CN108945142A - A kind of adjustable permanent magnetism gap adsorbent equipment of the adsorption capacity based on internal balance theory - Google Patents
A kind of adjustable permanent magnetism gap adsorbent equipment of the adsorption capacity based on internal balance theory Download PDFInfo
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- CN108945142A CN108945142A CN201810945568.9A CN201810945568A CN108945142A CN 108945142 A CN108945142 A CN 108945142A CN 201810945568 A CN201810945568 A CN 201810945568A CN 108945142 A CN108945142 A CN 108945142A
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- spring
- adsorption capacity
- permanent magnetism
- magnetism gap
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 56
- 230000005389 magnetism Effects 0.000 title claims abstract description 50
- 239000003463 adsorbent Substances 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 230000005291 magnetic effect Effects 0.000 claims abstract description 36
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 239000004411 aluminium Substances 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 6
- 230000009194 climbing Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000010405 clearance mechanism Effects 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000009711 regulatory function Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization 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
A kind of adjustable permanent magnetism gap adsorbent equipment of the adsorption capacity based on internal balance theory, including adsorption capacity regulating mechanism, permanent magnetism gap adsorbing mechanism and inner equilibrium spring mechanism；Adsorption capacity regulating mechanism is fixedly connected with robot body, and permanent magnetism gap adsorbing mechanism is placed in below robot body and connect with adsorption capacity regulating mechanism, and inner equilibrium spring mechanism is installed in below robot body, and is connect with permanent magnetism gap adsorbing mechanism.The present invention overcomes the unadjustable disadvantages of existing permanent magnetic adhesion device adsorption capacity, realize the adjusting of permanent magnetic adhesion device adsorption capacity；Using internal balance theory, while not influencing device absorption property, effectively limits adsorption capacity and adjust the driving moment needed.
Description
Technical field
The invention belongs to robotic technology fields.
Background technique
Adsorbent equipment is the core component for realizing climbing robot wall surface stabilization, safety work.Existing climbing robot is normal
Adsorbent equipment can be divided into negative-pressure adsorption and magnetic suck according to absorption principle, wherein permanent magnetic adhesion device is due to structure
The features such as small, adsorption capacity is big, without providing the energy, and be widely used by the climbing robot to work under ferromagnetic environment.
Existing permanent magnetic adhesion device mainly has permanent magnetism clearance-type, permanent magnetism wheeled and permanent magnetism crawler type, these permanent magnetic sucks
Device does not have adsorption capacity regulatory function usually, in order to make robot have enough load capacity carrying operation tools in wall surface
Stablize operation, the adsorption capacity needs of permanent magnetic adhesion device are designed sufficiently large, however excessive adsorption capacity will increase robot
Steering resistence, limit the flexibility of robot motion, and be unfavorable for robot and remove from wall surface.
Application number CN201310424613.3 describes " a kind of adjustable permanent magnetic suck gap adsorbent equipment of adsorption capacity ", passes through
Magnet regulation handle rotation cam changes the air gap between permanent magnetic adhesion device and magnetic conduction workpiece, to realize magnetic adsorbability
It adjusts.
Although the patent application realizes the adjusting of magnetic adsorbability, but its used magnetic circuit magnetic energy utilization rate is not high, magnetic
Adsorbent device volume is big, is only applicable to increase the adhesive force of robot, and is not suitable as the adsorbent equipment of climbing robot.
Application number CN201010289541.2 describes a kind of " adjustable climbing robot wheel type barrier-crossing machine of magnetic adsorbability
Structure " has been related to a kind of adjustable permanent magnetic adhesion device of magnetic adsorbability, controls permanent magnetic adhesion device and wall by screw body
The adjusting of magnetic adsorbability is realized in the distance between face.
Although the patent application realizes the adjusting of magnetic adsorption device adsorption capacity by screw body, adjusted in adsorption capacity
During, adsorption force can generate very big frictional force on nut between nut and screw rod, and with adsorption capacity
Increase, frictional force can also increase, this will require driving motor to need that there is sufficiently large driving moment frictional force to be overcome to realize silk
The driving of linkage is unfavorable for the lightness of climbing robot and small-sized to cause the weight and volume of driving motor larger
Change, while the energy consumption of robot can also be made to increase, reduces the cruise duration of robot.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes that a kind of adsorption capacity based on internal balance theory is adjustable
Permanent magnetism gap adsorbent equipment, the device can be realized the adjusting of magnetic adsorbability, and while not influencing device absorption property, energy
Enough effectively limitation magnetic adsorbabilities adjust required driving moment.
