CN109334805B - Wall climbing robot - Google Patents
Wall climbing robot Download PDFInfo
- Publication number
- CN109334805B CN109334805B CN201811355695.XA CN201811355695A CN109334805B CN 109334805 B CN109334805 B CN 109334805B CN 201811355695 A CN201811355695 A CN 201811355695A CN 109334805 B CN109334805 B CN 109334805B
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- telescopic frame
- guide rail
- frame
- annular
- annular telescopic
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- 230000009194 climbing Effects 0.000 title claims abstract description 61
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003746 surface roughness Effects 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wall climbing robot, which comprises a walking device and an annular telescopic frame, wherein the walking device comprises a base; the walking device is connected to the annular telescopic frame; the annular telescopic frame can radially stretch to drive the traveling device to move along the radial direction of the annular telescopic frame, so that the traveling device can be contacted with the working surface and drive the annular telescopic frame to travel along the working surface. According to the invention, the annular telescopic frame is utilized to enable the walking device to be in continuous contact with the working surface when walking, so that the wall climbing robot can not fall off when climbing the column body or the pipe body, and the reliability of the wall climbing robot is further improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a wall climbing robot.
Background
With the continuous development of social economy, the heights of buildings in cities are continuously increased, and high-altitude operation is dangerous, so that a wall-climbing robot is needed to replace high-altitude operation of human beings.
The existing wall climbing robot generally comprises a moving unit and an adsorption unit, wherein the moving unit enables the wall climbing robot to move towards a set direction, and the adsorption unit is adsorbed on a wall so as to ensure that the wall climbing robot does not fall off the wall when moving.
However, the existing wall climbing robot has high requirements on the conditions of surface roughness, shape and the like of the wall, and when the wall climbing robot climbs the pipe body or the cylinder, the adsorption capacity of the adsorption unit can be greatly influenced because the surface of the pipe body or the cylinder is a curved surface, so that the wall climbing robot is easy to fall off from the surface of the pipe body or the cylinder, and the reliability of the wall climbing robot is reduced.
Disclosure of Invention
The invention provides a wall climbing robot which is used for improving the reliability of use.
The invention provides a wall climbing robot, which comprises a walking device and an annular telescopic frame, wherein the walking device comprises a base; the walking device is connected to the annular telescopic frame; the annular telescopic frame can radially stretch to drive the traveling device to move along the radial direction of the annular telescopic frame, so that the traveling device can be contacted with a working surface and drive the annular telescopic frame to travel along the working surface.
Based on the above, when the wall climbing robot needs to walk in the pipe body, the wall climbing robot can be placed in the pipe body, the position of the wall climbing robot is adjusted to enable the axial direction of the annular telescopic frame to be consistent with the axial direction of the pipe body, then the annular telescopic frame can be extended along the radial direction, so that the travelling device is driven to move towards the inner wall of the pipe body along the radial direction of the annular telescopic frame, the travelling device is enabled to be contacted with the inner wall of the pipe body and supported in the pipe body, then the travelling device is used for travelling on the inner wall of the pipe body, and the annular telescopic frame can be driven to travel in the pipe body, wherein the inner wall of the pipe body is a working surface. When the wall climbing robot needs to walk on the cylinder, the annular telescopic frame can be sleeved on the cylinder, then the annular telescopic frame can be contracted in the radial direction, so that the travelling device is driven to move towards the outer wall of the cylinder along the radial direction of the annular telescopic frame, the travelling device is enabled to be contacted with the outer wall of the cylinder and clamped on the cylinder, then the travelling device is used for travelling on the outer wall of the cylinder, and the annular telescopic frame is driven to travel on the cylinder, wherein the outer wall of the cylinder is a working surface. Because running gear can support in the body or centre gripping on the cylinder, consequently, can prevent effectively that wall climbing robot from dropping, improved wall climbing robot's reliability of use.
Drawings
Fig. 1 is a schematic diagram of a working state of a wall climbing robot according to an embodiment of the present invention;
FIG. 2 is a front view of a wall climbing robot provided by an embodiment of the present invention;
FIG. 3 is a top view of a wall climbing robot provided by an embodiment of the present invention;
fig. 4 is a schematic structural view of a scissor type telescopic device in a wall climbing robot according to an embodiment of the present invention;
fig. 5 is a bottom view of a scissor type telescopic device in a wall climbing robot according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples. It is to be understood, however, that the drawings are designed solely for the purposes of providing a better understanding of the invention and are not to be construed as limiting the invention.
