring beam is serpentine configuration, and the serpentine configuration extends perpendicularly to
The backboard.
Further, the spring beam is made of polyethylene, glass fibre or nylon.
Further, at least one pawl thorn of the spring beam front end connection.
Further, the width of the mounting groove is 1.1~1.5 times of the spring beam.
Further, the serpentine-like structure of the tie-beam.
The present invention provides a kind of active pawls for climbing robot to pierce foot, has the advantages that：
1, function is actively desorbed using marmem driving realization pawl thorn, enhancing robot is on hydraulically rough surface
Wall ability is climbed, the fracture damage for effectively avoiding pawl from piercing；
2, the Telescopic for realizing pawl thorn is driven using marmem, improves robot in level walking and climbs wall
Etc. the motion fitness under a variety of environment；
3, axis and pawl the thorn face of connection structure are in a certain angle, improve stressing conditions when pawl thorn foot climbs wall, improve pawl
Thorn and grab attached efficiency；
4, compared to motor or steering engine, marmem is in the form of sheets and Filamentous, light-weight, small, more conducively in fact
The miniaturization and lightweight of existing pawl thorn foot.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the left view sectional view of the present invention；
Fig. 3 is the flexural deformation schematic diagram of spring beam of the present invention；
Fig. 4 is the vertical view of the present invention；
Fig. 5 is the movement force analysis figure of the present invention.
In figure：
1, vola seat, 11, backboard, 12, side plate, 13, support plate, 14, top plate, 15, top plate column pin hole, 16, mounting groove；2, bullet
Property beam；3, marmem；4, pawl pierces；5, connection structure, 51, connecting plate, 52, tie-beam, 53, tie-beam column pin hole；6,
Pin；7, leg structure.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, shall fall within the protection scope of the present invention.
As shown in fig. 1~fig. 5, structural relation is：Including being used to support fixed vola seat 1, vola seat 1 passes through connection
Structure 5 is connected to the leg structure end of robot, and each spring beam 2 is parallel to be set in vola seat 1, and 2 front end of spring beam is in cantilever
Shape is stretched out by vola 1 front opening of seat, and end is affixed on the backboard 11 of vola seat 1, and each pawl thorn 4 is respectively fixedly connected in each elasticity
The front end of beam 2；The upper and lower surface of 2 first half of spring beam is equipped with marmem 3, marmem 3 with
Power supply is electrically connected.
Preferably, 5 middle part of connection structure is connecting plate 51, and 51 both sides of connecting plate, which extend outwardly, is molded tie-beam 52, connection
52 end of beam sets tie-beam column pin hole 53；Middle part interconnecting piece 51 is located at 14 top of top plate of vola seat 1, is rotatablely connected with top plate 14
And it is connected to the leg structure end of robot, the arc-shaped row of positional symmetry that 14 both ends of top plate are correspondingly connected with beam column pin hole 53 are set
Each top plate column pin hole 15 is set, two pins 6 are connected in respectively in a pair of corresponding tie-beam column pin hole 53 and top plate column pin hole 15,
Relative rotation for limiting interconnecting piece 5 and vola seat 1.
Preferably, marmem 3 is in filament, and the snakelike upper surface for being arranged in 2 first half of spring beam is under
Surface, the snakelike side plate 12 for extending perpendicularly to vola seat 1.
Preferably, vola seat 1 is on the upside of front end and the cavity body structure of front openings, is laid in cavity parallel with side wall
Each support plate 13, each support plate 13 by vola seat 1 cavity be divided into each mounting groove 16, each spring beam 2 is respectively arranged on each mounting groove
In 16, the winding damage of each spring beam 2 is prevented, meanwhile, each support plate 13 has certain flexible support effect.
Preferably, pawl pierces 4 tips and vola a 1 bottom plate distance h and meets formula：
Wherein, L and d is respectively the length and thickness of spring beam 2, and ε is the maximum overstrain of marmem 3.
Preferably, the latter half of spring beam 2 is serpentine configuration, and serpentine configuration extends perpendicularly to backboard 11, snake
Shape structure increases the lateral flexibility of spring beam 2, reduces damage of the lateral pull to spring beam 2.
Preferably, 52 serpentine-like structure of tie-beam has certain flexible connection effect, works as a buffer.
Preferably, 2 front end of spring beam connects at least one pawl thorn 4.