The present invention is achieved by the following technical solutions.
Permanent magnetism gap adsorbent equipment, including absorption is adjusted in a kind of adsorption capacity based on internal balance theory of the present invention
Power regulating mechanism, permanent magnetism gap adsorbing mechanism and inner equilibrium spring mechanism.Adsorption capacity regulating mechanism and the fixed company of robot body
It connects, permanent magnetism gap adsorbing mechanism is placed in below robot body and connect with adsorption capacity regulating mechanism, and inner equilibrium spring mechanism is solid
Loaded on robot body lower section, and it is connect with permanent magnetism gap adsorbing mechanism.
The adsorption capacity regulating mechanism includes screw mandrel shaft block, screw rod, locking nut and nut.Wherein: screw axis
Seat is held to be packed on robot body, screw rod one end is sleeved on screw mandrel shaft block, and locking nut is sleeved on screw rod, and with silk
Rod bearing seat is against nut is sleeved below screw rod, and is fixedly connected with permanent magnetism gap adsorbing mechanism.
The permanent magnetism gap adsorbing mechanism includes: two narrow permanent magnets, two wide permanent magnets, yoke, three every magnetic aluminium
Block, two support plates and two limit aluminium sheets.Wherein: two narrow permanent magnets are respectively placed in yoke bottom surface both side, it is two wide forever
Magnet is respectively placed in the middle part of yoke bottom surface, and three are respectively placed between aforementioned four permanent magnet every magnetic aluminium block and fix company with yoke
It connects, two support plates are respectively placed on the outside of two narrow permanent magnet and are fixedly connected with yoke, and two limit aluminium sheets are installed in respectively
Yoke rear and front end face.
The inner equilibrium spring mechanism includes: two connecting plates, four group of first spring mechanism and four groups of second spring machines
Structure.Wherein: two connecting plates are installed in the two sides below robot body respectively, and four group of first spring mechanism is installed in two respectively
The outside of a connecting plate, four groups of second spring mechanisms are installed in the inside of two connecting plates respectively.
First spring mechanism include: spring support seat I, spring guide I, spring I, spring III, spring bearer plate I with
And spring pressure bar I.Wherein: spring guide I is mounted in spring support seat I, and spring I is placed in spring guide I, and spring III is put
It is placed in inside spring I, spring bearer plate I is placed in I top of spring, and I one end of spring pressure bar is fixedly connected with spring bearer plate I, the other end
It is fixedly connected across spring III with the support plate in the adsorbing mechanism of permanent magnetism gap.
The second spring mechanism include: spring support seat II, spring guide II, spring II, spring bearer plate II and
Spring pressure bar II.Wherein: spring guide II is mounted in spring support seat II, and spring II is placed in spring guide II, spring
Pressing plate II is placed in the top of spring II, and is fixedly connected with II one end of spring pressure bar, II other end of spring pressure bar pass through spring II with
Yoke in the adsorbing mechanism of permanent magnetism gap is fixedly connected.
The working principle of the invention is: by driving screw rod that nut is made to drive permanent magnetism gap adsorbing mechanism opposed robots' sheet
Body moves up and down, to change the distance between permanent magnetism gap adsorbing mechanism and wall surface, realizes the adjusting of magnetic adsorbability；In permanent magnetism
In the moving process of gap adsorbing mechanism, the compression bar that will drive in spring mechanism is moved together, and follows the elastic force of spring mechanism
Adsorption capacity changes together, and the adsorption capacity that spring mechanism will act on nut is converted into elastic force and is ultimately applied to robot
Ontology, due to permanent magnetism gap adsorbing mechanism adsorption capacity with wall surface distance variation be it is non-linear, in order to make the bullet of spring mechanism
Power is cooperated using the different spring of three kinds of rigidity as close as adsorption capacity, makes the variation and suction of spring mechanism elastic force
The variation of attached power is consistent, to make to act on frictional force between the adsorption capacity and nut and screw rod of nut as far as possible
It is small, and then effectively limit the driving moment needed for adsorption capacity is adjusted；The elastic force of spring mechanism is for whole device
Internal force is between the adsorption capacity that the elastic force of spring mechanism, the adsorption capacity for acting on nut and permanent magnetism gap adsorbing mechanism generate
Internal balance, power suffered by robot body are consistently equal to the adsorption capacity of permanent magnetism gap adsorbing mechanism generation, therefore the suction of device
Attached performance is not affected.