Referring to fig. 1-3, an embodiment of the present invention provides a wall climbing robot, including a walking device 10 and an annular telescopic frame 20; the walking device 10 is connected to the annular telescopic frame 20; the annular telescopic frame 20 can be telescopic along the radial direction to drive the traveling device 10 to move along the radial direction of the annular telescopic frame 20, so that the traveling device 10 can be contacted with a working surface and drive the annular telescopic frame 20 to travel along the working surface.
In this embodiment, when the wall climbing robot needs to walk in the pipe body, the wall climbing robot may be placed in the pipe body, and the position of the wall climbing robot may be adjusted, so that the axial direction of the annular telescopic frame 20 is consistent with the axial direction of the pipe body, and then the annular telescopic frame 20 may be extended in the radial direction, so as to drive the traveling device 10 to move along the radial direction of the annular telescopic frame 20 toward the inner wall of the pipe body, so that the traveling device 10 contacts with the inner wall of the pipe body and is supported in the pipe body, and then the traveling device 10 travels on the inner wall of the pipe body, so that the annular telescopic frame 20 may be driven to travel in the pipe body, where the inner wall of the pipe body is the working surface. When the wall climbing robot needs to walk on the column, the annular telescopic frame 20 can be sleeved on the column, then the annular telescopic frame 20 can be contracted in the radial direction, so that the traveling device 10 is driven to move towards the outer wall of the column along the radial direction of the annular telescopic frame 20, the traveling device 10 is enabled to be contacted with the outer wall of the column and clamped on the column, and then the traveling device 10 is used for traveling on the outer wall of the column, so that the annular telescopic frame 20 is driven to travel on the column, wherein the outer wall of the column is a working surface. Because running gear can support in the body or centre gripping on the cylinder, consequently, can prevent effectively that wall climbing robot from dropping, improved wall climbing robot's reliability of use.
The wall climbing robot can be used for climbing a pipe body or a cylinder with a constant diameter and can also be applied to a pipe body or a cylinder with a variable diameter. When the wall climbing robot climbs a pipe body or a cylinder with a constant diameter, the annular telescopic frame 20 can be expanded or contracted by a certain value, so that the traveling device 10 can continuously contact with a working surface during crawling, and the traveling device 10 can drive the annular telescopic frame 20 to move along the working surface while traveling along the working surface. The value that annular telescopic frame 20 stretched or contracted is unchangeable in climbing wall robot climbing in-process when crawling, and then continuously provides a size unchangeable power for running gear 10 that contacts with the working face, and this power is directional the working face by annular telescopic frame 20 along annular telescopic frame 20 diameter direction to increase running gear 10 and the frictional force between the working face, makes running gear 10 walk more steadily on the working face. When the wall climbing robot climbs a pipe body or a cylinder with the changed diameter, the annular telescopic frame 20 can correspondingly extend or shrink along with the change of the diameter of the working surface, so that the running gear 10 can continuously contact with the working surface when running, and the working reliability of the wall climbing robot is ensured.
In this embodiment, preferably, the plurality of running apparatuses 10 are provided, and the plurality of running apparatuses 10 are uniformly arranged along the circumferential direction of the annular telescopic frame 20. When the wall climbing robot needs to walk in the pipe body, the wall climbing robot can be placed in the pipe body, the position of the wall climbing robot is adjusted, the axial direction of the annular telescopic frame 20 is consistent with the axial direction of the pipe body, then the annular telescopic frame 20 can be stretched in the radial direction, so that each traveling device 10 is driven to move towards the inner wall of the pipe body along the radial direction of the annular telescopic frame 20, each traveling device 10 is contacted with the inner wall of the pipe body, each traveling device 10 is supported in the pipe body in a matched mode, and then the traveling device 10 walks on the inner wall of the pipe body, so that the annular telescopic frame 20 can be driven to walk in the pipe body. When the wall climbing robot needs to walk on the column, the annular telescopic frame 20 can be sleeved on the column, then the annular telescopic frame 20 is contracted in the radial direction, so that each traveling device 10 is driven to move towards the outer wall of the column along the radial direction of the annular telescopic frame 20, each traveling device 10 is contacted with the outer wall of the column, each traveling device 10 is clamped on the column in a matched manner, and then the traveling device 10 travels on the outer wall of the column, so that the annular telescopic frame 20 is driven to travel on the column. Because each running gear 10 can cooperate and support in the body or centre gripping on the cylinder to can walk on the working face in step, consequently, do benefit to the stability that wall climbing robot walked on the working face. And a plurality of running gear 10 evenly arrange along the circumference of annular telescopic frame 20, make wall climbing robot atress more even when walking, increase wall climbing robot job stabilization nature.