Preferably, the width of mounting groove 16 is 1.1~1.5 times of spring beam 2, and spring beam 2 is made to have enough Free Transforms
Space, while preventing spring beam 2 from fractureing because deformation is excessive.
Preferably, spring beam 2 is made of polyethylene, glass fibre or nylon.
The material of spring beam 2 should have suitable elasticity modulus, be unlikely to bend when marmem 3 is shunk
Unstability.According to deflection of beam mechanical model, when the contraction strain of marmem 3 is bigger, the bending angle of spring beam 2 is got over
Greatly, bending angle θ can approximate representation be：
Further, the distance h of the distance between two tips vola seat 1 of pawl thorn 4 should be located in the Bending Deformation of spring beam 2：
0 < h < Ltan θ；
Rule of thumb, the optimum valuing range of distance h is：
When specifically used, the leg structure 7 of robot is driven using four-bar mechanism, and driving claw thorn foot is all in the horizontal plane
Phase swings.
When climbing wall movement, 3 electrified regulation of marmem for being located at 2 lower surface of spring beam generates contraction distortion, makes
Spring beam 2 is bent downwardly, and then is made 4 contact wall surface of pawl thorn and grabbed attached.When 4 insertion wall surface of pawl thorn is difficult to be desorbed, it is located at elasticity
3 electrified regulation of marmem of 2 upper surface of beam generates contraction distortion, and spring beam 2 is made to be bent upwards, and then makes 4 master of pawl thorn
Dynamic desorption.
When Robot is walked, pawl thorn 4 is in vacant state, is not contacted with ground.
The fortune merits and demerits journey of pawl thorn foot is divided into two parts：Backswing phase and grab attached phase.Backswing is mutually that pawl thorn is sufficient from movement locus
End returns to the process of initial origin, this process pawl thorn foot is in light condition.It is that pawl thorn foot catches on wall surface salient point to grab attached phase, electricity
The process that machine driving machine human body is moved along, this process pawl thorn foot provide driving pulling force F to climb wall movement.Drive pulling force F
Including vertical component Fv=cos α and cross stream component Fh=sin α, wherein FvDirection it is identical as the wall direction of motion is climbed, for effectively make
Firmly, FhIt is vertical with the wall direction of motion is climbed, it is invalid active force, should minimizes.
To increase the useful effect component F of driving pulling force F as possiblev, connection structure 5 is designed as the adjustable structure of axis.In
Portion's interconnecting piece 51 is rotatablely connected with top plate 14, and is fixed by tie-beam column pin hole 53, top plate column pin hole 15 and pin 6.Pass through
Change the tie-beam column pin hole 53 and top plate column pin hole 15 that pin 6 is clamped, can be connected with the axis of adjustment connecting structure 5 and pawl thorn 4
The angle δ of line and then the direction angle alpha for changing active force.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of active pawl for climbing robot pierces foot, including is used to support fixed vola seat (1), the vola seat
(1) the leg structure end of the robot is connected to by connection structure (5), it is characterised in that：Each spring beam (2) is parallel to be set
In in vola seat (1), spring beam (2) front end is in cantilever-shaped, is stretched out by vola seat (1) front opening, end
It is affixed on the backboard (11) of the vola seat (1), each pawl thorn (4) is respectively fixedly connected in the front end of each spring beam (2)；It is described
The upper and lower surface of spring beam (2) first half is equipped with marmem (3).
2. a kind of active pawl for climbing robot according to claim 1 pierces foot, it is characterised in that：Connection structure
(5) middle part is connecting plate (51), and connecting plate (51) both sides, which extend outwardly, is molded tie-beam (52), tie-beam (52) end
End sets tie-beam column pin hole (53)；The middle part interconnecting piece (51) is located above the top plate (14) of vola seat (1), and described
Top plate (14) is rotatablely connected and is connected to the leg structure end of the robot, and top plate (14) both ends correspond to the connection
Each top plate column pin hole (15) is arranged in the arc-shaped row of positional symmetry of beam column pin hole (53), and two pins (6) are connected in correspondence respectively
Tie-beam column pin hole (53) and top plate column pin hole (15) in, the phase for limiting the interconnecting piece (5) and the vola (1)
To rotation.
