CN111678660A - Floor joint close inspection device for assembly type building - Google Patents
Floor joint close inspection device for assembly type building Download PDFInfo
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- CN111678660A CN111678660A CN202010573080.5A CN202010573080A CN111678660A CN 111678660 A CN111678660 A CN 111678660A CN 202010573080 A CN202010573080 A CN 202010573080A CN 111678660 A CN111678660 A CN 111678660A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- Examining Or Testing Airtightness (AREA)
Abstract
The invention discloses an assembly type floor joint close inspection device for a building, which comprises a main control box, an identification mark assembly, a walking assembly and a vacuum hose, wherein the identification mark assembly is arranged below the main control box, the walking assembly is arranged on the front side and the rear side of the main control box, the walking assembly is connected with the main control box through the vacuum hose, the main control box controls the vacuum state of the walking assembly to be pasted on a wall surface, the identification mark assembly is pasted on the wall surface and aligned with a gap, and the identification mark assembly detects the joint close degree and gives a mark. The built building wall is very wide, the inspection device is adsorbed by the walking component and walks along the joint position on the wall, the identification marking component identifies whether the joint exceeds the standard or not and then marks the wall at the exceeding position, so that continuous inspection is carried out on the wall completed on one side, a battery and a vacuum generator, such as a vacuum pump and other parts required by the device are arranged in the main control box, the walking component is adsorbed on the wall through vacuum and fixed, and the adsorption force is eliminated when the vacuum is broken.
Description
Technical Field
The invention relates to the field of assembly type buildings, in particular to a floor joint degree inspection device for an assembly type building.
Background
The assembly type building is a new building construction mode, water and material consumption are saved, building garbage is less, and environmental protection is greatly improved.
In the prior art, after the assembly type building is spliced, the assembly type building needs to be bonded in a gap position through cement, wall glue and other modes, the joint close degree is a point needing key inspection, and the stability of the building can be affected by the loose splicing of the wall boards and the overlarge gap.
Traditionally, the joint closing degree is manually measured through a person, the joint conditions are reflected by the conditions of the overall straightness, flatness and the like of the wallboard, the person is required to measure along the wall joint, the accuracy degree is influenced by the limitation of manual work and attention of the person, and time and labor are wasted.
Disclosure of Invention
The invention aims to provide a floor joint degree inspection device for an assembly type building, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an assembled floor joint close degree inspection device for building, includes main control box, identification mark subassembly, walking subassembly, vacuum hose, installs identification mark subassembly under the main control box, and side installation walking subassembly around the main control box, walking subassembly pass through vacuum hose and are connected with the main control box, and main control box control walking subassembly vacuum state makes its subsides apply on the wall, and identification mark subassembly and wall are attached and aim at the gap, and identification mark subassembly detects the joint close degree and gives the mark. The built building wall is very wide, the inspection device is adsorbed by the walking component and walks along the joint position on the wall, the identification marking component identifies whether the joint exceeds the standard or not and then marks the wall at the exceeding position, so that continuous inspection is carried out on the wall completed on one side, a battery and a vacuum generator, such as a vacuum pump and other parts required by the device are arranged in the main control box, the walking component is adsorbed on the wall through vacuum and fixed, and the adsorption force is eliminated when the vacuum is broken.