In this embodiment, preferably, the annular telescopic frame 20 includes a connecting piece 21 and a telescopic piece 22, where the connecting piece 21 is connected with the running device 10, the connecting piece 21 and the telescopic piece 22 are sequentially connected along the circumferential direction of the annular telescopic frame 20 to form the annular telescopic frame 20, and the telescopic piece 22 can stretch along the circumferential direction or tangential direction of the annular telescopic frame 20 to drive the annular telescopic frame 20 to stretch along the radial direction. The connection with the traveling device 10 through the connecting piece 21 can facilitate the installation of the traveling device 10, in addition, the traveling device 10 can not influence the expansion and contraction of the expansion piece 22, and the reliability of the wall climbing robot is improved. Wherein the connecting member 21 and the telescopic member 22 may be one or more.
In this embodiment, preferably, the number of the connecting members 21 and the number of the telescopic members 22 are plural, and the running gear 10 is connected to each connecting member 21. Because the connecting piece 21 and the telescopic piece 22 are a plurality of, the telescopic range of each telescopic piece 22 is reduced, and the smaller telescopic range is beneficial to reducing the moment born by the telescopic piece 22, so that the service life of the telescopic piece 22 can be prolonged, and the reliability of the wall climbing robot is improved.
In this embodiment, preferably, the annular telescopic frame 20 further includes a rotating shaft 23, the connecting member 21 is hinged to the telescopic member 22 through the rotating shaft 23, and the rotating shaft 23 is disposed along the axial direction of the annular telescopic frame 20. Therefore, when each telescopic piece 22 stretches and contracts, the annular telescopic frame 20 can stretch and contract along the radial direction, and the telescopic piece 22 can rotate relative to the connecting piece 21 by taking the rotating shaft 23 as the center, so that the change of the diameter of the annular telescopic frame 20 can be adapted, the stress between the telescopic piece 22 and the connecting piece 21 is reduced, and the reliability of the wall climbing robot in use is improved.
In this embodiment, preferably, the annular telescopic frame 20 is used for being sleeved on the column, the running gear 10 is disposed at the inner side of the annular telescopic frame 20, and the annular telescopic frame 20 can be radially telescopic to drive the running gear 10 to move along the radial direction of the annular telescopic frame 20, so that the running gear 10 can contact with the working surface of the column and drive the annular telescopic frame 20 to move along the axial direction of the column on the working surface. The walking device 10 is arranged on the inner side of the annular telescopic frame 20, when climbing a column body, the wall climbing robot is sleeved on the column body, and the walking device 10 on the inner side of the annular telescopic frame 20 can continuously receive the force applied by the annular telescopic frame 20 and directed to the working surface of the inner column body when walking, so that the walking device 10 can continuously contact with the working surface when walking, and further the wall climbing robot is prevented from falling off the working surface when working.
In this embodiment, the telescopic member 22 is preferably configured as a scissor type telescopic device. This makes the structure of the telescopic member 22 simple and reliable. In addition, the scissor type telescopic device is good in flexibility, so that the scissor type telescopic device can be better adapted to the change of the diameter of the annular telescopic frame 20, stress between the telescopic piece 22 and the connecting piece 21 and stress between the telescopic piece 22 and the connecting piece 22 can be reduced, and the reliability of the wall climbing robot in use can be improved.
