CN111845995A - Low-noise negative-pressure wall-climbing robot - Google Patents
Low-noise negative-pressure wall-climbing robot Download PDFInfo
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- CN111845995A CN111845995A CN202010883192.0A CN202010883192A CN111845995A CN 111845995 A CN111845995 A CN 111845995A CN 202010883192 A CN202010883192 A CN 202010883192A CN 111845995 A CN111845995 A CN 111845995A
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- 230000009467 reduction Effects 0.000 claims abstract description 33
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 230000009194 climbing Effects 0.000 claims description 26
- 238000007789 sealing Methods 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 abstract description 12
- 238000011835 investigation Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a low-noise negative-pressure wall-climbing robot which comprises a chassis, a moving device, a negative pressure device, a noise reduction device, a main control panel and a monitoring camera device, wherein the negative pressure device is fixed at the top of the chassis; the monitoring camera device is installed on the upper surface of the chassis, the main control panel is connected with the remote control device through wireless signals, and the main control panel is connected with the mobile device, the negative pressure device, the noise reduction device and the monitoring camera device through electric signals. The low-noise negative-pressure wall-climbing robot has the characteristics of low noise, small size, light weight, stable operation and the like; can realize the no cable control, can carry on the control and detect and equip, at the outstanding task of accomplishing investigation detection in narrow and small space, improve work efficiency greatly.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a low-noise negative-pressure wall-climbing robot.
Background
With the development of science and technology, robots capable of realizing the wall climbing function are urgently needed in the fields of anti-terrorism reconnaissance, high-rise building detection, high-altitude rescue and the like. The wall-climbing robot can carry various sensors to complete detection tasks. The wall-climbing robot is one kind of intelligent robot capable of completing high altitude operation automatically. The device mainly works on vertical or steep surfaces of various natural environments, artificial buildings, industrial facilities and the like which are at a certain height from the ground and can not be touched by people, such as the maintenance and detection work of various infrastructure and equipment in industry, the cleaning and spraying of the surfaces of buildings and the installation and maintenance work of supporting facilities, the information and material transfer work during high-altitude rescue and rescue, and the like. Such robots have found applications in high intensity, high risk environments. The operation mode replaces the aloft work of people, reduces the operation danger and greatly improves the working efficiency.
Most of negative pressure wall climbing robots of present report are bulky, and weight is heavier, and what many robots adopted all has cable change equipment work, need pull the cable when wall climbing robot work and carry out the operation, and is very inconvenient. Most importantly, due to the fact that the fan rotates at a high speed, generated noise is large. Israel has a small wall-climbing robot adopting the tornado principle, has small volume and no cable, but has the defect of high noise, and can hardly meet the practical application requirements in the fields of regional investigation, high-rise building detection and the like.
Therefore, there is a need to provide a new type of low-noise negative pressure wall-climbing robot to solve the above problems.
Disclosure of Invention
The invention aims to provide a low-noise negative-pressure wall-climbing robot, which solves the problems in the prior art and has the characteristics of low noise, small size, light weight, stable operation and the like; can realize the no cable control, can carry on the control and detect and equip, at the outstanding task of accomplishing investigation detection in narrow and small space, improve work efficiency greatly.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a low-noise negative-pressure wall-climbing robot which comprises a chassis, a moving device, a negative pressure device, a noise reduction device, a main control panel and a monitoring camera device, wherein the negative pressure device is fixed at the top of the chassis; the monitoring camera device is installed on the upper surface of the chassis, the main control panel is connected with the remote control device through wireless signals, and the main control panel is connected with the mobile device, the negative pressure device, the noise reduction device and the monitoring camera device through electric signals.
Preferably, the negative pressure device comprises a brushless motor and a centrifugal fan which are arranged in the air guide sleeve, and the centrifugal fan is arranged on an output shaft of the brushless motor; the air guide sleeve is fixedly arranged on the upper surface of the chassis, and the noise reduction device is arranged at the top of the air guide sleeve.