Furthermore, the identification mark component comprises a vacuum cylinder, a pneumatic box and a pressure reducing valve, the vacuum pump comprises a connector, a plurality of lifting columns and wrapping arc strips which are circumferentially distributed, the circumferences of the lifting columns are adjacent to each other to form a cylinder, the upper ends of the lifting columns are inserted into the connector, the lower ends of the lifting columns are projected to be a ring on a wall surface and intersect with a wall seam to be identified in the joint degree, the lifting columns are extruded in the direction perpendicular to the wall surface initially to do independent translational motion, the lifting columns are locked tightly on the outer cylinder surface of the lifting columns through the wrapping arc strips after being fitted with the wall seam, the lifting columns are connected with the wall surface and the upper end of an area surrounded by the wall seam to form a closed area in the connector, the air pressure box is connected with the connector through a pipeline and is also connected with the vacuum pump through a pipeline, a pressure reducing valve is arranged on the pipeline from the air pressure box to the vacuum pump, and the joint degree of the wall seam is identified by detecting the pressure change in the. When the wall seam is always kept in a joint closing state, the identification mark component driven by the walking component makes translational motion along the wall seam, the bottom of the vacuum cylinder is kept attached to the wall seam, the wall seam is possibly lower than the wall surface by a distance due to gluing and the like, the lifting columns help the bottom of the vacuum cylinder to be fitted with the wall surface, and the fitted lifting columns are partially convex or concave, for the standard wall seam, the bottom of the vacuum cylinder and the wall seam are always kept sealed, after the vacuum cylinder is vacuumized, the pressure change in the vacuum cylinder and the air pressure box can not be caused by the air leakage at the bottom of the micro vacuum cylinder, only when the degree of the wall joint exceeds the standard and the contour of the bottom of the vacuum cylinder is not kept to be attached to the wall surface and the wall joint any more, a large amount of air is leaked into the vacuum cylinder to cause the pressure in the air pressure box to rise, after the pressure in the air pressure box rises, a part can be driven to perform actions to mark on the wall surface through signal giving or directly using the rising air pressure.
Furthermore, the lifting columns are provided with embedded structures. The engagement structure prevents the lifting columns from spreading apart from each other. The embedded structure is a dovetail groove.
Furthermore, the identification mark assembly further comprises a diaphragm, a connecting rod and a mark brush, wherein the elastic diaphragm is arranged on one surface, facing the wall surface, of the air pressure box, and the diaphragm is connected with the mark brush through the connecting rod and faces the wall surface. The mark brush is a component for marking on the wall surface, when the air pressure box is in a vacuum state, the diaphragm retracts, the mark brush is lifted, when the mark brush walks along the wall gap, air leaks into the air pressure box through the vacuum cylinder at a position with insufficient joint sealing degree, the diaphragm is pushed out, the mark brush marks on the wall surface to prompt a worker to carry out detailed inspection on the position and eliminate faults, after the joint sealing exceeds the standard position, the bottom of the vacuum cylinder enters better sealing again, the gas in the vacuum cylinder and the air pressure box is continuously pumped out, the pressure in the air pressure box is reduced, the diaphragm retracts, the mark brush is lifted, and marking is not carried out any more. .
The projection of the mark brush on the wall surface is arc-shaped, and the center of the arc is the position of the axis of the vacuum cylinder. The center of the arc used as a marker refers to the gap over-standard position.
Further, the walking subassembly includes the support, the landing leg, the sucking disc, articulated elements and spring, support and master control box lateral wall fixed connection, the support extends along the parallel direction with the wall in master control box both sides, the support end stretches out four installation axles, the upper portion of landing leg is waist ring, the landing leg lower part is a member and passes through the articulated elements with the sucking disc and be connected, landing leg length direction is perpendicular with the terminal installation axle of support, the terminal installation axle of the embedded support in the landing leg, landing leg length direction can be followed to the terminal installation axle of support and slided, in the spring mounting landing leg waist ring, the spring will be located the support installation axle of waist ring and crowds to send towards the sucking disc side, be equipped with electromagnetic angle driver between landing leg.
This structure realizes that main control box, identification mark subassembly follow the parallel translation of wall, and the four limbs reptile such as lizard carries out the level and crawls. For convenience of description, the wall surface is horizontal, when the device needs to move forwards, when the foremost sucker moves forwards for a distance, the suction force of the sucker is firstly cancelled, then the landing leg rotates around the mounting shaft at the tail end of the support through angle driving, the landing leg is extruded along the length direction of the landing leg, so that the distance between the mounting shaft at the tail end of the support and the sucker can be changed, the height position of the support is kept unchanged, the sucker moves forwards for a distance, the sucker regains the suction force to be attached to the wall surface at a new position, the sucker at the rear of the device is loosened, the landing leg where the sucker at the front is located is driven with the support again through an angle, the main control box and the identification mark assembly are pulled to move horizontally, the position movement of the main control box and the identification mark assembly is realized, the horizontal moving process is that the height position of the main control box, And (5) performing air pressure action process of the air pressure box. .