Compared with prior art, the disadvantage unadjustable the present invention overcomes existing permanent magnetic adhesion device adsorption capacity is realized
The adjusting of permanent magnetic adhesion device adsorption capacity；Using internal balance theory, while not influencing device absorption property, effectively limit
Adsorption capacity adjusts the driving moment needed.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is front view of the invention.
Fig. 3 is operation schematic diagram of the invention.
Fig. 4 is the variation diagram of adsorption capacity of the present invention and elastic force.
Wherein, 1 it is adsorption capacity regulating mechanism, 2 be permanent magnetism gap adsorbing mechanism, 3 be inner equilibrium spring mechanism, 4 is machine
Human body, 5 be screw mandrel shaft block, 6 be screw rod, 7 be locking nut, 8 be nut, 9 be narrow permanent magnet, 10 be wide permanent magnet, 11
For yoke, 12 for be support plate every magnetic aluminium block, 13,14 be limit aluminium sheet, 15 be connecting plate, 16 be the first spring mechanism, 17 be
Second spring mechanism, 18 be spring support seat I, 19 be spring guide I, 20 be spring I, 21 be spring III, 22 are spring bearer plate
I, 23 be spring pressure bar I, 24 be spring support seat II, 25 be spring guide II, 26 be spring II, 27 be spring bearer plate II, 28
For spring pressure bar II.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, the present invention includes: adsorption capacity regulating mechanism 1, permanent magnetism gap adsorbing mechanism 2 and inner equilibrium coiling machine
Structure 3, in which: adsorption capacity regulating mechanism 1 is fixedly connected with robot body 4, and permanent magnetism gap adsorbing mechanism 2 is placed in robot sheet
The lower section of body 4, and connecting with adsorption capacity regulating mechanism 1, inner equilibrium spring mechanism 3 are installed in the lower section of robot body 4, and with
Permanent magnetism gap adsorbing mechanism 2 connects.
As shown in Figure 1 and Figure 2, the adsorption capacity regulating mechanism 1 include: screw mandrel shaft block 5, screw rod 6, locking nut 7 and
Nut 8, in which: the screw mandrel shaft block 5 is packed on robot body 4, and described 6 one end of screw rod is sleeved on screw mandrel shaft block 5
On, the locking nut 7 is engaged by screw thread with screw rod 6, and is pushed against with 5, screw rod bearing, to prevent screw rod 6 from axial alter occurs
Dynamic, the nut 8 is engaged by screw thread with screw rod 6, and bottom end is fixedly connected with permanent magnetism gap adsorbing mechanism 2.
There is self-locking function, by driving screw rod 6 that nut 8 can be made to drive permanent magnetism gap between the screw rod 6 and nut 8
2 opposed robots' ontology 4 of adsorbing mechanism moves up and down.
As shown in Figure 1 and Figure 2, permanent magnetism gap adsorbing mechanism 2 include: two narrow permanent magnet, 9, two wide permanent magnets 10,
Yoke 11, three every 12, two support plates 13 of magnetic aluminium block and two limit aluminium sheets 14, in which: described two narrow permanent magnets 9 divide
Be not placed in the bottom surface both side of yoke 11, described two wide permanent magnets 10 are respectively placed in the middle part of the bottom surface of yoke 11, described three every
Magnetic aluminium block 12 is respectively placed between aforementioned four permanent magnet, and is fixedly connected with yoke 11, and described two support plates 13 are set respectively
It in two narrow 9 outside of permanent magnet, and is fixedly connected with yoke 11, described two limit aluminium sheets 14 are installed in 11 front and back of yoke respectively
Both ends of the surface.
The narrow permanent magnet 9 and wide permanent magnet 10 are all made of neodymium iron boron N45SH and are made, and through-thickness magnetizes, adjacent
Two permanent magnets installation polarity are on the contrary, the yoke 11 is made of high permeability material common carbon structural steel Q235, the branch
Fagging 13 is made of non-magnetic 304 stainless steel.