Preferably, a rectangular groove is formed in the lower surface of the base plate and serves as a negative pressure cavity, and the negative pressure cavity is communicated with an air inlet of the centrifugal fan.
Preferably, the lower end of the air guide sleeve and the chassis are hermetically mounted through a lower sealing ring, and the upper end of the air guide sleeve is hermetically connected with the noise reduction device through an upper sealing ring.
Preferably, the noise reduction device is fixedly connected with the chassis through four positioning studs.
Preferably, the moving device comprises a driving pulley, a driven pulley and driving motors, the driving motors of the two tracks are independent of each other, the driving pulley and the driven pulley are respectively installed at two ends of the inner side of each track, an output shaft of the driving motor is connected with a speed reducer, and an output shaft of the speed reducer is connected with the driving pulley.
Preferably, the two driving motors are installed on the upper surface of the chassis, and the two driving motors are respectively distributed on the left side and the right side of the negative pressure device.
Preferably, when the wall climbing robot moves forwards and backwards, the rotation directions and the rotation speeds of the two driving motors are the same; when the wall climbing robot turns on site, the driving motors on the left side and the right side are opposite in rotation direction and same in rotation speed; when the wall climbing robot turns with the turning radius, the driving motors on the left side and the right side are the same in turning direction and different in rotating speed.
Preferably, the wall-climbing robot further comprises a power module, a fan speed regulation plate and a button switch; the power module is installed on the chassis, the fan speed regulation board is installed on the noise reduction device, and the power module is electrically connected with the main control board, the driving motor and the brushless motor of the negative pressure device respectively.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the robot body is made of high-strength and light-weight plastics, the whole weight is light, the wall climbing robot has a large load-weight ratio due to the good sealing mechanism and the good movement mechanism, can carry a camera, detection equipment and the like to operate, and has wide application prospects in the fields of regional investigation, high-rise wall surface detection and the like.
2. Small size, high efficiency and low noise. The wall climbing robot has small volume and high movement speed, and adopts the noise reduction device with unique design, thereby greatly reducing the noise generated by the centrifugal fan when the robot works, basically realizing silent detection and reducing the possibility of being discovered.
3. Simple structure and no cable. The control of negative pressure, control, drive and the like in the robot adopts an integrated design, and a power supply module is arranged in the robot, so that the robot realizes the cable-free operation, the motion range of the robot is expanded, and the overall reliability is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a negative pressure wall-climbing robot according to the present invention;
FIG. 2 is a schematic view of the internal structure of the negative pressure wall-climbing robot of the present invention;
FIG. 3 is a schematic view of a negative pressure cavity of a negative pressure wall-climbing robot chassis according to the present invention;
FIG. 4 is a schematic structural diagram of a noise reduction device of the negative pressure wall-climbing robot of the present invention;
FIG. 5 is a schematic cross-sectional view of a noise reduction device of the negative pressure wall-climbing robot of the present invention;
fig. 6 is a schematic view of a monitoring device carried by the negative pressure wall climbing robot.
In the figure, 1-the lid of the case; 2-a chassis; 3-sealing strips; 4-case lid support studs; 5-noise reduction fixing stud; 6-fan speed regulation plate; 7-a main control panel; 8-a noise reduction device; 9-a driven pulley; 10-a synchronous track; 11-a driving pulley; 12-a drive motor; 13-a reducer; 14-an upper sealing ring; 17-a flow guide sleeve; 18-a lower seal ring; 19-a power supply; 20-a negative pressure cavity; 21-air inlet.
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.
The invention aims to provide a low-noise negative-pressure wall-climbing robot, which solves the problems in the prior art and has the characteristics of low noise, small size, light weight, stable operation and the like; can realize the no cable control, can carry on the control and detect and equip, at the outstanding task of accomplishing investigation detection in narrow and small space, improve work efficiency greatly.