Furthermore, the inspection device also comprises height limiting support legs, the height limiting support legs are connected below the main control box, and pulleys are arranged at the bottoms of the height limiting support legs and roll along the wall surface.
Compared with the prior art, the invention has the beneficial effects that: after the vacuum cylinder is used for fitting a standard wall seam of a wall body to be detected, the vacuum cylinder is pasted on the wall surface through the sucking disc to crawl like lizards, the crawling is carried out along the wall seam, the bottom of the vacuum cylinder is kept attached to the wall seam and the wall surfaces on two sides, if the wall seam exceeds the standard or the seam is too large, the bottom of the vacuum cylinder is not kept well sealed, gas leaking into the vacuum cylinder obviously increases the air pressure in the air pressure box and pushes the diaphragm open to push the mark to be brushed on the wall surface for marking, a worker checks the mark position, and each joint position on the built wall surface is checked in such a way to prepare for checking; the improvement is greatly accepted the degree of accuracy of wall joint inspection, moreover on big planar wall, no longer need artifical one inch to inspect, accomplishes the inspection operation in proper order through the device of crawling, realizes the mechanization of inspection joint close degree.
Drawings
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the identification mark assembly of the present invention;
FIG. 3 is a schematic view of a vacuum cylinder and a mark brush according to the present invention projected onto a wall surface;
FIG. 4 is a schematic diagram of the contour fitting of a vacuum cylinder according to the present invention;
FIG. 5 is a schematic view of a vacuum cylinder contour fit according to the present invention;
FIG. 6 is a top view of a vacuum cylinder according to the present invention;
FIG. 7 is a schematic view of the walking assembly of the present invention;
FIG. 8 is a top view of the walking assembly of the present invention.
In the figure: 1-main control box, 2-identification mark component, 21-vacuum cylinder, 211-connector, 212-lifting column, 2121-embedding structure, 213-wrapping arc strip, 22-pneumatic box, 23-diaphragm, 24-support frame, 25-mark brush, 26-pressure reducing valve, 27-vacuum pump, 3-walking component, 31-support, 32-support leg, 33-suction cup, 34-hinge component, 35-spring, 4-height-limiting support leg, 7-vacuum hose, 91-wall surface and 92-wall seam.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figure 1, an assembled floor seam allowance inspection device for building, including main control box 1, identification mark subassembly 2, walking subassembly 3, vacuum hose 7, main control box 1 installs identification mark subassembly 2 down, main control box 1 front and back side installation walking subassembly 3, walking subassembly 3 passes through vacuum hose 7 and is connected with main control box 1, main control box 1 control walking subassembly 3 vacuum state makes it paste on the wall, identification mark subassembly 2 is attached with the wall and is aimed at the gap, identification mark subassembly 2 detects the seam allowance and gives the mark. The built building wall is very wide, the inspection device is adsorbed by the walking component 3 and walks along the joint position on the wall, the identification mark component 2 identifies whether the joint exceeds the standard or not, then marks are marked on the wall at the exceeding position, and continuous inspection is carried out on the wall completed on one side, a battery and a vacuum generator which are required by the device, such as a vacuum pump and other components are arranged in the main control box 1, the walking component 3 is adsorbed on the wall through vacuum and fixed, and the adsorption force is eliminated when the vacuum is broken.