As shown in Figure 1, the inner equilibrium spring mechanism 3 includes: two connecting plates, 15, four group of first spring mechanism 16 and four
Group second spring mechanism 17, in which: described two connecting plates 15 are installed in 4 lower section two sides of robot body respectively, and described four groups
First spring mechanism 16 is installed in the outside of two connecting plates 15 respectively, and four groups of second spring mechanisms 17 are installed in two companies respectively
The inside of fishplate bar 15.
As shown in Figure 1 and Figure 2, first spring mechanism 16 includes: spring support seat I 18, spring guide I 19, spring I
20, spring III 21, spring bearer plate I 22 and spring pressure bar I 23, in which: the spring support seat I 18 is installed in connecting plate 15
Bottom, the spring guide I 19 are mounted in spring support seat I 18, and the spring I 20 is placed in spring guide I 19, the bullet
Spring III 21 is placed in the inside of spring I 20, and the spring bearer plate I 22 is placed in the top of spring I 20, described I 23 one end of spring pressure bar
It is fixedly connected with spring bearer plate I 22, one end passes through the fixed company of the support plate 13 in spring III 21 and permanent magnetism gap adsorbing mechanism 2
It connects.
As shown in Figure 1 and Figure 2, the second spring mechanism 17 includes: spring support seat II 24, spring guide II 25, spring
II 26, spring bearer plate II 27 and spring pressure bar II 28, in which: the spring support seat II 24 is installed in the interior of connecting plate 15
Side, the spring guide II 25 are mounted in spring support seat II 24, and the spring II 26 is placed in spring guide II 25, described
Spring bearer plate II 27 is placed in the top of spring II 26, and is fixedly connected with one end of spring pressure bar II 28, spring pressure bar II 28
The other end passes through spring II 26 and is fixedly connected with the yoke 11 in permanent magnetism gap adsorbing mechanism 2.
Between being between the spring pressure bar I 23 and spring support seat I 18, spring pressure bar II 28 and spring support seat II 24
Gap cooperation can provide guiding role for adsorption capacity regulating mechanism 1.
The spring I 20, spring II 26 and spring III 21 are cylindroid helical-coil compression spring, but spring parameter not phase
Together, spring rate is followed successively by 15.56N/mm, 31.39N/mm, 58.45N/mm, spring free height be followed successively by 55mm, 35mm,
18mm when adsorbing mechanism 2 opposed robots' ontology 4 in permanent magnetism gap moves down, will drive spring pressure bar I 23 and spring pressure bar II
28 move together, and spring I 20, spring II 26, spring III 21 will successively be compressed.
Fig. 3 show operation schematic diagram of the invention, and the original state of device is as shown in the figure, permanent magnetism gap adsorbing mechanism
2 initial distance apart from wall surface be 19mm, spring I 20 is compressed at this time, and spring II 26, spring III 21 not with spring
Pressing plate II 27, spring bearer plate I 22 contact, and are respectively present the distance of 9mm and 15mm, the elastic force in spring mechanism 3 is by spring I 20
It generates, when driving screw rod 6 to move down permanent magnetism gap adsorbing mechanism 2, spring pressure bar I 23 and spring pressure bar II 28 will be driven
It moves together, after permanent magnetism clearance mechanism 2 moves down 9mm, spring II 26 will be contacted with spring bearer plate II 27 and gradually be pressed
It contracts, the elastic force in spring mechanism 3 is generated jointly by spring I 20 and spring II 26, moves down 15mm in permanent magnetism clearance mechanism 2
Afterwards, spring III 21 will be contacted with spring bearer plate I 22 and gradually be compressed, and the elastic force in spring mechanism 3 is by spring I 20, spring II
26 and spring III 21 generate jointly, elastic force in the above process in spring mechanism 3, the adsorption capacity and forever for acting on nut 8
The adsorption capacity that magnetic gap adsorbing mechanism 2 generates balances always, since the elastic force in spring mechanism 3 is interior for whole device
Power, the power for acting on robot body 4 is consistently equal to the adsorption capacity of the generation of permanent magnetism gap adsorbing mechanism 2, therefore has no effect on dress
The absorption property set.Through simulation calculation, in permanent magnetism gap, the distance of 2 relative wall of adsorbing mechanism is changed to the mistake of 0mm by 19mm
Cheng Zhong, the adsorption capacity of permanent magnetism gap adsorbing mechanism 2 and the force variation of spring mechanism 3 are as shown in figure 4, solid line is adsorption capacity in figure
Change curve, dotted line are force variation curve, and the variation range of permanent magnetism gap adsorbing mechanism adsorption capacity is 300N-3760N, and this
The adsorption capacity maximum for acting on nut 8 in the process is only 180N, to effectively limit the driving needed for magnetic adsorbability is adjusted
Torque.