Referring to fig. 4 and 5, in this embodiment, preferably, the scissor type telescopic device includes: the first connecting frame 221, the first connecting frame 221 is provided with a first guide rail 2211; the second connecting frame 222, the second connecting frame 222 is provided with a second guide rail 2222; the scissor-fork expansion bracket 223 is configured to expand and contract along a first direction, the first direction is a tangential direction of the ring-shaped expansion frame 20, the scissor-fork expansion bracket 223 includes a first link rod 2231 and a second link rod 2232, the first link rod 2231 is rotatably connected with the second link rod 2232 through a pin shaft 2233, a first end of the first link rod 2231 is slidably arranged on the first guide rail 2211 and is hinged with the first guide rail 2211 through a first connecting shaft 2234, a second end of the first link rod 2231 is hinged with the second link rod 222 through a second connecting shaft 2235, a first end of the second link rod 2232 is slidably arranged on the second guide rail 2222 and is hinged with the second guide rail 2222 through a third connecting shaft 2236, a second end of the second link rod 2232 is hinged with the first link rod 221 through a fourth connecting shaft 2237, the first guide rail 2231 is perpendicular to the first direction, the second guide rail 2222 is parallel to the first guide rail 2211, and the first connecting shaft 2234 is perpendicular to the first guide rail 2211 and the first direction, and the second connecting shaft 2235, the first connecting shaft 2236 and the fourth connecting shaft 2234 are parallel to the first connecting shaft 2234; and a driving device connected to the first end of the first link 2231, the driving device being used for driving the first end of the first link 2231 to slide along the first guide rail 2211.
When the scissor jack is required to be telescopic, the driving device may drive the first end of the first link 2231 to slide on the first guide rail 2211, thereby causing the first link 2231 to rotate relative to the first link 221 and the second link 222 centering around the first link 2234 and the second link 2235. Because the second link rod 2232 is rotatably connected to the first link rod 2231 through the pin shaft 2233, the first link rod 2231 and the second link rod 2232 relatively rotate around the pin shaft 2233, so as to drive the second link rod 2232 to rotate around the third connecting shaft 2236 and the fourth connecting shaft 2237 relative to the first connecting frame 221 and the second connecting frame 222, and simultaneously, the first end of the second link rod 2232 slides along the second guide rail 2222, so that the scissor-type telescopic device can realize telescopic operation. Since the first and second rails 2211 and 2222 can guide the first ends of the first and second links 2231 and 2232, stability of the expansion and contraction of the scissor type expansion and contraction device can be improved. The first link 2231 and the second link 2232 may be single rods or may be formed by a plurality of rods hinged in sequence.
In this embodiment, preferably, the first end of the first link rod 2231 is hinged to the slider 2238 through the first connecting shaft 2234 and is slidably connected to the first guide rail 2211 through the slider 2238, the driving device includes a motor 2241 and a screw 2242, the motor 2241 is connected to the first connecting frame 221, the screw 2242 is parallel to the first guide rail 2211 and is arranged at the output end of the motor 2241, the slider 2238 is sleeved on the screw 2242 through a threaded hole and is in threaded fit with the screw 2242, and the motor 2241 is used for driving the screw 2242 to rotate relative to the slider 2238 with the axis as the center so as to drive the slider 2238 to slide along the first guide rail 2211. When the scissor jack needs to be telescopic, the motor 2241 can drive the screw 2242 to rotate relative to the slider 2238 with the axis as the center, and the screw 2242 is parallel to the first guide rail 2211, so that the slider 2238 can slide along the first guide rail 2211 under the driving of the screw 2242, thereby driving the scissor jack 223 to be telescopic. Therefore, the driving device has simple structure and reliable driving. In addition, since the first end of the first link 2231 is slidably coupled to the first guide 2211 by the slider 2238, the first end of the first link 2231 slides on the first guide 2211 more smoothly. Of course, the first end of the first link 2231 may also be slidably mounted and hinged to the first guide 2211 directly through the first connecting shaft 2234.
In this embodiment, preferably, the connecting member 21 is further provided with an executing device for processing the working surface. Therefore, in the process that the wall climbing robot walks on the working surface, the execution device can process the working surface at the same time, and the wall climbing robot is convenient to use and can realize function diversification.
The foregoing embodiments are only for illustrating the present invention, wherein the structures, connection modes, manufacturing processes, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solutions of the present invention should not be excluded from the protection scope of the present invention.