As shown in fig. 2, the identification mark assembly 2 includes a vacuum cylinder 21, an air pressure tank 22, a pressure reducing valve 26, and a vacuum pump 27, the vacuum cylinder 21 includes a connector 211, a plurality of lifting columns 212 and wrapping arc strips 213 distributed circumferentially, the lifting columns 212 are adjacent to each other circumferentially to form a cylinder, the upper ends of the lifting columns 212 are inserted into the connector 211, the lower ends of the lifting columns 212 project to form a ring on the wall surface and intersect with the wall seam to be identified in the degree of joint closure, the lifting columns 212 are initially extruded in the direction perpendicular to the wall surface to make independent translational motion, after fitting the wall seam, the outer cylinder surface of the lifting columns 212 is tightly locked by the wrapping arc strips 213, the upper end of the area surrounded by the lifting columns 212, the wall surface and the wall seam is connected into the connector 211 to form a closed area, the air pressure tank 22 is connected with the interior of the connector 211 by a pipeline, the air pressure tank 22 is further connected with the vacuum pump 27 by a pipeline, and the pressure reducing valve 26 is arranged on the pipeline, the degree of wall joint is identified by detecting the change in air pressure in the air pressure tank 22. As shown in fig. 2 to 5, when the wall joint is always kept in a joint state, the identification mark assembly 2 driven by the walking assembly 3 moves in a translation manner along the wall joint, the bottom of the vacuum cylinder 21 is kept in joint with the wall joint, the wall joint may be lower than the wall surface by a distance due to gluing and the like, the plurality of lifting columns 212 help the bottom of the vacuum cylinder 21 to be fitted with the wall surface, part of the lifting columns after fitting are raised or recessed, for a standard wall joint, the bottom of the vacuum cylinder 21 and the wall joint are always kept sealed, after vacuum pumping is performed in the vacuum cylinder 21, a small amount of air at the bottom of the vacuum cylinder 21 leaks into the vacuum cylinder 21 and causes pressure rise in the air pressure tank 22, and only when the joint degree of the wall joint exceeds the standard, and the contour of the bottom of the vacuum cylinder 21 is no longer kept in joint with the wall surface and the wall joint, a large amount of air leaks into the vacuum cylinder 21 and causes pressure rise in the air pressure tank 22, and the pressure, it is possible to mark the wall surface by signalling or by directly using an elevated air pressure to drive a component to perform an action.
As shown in fig. 6, the lifting columns 212 have engagement formations 2121 therebetween. The engagement formations 2121 prevent the lifting columns 212 from coming apart. The fitting structure 2121 is a dovetail groove.
As shown in FIG. 2, the identification mark assembly 2 further comprises a diaphragm 23, a connecting rod 24 and a mark brush 25, wherein the side of the air pressure box 22 facing the wall surface is provided with the elastic diaphragm 23, and the diaphragm 23 faces the wall surface and is connected with the mark brush 25 through the connecting rod 24. The mark brush 25 is a component for marking on the wall surface, when the air pressure box 22 is in a vacuum state, the diaphragm 23 retracts, the mark brush 25 is lifted, when the mark brush travels along the wall gap, air leaks into the air pressure box 22 through the vacuum cylinder 21 at the position with insufficient joint sealing degree, the diaphragm 23 is pushed out, the mark brush 25 marks on the wall surface to prompt a worker to perform detailed inspection on the position and eliminate the fault, after the joint sealing exceeding the standard position, the bottom of the vacuum cylinder 21 enters better sealing again, the air in the vacuum cylinder 21 and the air pressure box 22 is continuously pumped out, the pressure in the air pressure box 22 is reduced, the diaphragm 23 retracts, the mark brush 25 is lifted, and marking is not performed any more. .
As shown in fig. 3, the projection of the marker brush 25 on the wall surface is in the shape of an arc, and the center of the arc is the position of the axis of the vacuum cylinder. . The center of the arc used as a marker refers to the gap over-standard position.