The invention provides a low-noise negative-pressure wall-climbing robot which comprises a chassis, a moving device, a negative pressure device, a noise reduction device, a main control panel and a monitoring camera device, wherein the negative pressure device is fixed at the top of the chassis; the monitoring camera device is installed on the upper surface of the chassis, the main control panel is connected with the remote control device through wireless signals, and the main control panel is connected with the mobile device, the negative pressure device, the noise reduction device and the monitoring camera device through electric signals.
This low noise negative pressure wall climbing robot, use the chassis as the base member, install the mobile device on the chassis, the vacuum device, fall the device of making an uproar and surveillance camera device, the vacuum device can adsorb the wall climbing robot on the wall through the negative pressure, the mobile device is used for the motion of drive wall climbing robot, the motion that the wall climbing robot can be stable has been guaranteed in the combination of mobile device and vacuum device, it falls the noise of robot to fall the device of making an uproar, monitor investigation work or monitor other required pictures through the surveillance camera device.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-6, the present embodiment provides a low-noise negative pressure wall-climbing robot, which mainly comprises a chassis 2, a negative pressure device, a control device, a moving device, and a noise reduction device 8; brushless motor, centrifugal fan are equipped with on climbing wall robot chassis 2, kuppe 17, fall and make an uproar device 8, sealing strip 3, reduction gear 13 driving motor 12 and power 19 etc. for make the robot appearance clean and tidy and avoid the influence of external environment to interior arrangement, each device outside of climbing wall robot chassis 2 upper surface in this embodiment is provided with box lid 1.
Referring to fig. 3, a rectangular recess is formed in the lower surface of the base plate 2 as a negative pressure chamber 20, and all the equipment accessories are mounted on the upper surface of the base plate 2. There is sealing strip 3 in 2 lower surface edges on chassis, and sealing strip 3 pastes at 2 lower surfaces on chassis through the magic, and the inside sponge that fills of sealing strip 3.
The wall climbing robot in the embodiment adopts a passive sealing mode without positive pressure loss, adopts the soft abrasion-resistant sealing strip 3, when negative pressure is generated, the material directly contacts with a wall, the material can be pressed on the wall by small negative pressure, and the connection is tighter when the negative pressure is larger. By the sealing mode, most of positive pressure generated by the centrifugal fan can be applied to the driving wheel to the maximum extent, and the loading capacity of the robot is greatly improved. Meanwhile, certain errors are allowed to exist between the sealing skirt and the driving wheel in height difference control, and the processing difficulty is greatly reduced.
Referring to fig. 2, the wall climbing robot utilizes a negative pressure adsorption principle, a brushless motor is arranged in the robot negative pressure device, a shaft of the brushless motor is directly connected with a centrifugal fan, a guide cover 17 is arranged outside the centrifugal fan, the guide cover 17 is used for fixing the brushless motor and guiding the wind direction, the centrifugal fan is driven to rotate through the brushless motor, air in a robot negative pressure cavity 20 is pumped out from an air inlet 21, a sealing strip 3 at the edge of the lower surface of a chassis 2 is matched to enable the inside of the robot negative pressure cavity 20 to form a vacuum-like state to generate negative pressure, and the size of the negative pressure is controlled by the rotating speed of the brushless motor.
Referring to fig. 2, the lower end of the air guide sleeve 17 of the wall-climbing robot is in contact with the chassis 2 through the lower sealing ring 18, and the upper end of the air guide sleeve 17 is connected with the noise reduction device 8 through the upper sealing ring 14. With reference to fig. 4 and 5, the wind is extracted from the negative pressure cavity 20 by the centrifugal fan, changes the wind direction through the air guide sleeve 17, and finally enters the noise reduction device 8 to form a backflow so as to achieve the effect of reducing the noise, and the noise reduction device 8 is connected and fixed with the chassis 2 through four studs.