3. a kind of active pawl for climbing robot according to claim 1 pierces foot, it is characterised in that：The shape
Memorial alloy (3) is in filament, the snakelike upper and lower surface for being arranged in the spring beam (2) first half, the snake
The side plate (12) for extending perpendicularly to the vola seat (1) of shape.
4. piercing foot according to a kind of active pawl for climbing robot described in claim 1, it is characterised in that：The vola seat
(1) it is on the upside of front end and the cavity body structure of front openings, each support plate (13) parallel with side wall is laid in cavity, it is each described
The cavity of vola seat (1) is divided into each mounting groove (16) by support plate (13), and each spring beam (2) is respectively arranged on each described
In mounting groove (16).
5. piercing foot according to a kind of active pawl for climbing robot described in claim 1, it is characterised in that：The pawl thorn
(4) tip and the vola seat (1) bottom plate distance h meet formula：
Wherein, L and d is respectively the length and thickness of the spring beam (2), and ε is that the maximum of the marmem (3) is remaining
Strain.
6. a kind of active pawl for climbing robot according to claim 1 pierces foot, it is characterised in that：The elasticity
The latter half of beam (2) is serpentine configuration, and the serpentine configuration extends perpendicularly to the backboard (11).
7. a kind of active pawl for climbing robot according to claim 1 pierces foot, it is characterised in that：The elasticity
Beam (2) is made of polyethylene, glass fibre or nylon.
8. piercing foot according to a kind of active pawl for climbing robot described in claim 1, it is characterised in that：The spring beam
(2) at least one pawl thorn (4) of front end connection.
9. piercing foot according to a kind of active pawl for climbing robot described in claim 4, it is characterised in that：The mounting groove
(16) width is 1.1~1.5 times of the spring beam (2).
10. a kind of active pawl for climbing robot according to claim 2 pierces foot, it is characterised in that：The company
Connect beam (52) serpentine-like structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810762171.6A CN108749944B (en) | 2018-07-12 | 2018-07-12 | Active claw thorn foot for wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810762171.6A CN108749944B (en) | 2018-07-12 | 2018-07-12 | Active claw thorn foot for wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108749944A true CN108749944A (en) | 2018-11-06 |
| CN108749944B CN108749944B (en) | 2024-01-26 |
Family
ID=63973516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810762171.6A Active CN108749944B (en) | 2018-07-12 | 2018-07-12 | Active claw thorn foot for wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108749944B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228541A (en) * | 2019-05-08 | 2019-09-13 | 西安理工大学 | A kind of pawl thorn is to grabbing formula crawler belt climbing robot |
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|---|---|---|---|---|
| JP2004050379A (en) * | 2002-07-23 | 2004-02-19 | Mitsubishi Heavy Ind Ltd | Robot hand |
| JP2013018105A (en) * | 2011-07-14 | 2013-01-31 | Kanto Gakuin | Robot |
| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN107323555A (en) * | 2017-05-22 | 2017-11-07 | 南京航空航天大学 | The sufficient climbing robot of Alcula type six and its movement technique |
| CN208484758U (en) * | 2018-07-12 | 2019-02-12 | 中国科学院合肥物质科学研究院 | A kind of active pawl thorn foot for climbing robot |
-
2018
- 2018-07-12 CN CN201810762171.6A patent/CN108749944B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004050379A (en) * | 2002-07-23 | 2004-02-19 | Mitsubishi Heavy Ind Ltd | Robot hand |
| JP2013018105A (en) * | 2011-07-14 | 2013-01-31 | Kanto Gakuin | Robot |
| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN107323555A (en) * | 2017-05-22 | 2017-11-07 | 南京航空航天大学 | The sufficient climbing robot of Alcula type six and its movement technique |
| CN208484758U (en) * | 2018-07-12 | 2019-02-12 | 中国科学院合肥物质科学研究院 | A kind of active pawl thorn foot for climbing robot |
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| Title |
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| AARON PARNESS: "Gravity-independent Rock-climbing Robot and a Sample Acquisition Tool with Microspine Grippers", JOURNAL OF FIELD ROBOTICS, vol. 30, no. 6, pages 897 - 915 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110228541A (en) * | 2019-05-08 | 2019-09-13 | 西安理工大学 | A kind of pawl thorn is to grabbing formula crawler belt climbing robot |
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|---|---|
| CN108749944B (en) | 2024-01-26 |
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