As shown in fig. 1, 7, and 8, the walking assembly 3 includes a support 31, a support leg 32, a suction cup 33, a hinge member 34, and a spring 35, wherein the support 31 is fixedly connected to a side wall of the main control box 1, the support 31 extends along a direction parallel to a wall surface at two sides of the main control box 1, four mounting shafts extend from a terminal of the support 31, an upper portion of the support leg 32 is a waist ring, a lower portion of the support leg 32 is a rod member and is connected to the suction cup 33 through the hinge member 34, a length direction of the support leg 32 is perpendicular to a terminal mounting shaft of the support 31, the terminal mounting shaft of the support 31 is embedded in the support leg 32, the terminal mounting shaft of the support leg 31 can slide along a length direction of the support leg 32, the spring 35 is mounted in the waist ring 32, the support 31 mounting shaft located in the.
This structure realizes that main control box 1, identification mark subassembly 2 follow the parallel translation of wall, and the four limbs reptile such as lizard carries out the level and crawls. As shown in fig. 7, for convenience of description, the wall surface is horizontal, when the device needs to move forward, and the foremost suction cup 33 moves forward a distance, the suction of the suction cup 33 is firstly cancelled, then the support leg 32 is rotated around the installation shaft at the end of the bracket 31 by angular driving, the support leg 32 is squeezed along the length direction thereof so that the distance between the installation shaft at the end of the bracket 31 and the suction cup 33 can be changed, thereby keeping the height position of the bracket 31 unchanged, the suction cup 33 moves forward a distance, at a new position, the suction cup 33 regains suction to be attached to the wall surface, the suction cup 33 at the rear of the device is released, the support leg 33 at the front suction cup 33 is again driven angularly with the bracket 33, the main control box 1 and the identification mark assembly 2 are pulled to translate, so as to realize the position movement of the main control box 1 and the identification mark assembly 2, the translation process is to keep the height positions of the main control box 1 and, the air pressure action process of the vacuum cylinder 21 and the air pressure box 22 is not influenced. .
As shown in figure 1, the inspection device further comprises a height limiting support leg 4, the height limiting support leg 4 is connected below the main control box 1, and a pulley is arranged at the bottom of the height limiting support leg 4 and rolls along the wall surface.
The device mainly comprises the following use processes: after the standard wall seam of the wall body that the vacuum cylinder fitting was waited to detect, paste through sucking disc 33 and apply on the wall and carry out crawling similar to lizard, crawling is gone on along the wall seam, vacuum cylinder 21 bottom keeps the laminating with wall seam and both sides wall, if the wall seam exceeds standard or the gap is too big makes vacuum cylinder bottom no longer keep better sealed, then the gas that leaks into vacuum cylinder 21 is showing the atmospheric pressure that increases in the atmospheric pressure case 22 and is pushing away diaphragm 23 and promote mark brush 25 and carry out the mark on the wall, the staff inspects at the mark position afterwards, each piece of joint position on the wall that so inspection was built, prepare for acceptance.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides an assembled floor seam allowance inspection device for building which characterized in that: inspection device includes main control box (1), identification mark subassembly (2), walking subassembly (3), vacuum hose (7), install identification mark subassembly (2) under main control box (1), side installation walking subassembly (3) around main control box (1), walking subassembly (3) are connected with main control box (1) through vacuum hose (7), and main control box (1) control walking subassembly (3) vacuum state makes its subsides apply on the wall, identification mark subassembly (2) and wall are attached and aim at the gap, and identification mark subassembly (2) detect the joint close degree and give the mark.