Claims (4)
1. The wall climbing robot is characterized by comprising a traveling device and an annular telescopic frame;
the walking device is connected to the annular telescopic frame;
the annular telescopic frame can radially expand and contract to drive the traveling device to move along the radial direction of the annular telescopic frame, so that the traveling device can contact with a working surface and drive the annular telescopic frame to travel along the working surface;
the annular telescopic frame comprises a connecting piece and a telescopic piece, wherein the connecting piece is connected with the travelling device, the connecting piece and the telescopic piece are sequentially connected along the circumferential direction of the annular telescopic frame to form the annular telescopic frame, and the telescopic piece can stretch along the circumferential direction or tangential direction of the annular telescopic frame so as to drive the annular telescopic frame to stretch along the radial direction;
the plurality of connecting pieces and the plurality of telescopic pieces are arranged, and each connecting piece is connected with the walking device;
the annular telescopic frame further comprises a rotating shaft, the connecting piece is hinged with the telescopic piece through the rotating shaft, and the rotating shaft is arranged along the axial direction of the annular telescopic frame;
the annular telescopic frame is used for being sleeved on the column body, the travelling device is arranged on the inner side of the annular telescopic frame, and the annular telescopic frame can radially expand and contract to drive the travelling device to move along the radial direction of the annular telescopic frame, so that the travelling device can be contacted with the working surface of the column body and drive the annular telescopic frame to move on the working surface along the axial direction of the column body;
the telescopic piece is in a scissor type telescopic device; the scissor fork type telescopic device comprises: the first connecting frame is provided with a first guide rail; the second connecting frame is provided with a second guide rail; the scissors type expansion bracket is used for expanding and contracting along a first direction, the first direction is the tangential direction of the annular expansion frame, the scissors type expansion bracket comprises a first connecting rod and a second connecting rod, the first connecting rod is rotationally connected with the second connecting rod through a pin shaft, a first end of the first connecting rod is slidably arranged on the first guide rail and is hinged with the first guide rail through a first connecting shaft, a second end of the first connecting rod is hinged with the second connecting frame through a second connecting shaft, a first end of the second connecting rod is slidably arranged on the second guide rail and is hinged with the second guide rail through a third connecting shaft, a second end of the second connecting rod is hinged with the first connecting frame through a fourth connecting shaft, the first guide rail is perpendicular to the first direction, the second guide rail is parallel to the first guide rail, and the first connecting shaft is perpendicular to the first guide rail and the first direction; the driving device is connected with the first end of the first connecting rod and used for driving the first end of the first connecting rod to slide along the first guide rail.
2. The wall climbing robot according to claim 1, wherein the plurality of traveling devices are uniformly arranged along a circumferential direction of the annular telescopic frame.
3. The wall climbing robot according to claim 1, wherein the first end of the first connecting rod is hinged to the slider through the first connecting shaft and is slidably connected to the first guide rail through the slider, the driving device comprises a motor and a screw rod, the motor is connected to the first connecting frame, the screw rod is connected to the output end of the motor, the screw rod is arranged in parallel to the first guide rail, the slider is sleeved on the screw rod through a threaded hole and is in threaded fit with the screw rod, and the motor is used for driving the screw rod to rotate relative to the slider with an axis as a center so as to drive the slider to slide along the first guide rail.
4. The wall climbing robot according to claim 1, wherein the connector is further provided with an executing device, and the executing device is used for processing the working surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811355695.XA CN109334805B (en) | 2018-11-14 | 2018-11-14 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811355695.XA CN109334805B (en) | 2018-11-14 | 2018-11-14 | Wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN109334805A CN109334805A (en) | 2019-02-15 |
| CN109334805B true CN109334805B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811355695.XA Active CN109334805B (en) | 2018-11-14 | 2018-11-14 | Wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109334805B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110227665B (en) * | 2019-05-10 | 2021-08-27 | 长沙学院 | Cylinder climbing cleaning robot |
| CN110667718A (en) * | 2019-09-23 | 2020-01-10 | 武汉露能科技有限公司 | X-shaped self-adaptive reducing holding climbing platform of wind power tower |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0338439A (en) * | 1989-07-04 | 1991-02-19 | Osaka Gas Co Ltd | Self-travelling elevator |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN108382478A (en) * | 2018-03-23 | 2018-08-10 | 兰州理工大学 | A kind of double-layer track formula climbing robot |
| CN209274757U (en) * | 2018-11-14 | 2019-08-20 | 北京史河科技有限公司 | Climbing robot |
-
2018
- 2018-11-14 CN CN201811355695.XA patent/CN109334805B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0338439A (en) * | 1989-07-04 | 1991-02-19 | Osaka Gas Co Ltd | Self-travelling elevator |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN108382478A (en) * | 2018-03-23 | 2018-08-10 | 兰州理工大学 | A kind of double-layer track formula climbing robot |
| CN209274757U (en) * | 2018-11-14 | 2019-08-20 | 北京史河科技有限公司 | Climbing robot |
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