Referring to fig. 2, two driving motors 12 are mounted on the upper surface of the chassis 2 of the wall-climbing robot, and the two driving motors are symmetrically distributed on the left side and the right side of the negative pressure device respectively. The output shaft of the driving motor 12 is connected with the speed reducer 13, the output shaft of the speed reducer 13 is connected with the driving belt wheel 11, the driving belt wheel 11 drives the caterpillar band to rotate, the synchronous caterpillar band 10 drives the driven belt wheel 9 to rotate, therefore, the robot can freely crawl on the wall surface, and the moving device of the wall-climbing robot is fixedly connected with the chassis 2 through four fixing studs.
In this embodiment, the motion process of the wall-climbing robot is as follows: when the wall climbing robot moves forwards and backwards, the two driving motors 12 have the same rotation direction and rotation speed, so that good linear motion can be ensured; when the robot turns, two turning modes are available; the motors on the left side and the right side are opposite in rotation direction, and the rotation speeds are the same, so that the robot can realize pivot turning and is suitable for turning in narrow space; the motors on the left side and the right side rotate in the same direction, and when the rotating speeds are different, the robot can turn at a certain turning radius, so that the robot is suitable for realizing the movement of various complex track routes according to requirements.
Referring to fig. 2, a power supply 19 is installed inside the wall-climbing robot. The power supply 19 is fixed on the upper surface of the chassis 2, the main control panel 7 and the fan speed regulation plate 6 are both arranged on the upper surface of the noise reduction device 8, the power supply 19 is respectively connected with the main control panel 7, the driving motor 12 and the brushless motor of the negative pressure system, the power supply 19 is used for providing energy for the main control panel 7, the driving motor 12 and the brushless motor of the negative pressure system, wireless work is achieved, and finally the motion of the wall climbing robot and implementation of related work are wirelessly controlled through the remote control device.
With reference to fig. 6, the negative pressure wall climbing robot carries a monitoring camera device to work. The wall climbing robot drives the centrifugal fan to rotate at a high speed through the high-speed rotation of the brushless motor, the centrifugal fan pumps out air in the negative pressure cavity 20 through the air inlet 21, the air enters the air guide sleeve 17 through the air inlet 21, and finally flows into the noise reduction device 8. The noise reduction device 8 is provided with a circulation path, so that the flow speed is reduced, and the effect of reducing noise is achieved. Finally, the sealing strip 3 is matched to generate negative pressure in the negative pressure cavity 20, so that the wall-climbing robot is tightly attached to the surface of the wall. The remote control device inputs an instruction to control the rotation of the driving motor 12, the driving motor 12 drives the driving belt pulley 11 to rotate, the driving belt pulley 11 drives the driven belt pulley 9 to rotate through the synchronous crawler 10, and the robot can freely crawl on the wall by utilizing the friction force between the synchronous crawler 10 and the wall. When the robot reaches the target position, the camera is controlled to rotate, monitoring and investigation are carried out, and meanwhile the view screen is transmitted to a computer terminal.
In summary, the low-noise negative pressure wall climbing robot of the invention mainly comprises a chassis 2, a negative pressure device, a control device, a moving device and a noise reduction device 8. The robot is made of PE high-density materials, and is high in strength and light in weight. The inside is equipped with brushless motor, centrifugal fan, kuppe 17, noise reduction device 8, sealing ring, sealing strip 3, reduction gear 13 and driving motor 12 etc.. The robot is internally provided with a power supply 19, and two pairs of crawler wheels are arranged on two sides of the vehicle body and used for walking and steering. Drive centrifugal fan through brushless motor and rotate the air of taking out in the sealed chamber of robot, make the sealed intracavity of robot inside form the negative pressure, because there is the adsorption affinity that produces in the negative pressure to make the robot adsorb on the wall safely, come the greatly reduced noise through device 8 of making an uproar falls at last. The invention has the characteristics of low noise, light weight design and simple mechanism, and can carry a detection device to complete corresponding operation tasks such as detection, camera shooting and the like on the premise of ensuring the adsorption capacity.