2. The floor joint close inspection device for prefabricated building according to claim 1, characterized in that: the identification mark component (2) comprises a vacuum cylinder (21), an air pressure box (22), a pressure reducing valve (26) and a vacuum pump (27), wherein the vacuum cylinder (21) comprises a connector (211), a plurality of lifting columns (212) and wrapping arc strips (213), the circumferences of the lifting columns (212) are adjacent to each other to form a cylinder, the upper ends of the lifting columns (212) are inserted into the connector (211), the lower ends of the lifting columns (212) are projected to be a circular ring on the wall surface and intersected with wall seams of which the seaming degree is to be identified, the lifting columns (212) are initially extruded in the direction perpendicular to the wall surface and do independent translational motion, the lifting columns (212) are tightly locked through the wrapping arc strips (213) on the outer cylindrical surface of the lifting columns (212) after the fitting wall seams, and the upper ends of the areas surrounded by the lifting columns (212) and the wall surface and the wall seams are connected into a closed area in the connector (211), the pneumatic box (22) is connected with the connector (211) through a pipeline, the pneumatic box (22) is further connected with the vacuum pump (27) through a pipeline, a pressure reducing valve (26) is arranged on the pipeline from the pneumatic box (22) to the vacuum pump (27), and the degree of the wall seam is identified by detecting the change of the air pressure in the pneumatic box (22).
3. The floor joint-closing degree inspection device for the fabricated building according to claim 2, wherein: the lifting columns (212) are provided with a jogged structure (2121) between each other (the jogged structure (2121) prevents the lifting columns (212) from being scattered mutually).
4. A floor joint closure inspecting device for prefabricated buildings according to claim 3, characterized in that: the embedded structure (2121) is a dovetail groove.
5. The floor joint-closing degree inspection device for the fabricated building according to claim 2, wherein: the identification mark assembly (2) further comprises a diaphragm (23), a connecting rod (24) and a mark brush (25), one surface of the air pressure box (22) facing the wall surface is the elastic diaphragm (23), and the diaphragm (23) faces the wall surface and is connected with the mark brush (25) through the connecting rod (24).
6. The floor joint close inspection device for prefabricated building according to claim 1, characterized in that: the projection of the mark brush (25) on the wall surface is arc-shaped, and the center of the arc is the position of the axis of the vacuum cylinder.
7. The floor joint close inspection device for prefabricated building according to claim 1, characterized in that: walking subassembly (3) including support (31), landing leg (32), sucking disc (33), articulated elements (34) and spring (35), support (31) and main control box (1) lateral wall fixed connection, support (31) extend along the parallel direction with the wall in main control box (1) both sides, support (31) end stretch out four installation axles, the upper portion of landing leg (32) is waist ring, landing leg (32) lower part is a member and is connected through articulated elements (34) with sucking disc (33), landing leg (32) length direction is perpendicular with support (31) terminal installation axle, and embedded support (31) terminal installation axle in landing leg (32), landing leg (32) length direction can be followed in support (31) terminal installation axle to slide, in spring (35) installation landing leg (32) waist ring, spring (35) will be located waist ring intra-annular support (31) installation axle and deliver to sucking disc (33) side extrusion, an electromagnetic angle driver is arranged between the supporting leg (32) and the mounting shaft at the tail end of the support (31).
8. The assembled floor joint closure inspection device for building of claim 7, wherein: the inspection device further comprises height limiting support legs (4), the height limiting support legs (4) are connected below the main control box (1), and pulleys are arranged at the bottoms of the height limiting support legs (4) and roll along the wall surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573080.5A CN111678660B (en) | 2020-06-22 | 2020-06-22 | Floor joint close inspection device for assembly type building |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573080.5A CN111678660B (en) | 2020-06-22 | 2020-06-22 | Floor joint close inspection device for assembly type building |
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| CN111678660A true CN111678660A (en) | 2020-09-18 |
| CN111678660B CN111678660B (en) | 2022-03-29 |
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| JPH08105996A (en) * | 1994-10-04 | 1996-04-23 | Power Reactor & Nuclear Fuel Dev Corp | Seal cover |
| CN102331328A (en) * | 2011-06-17 | 2012-01-25 | 吴兆圣 | Field hydrostatic test method for water-proof system of building deformation joint |
| CN103612684A (en) * | 2013-12-05 | 2014-03-05 | 燕山大学 | Three-plane-branch six-degree-of-freedom parallel wall-climbing robot |
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| CN111678660B (en) | 2022-03-29 |
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