Claims (1)
1. permanent magnetism gap adsorbent equipment is adjusted in a kind of adsorption capacity based on internal balance theory, it is characterized in that including that adsorption capacity is adjusted
Mechanism, permanent magnetism gap adsorbing mechanism and inner equilibrium spring mechanism；Adsorption capacity regulating mechanism is fixedly connected with robot body, permanent magnetism
Gap adsorbing mechanism is placed in below robot body and connect with adsorption capacity regulating mechanism, and inner equilibrium spring mechanism is installed in machine
Below human body, and it is connect with permanent magnetism gap adsorbing mechanism；
The adsorption capacity regulating mechanism includes screw mandrel shaft block, screw rod, locking nut and nut；Screw mandrel shaft block is packed in
On robot body, screw rod one end is sleeved on screw mandrel shaft block, and locking nut is sleeved on screw rod, and is supported with screw mandrel shaft block
It leans on, nut is sleeved below screw rod, and is fixedly connected with permanent magnetism gap adsorbing mechanism；
The permanent magnetism gap adsorbing mechanism is including two narrow permanent magnets, two wide permanent magnets, yoke, three every magnetic aluminium block, two
A support plate and two limit aluminium sheets；Two narrow permanent magnets are respectively placed in yoke bottom surface both side, and two wide permanent magnets are set respectively
In the middle part of yoke bottom surface, three are respectively placed between aforementioned four permanent magnet every magnetic aluminium block and are fixedly connected with yoke, two branch
Fagging is respectively placed on the outside of two narrow permanent magnet and is fixedly connected with yoke, and two limit aluminium sheets are installed in respectively two before and after yoke
End face；
The inner equilibrium spring mechanism includes two connecting plates, four group of first spring mechanism and four groups of second spring mechanisms；Two
A connecting plate is installed in the two sides below robot body respectively, and four group of first spring mechanism is installed in two connecting plates respectively
Outside, four groups of second spring mechanisms are installed in the inside of two connecting plates respectively；
First spring mechanism includes spring support seat I, spring guide I, spring I, spring III, spring bearer plate I and bullet
Spring compression bar I；Spring guide I is mounted in spring support seat I, and spring I is placed in spring guide I, and spring III is placed in spring I
Inside, spring bearer plate I are placed in I top of spring, and I one end of spring pressure bar is fixedly connected with spring bearer plate I, and the other end passes through spring III
It is fixedly connected with the support plate in the adsorbing mechanism of permanent magnetism gap；
The second spring mechanism includes spring support seat II, spring guide II, spring II, spring bearer plate II and spring pressure
Bar II；Spring guide II is mounted in spring support seat II, and spring II is placed in spring guide II, and spring bearer plate II is placed in bullet
II top of spring, and be fixedly connected with II one end of spring pressure bar, II other end of spring pressure bar passes through spring II and permanent magnetism gap is adsorbed
Yoke in mechanism is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945568.9A CN108945142B (en) | 2018-08-20 | 2018-08-20 | Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945568.9A CN108945142B (en) | 2018-08-20 | 2018-08-20 | Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle |
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| Publication Number | Publication Date |
|---|---|
| CN108945142A true CN108945142A (en) | 2018-12-07 |
| CN108945142B CN108945142B (en) | 2023-10-31 |
Family
ID=64470771
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810945568.9A Active CN108945142B (en) | 2018-08-20 | 2018-08-20 | Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle |
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Cited By (2)
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| CN111661192A (en) * | 2020-07-13 | 2020-09-15 | 上海工程技术大学 | Permanent-magnet adsorption wheel-leg composite wall-climbing robot |
| CN112519911A (en) * | 2020-12-04 | 2021-03-19 | 上海海事大学 | Electromagnetism and permanent magnetism compound adsorption equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661192A (en) * | 2020-07-13 | 2020-09-15 | 上海工程技术大学 | Permanent-magnet adsorption wheel-leg composite wall-climbing robot |
| CN112519911A (en) * | 2020-12-04 | 2021-03-19 | 上海海事大学 | Electromagnetism and permanent magnetism compound adsorption equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108945142B (en) | 2023-10-31 |
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