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, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The utility model provides a low noise negative pressure wall climbing robot which characterized in that: the device comprises a chassis, a moving device, a negative pressure device, a noise reduction device, a main control panel and a monitoring camera device, wherein the negative pressure device is fixed at the top of the chassis, the noise reduction device is arranged at the top of the negative pressure device, two tracks of the moving device are symmetrically arranged on the lower surface of the chassis and positioned at two sides of the negative pressure device, the tracks driven by a motor are in contact with a wall surface, and a sealing strip is adhered at the edge of the lower surface of the chassis; the monitoring camera device is installed on the upper surface of the chassis, the main control panel is connected with the remote control device through wireless signals, and the main control panel is connected with the mobile device, the negative pressure device, the noise reduction device and the monitoring camera device through electric signals.
2. The low-noise negative-pressure wall-climbing robot according to claim 1, wherein: the negative pressure device comprises a brushless motor and a centrifugal fan which are arranged in the air guide sleeve, and the centrifugal fan is arranged on an output shaft of the brushless motor; the air guide sleeve is fixedly arranged on the upper surface of the chassis, and the noise reduction device is arranged at the top of the air guide sleeve.
3. The low-noise negative-pressure wall-climbing robot according to claim 2, wherein: the lower surface of the chassis is provided with a rectangular groove which is used as a negative pressure cavity, and the negative pressure cavity is communicated with an air inlet of the centrifugal fan.
4. The low-noise negative-pressure wall-climbing robot according to claim 2, wherein: the lower end of the air guide sleeve is hermetically installed with the chassis through a lower sealing ring, and the upper end of the air guide sleeve is hermetically connected with the noise reduction device through an upper sealing ring.
5. The low-noise negative-pressure wall-climbing robot according to claim 1, wherein: the noise reduction device is fixedly connected with the chassis through four positioning studs.
6. The low-noise negative-pressure wall-climbing robot according to claim 1, wherein: the moving device comprises a driving belt wheel, a driven belt wheel and driving motors, the driving motors of the two tracks are mutually independent, the driving belt wheel and the driven belt wheel are respectively installed at the two ends of the inner side of each track, the output shaft of each driving motor is connected with a speed reducer, and the output shaft of each speed reducer is connected with the driving belt wheel.
7. The low-noise negative-pressure wall-climbing robot according to claim 6, wherein: the two driving motors are arranged on the upper surface of the chassis and are respectively distributed on the left side and the right side of the negative pressure device.
8. The low-noise negative-pressure wall-climbing robot according to claim 6, wherein: when the wall climbing robot moves forwards and backwards, the rotation directions and the rotation speeds of the two driving motors are the same; when the wall climbing robot turns on site, the driving motors on the left side and the right side are opposite in rotation direction and same in rotation speed; when the wall climbing robot turns with the turning radius, the driving motors on the left side and the right side are the same in turning direction and different in rotating speed.
9. The low-noise negative-pressure wall-climbing robot according to claim 1, wherein: the wall-climbing robot also comprises a power module and a fan speed regulation plate; the power module is installed on the chassis, the fan speed regulation board is installed on the noise reduction device, and the power module is electrically connected with the main control board, the driving motor and the brushless motor of the negative pressure device respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010883192.0A CN111845995A (en) | 2020-08-28 | 2020-08-28 | Low-noise negative-pressure wall-climbing robot |
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| CN202010883192.0A CN111845995A (en) | 2020-08-28 | 2020-08-28 | Low-noise negative-pressure wall-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113232739A (en) * | 2021-04-13 | 2021-08-10 | 沈阳工业大学 | Detection wall-climbing robot based on negative pressure adsorption |
| CN114308937A (en) * | 2022-01-13 | 2022-04-12 | 国网湖南省电力有限公司 | GIS internal pipeline detection cleaning robot |
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| CN114308937A (en) * | 2022-01-13 | 2022-04-12 | 国网湖南省电力有限公司 | GIS internal pipeline detection cleaning robot |
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