CN111891245A - Wall-climbing robot with demagnetizable magnetic wheels - Google Patents
Wall-climbing robot with demagnetizable magnetic wheels Download PDFInfo
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- CN111891245A CN111891245A CN202010822552.6A CN202010822552A CN111891245A CN 111891245 A CN111891245 A CN 111891245A CN 202010822552 A CN202010822552 A CN 202010822552A CN 111891245 A CN111891245 A CN 111891245A
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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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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F13/00—Apparatus or processes for magnetising or demagnetising
- H01F13/006—Methods and devices for demagnetising of magnetic bodies, e.g. workpieces, sheet material
Abstract
The invention discloses a wall-climbing robot with demagnetizable magnetic wheels, which is applied to the field of wall-climbing robots. The invention provides a wall-climbing robot with demagnetizable magnetic wheels, aiming at the phenomenon that the wall-climbing robot is difficult to cross obstacles such as bulges, cambered surfaces, ribs, concave surfaces and the like on the wall surface due to the strong adsorption force between the wall-climbing robot and the magnetic conduction wall surface, and the wall-climbing robot has good wall surface environment adaptability to solve the problems.
Description
Technical Field
The invention relates to the field of robots, in particular to a wall-climbing robot for obstacle crossing of a magnetic conduction wall surface.
Background
The wall-climbing robot is a special robot which can automatically complete high-altitude operation, and is applied to work environments which cannot be reached by people, such as high-strength and high-risk work of ship cleaning work, power tower maintenance and detection work and the like. However, the existing wall-climbing robot has poor environmental performance and requires a magnetic conduction wall surface to have high flatness, and if the wall surface has bulges, cambered surfaces, ribs and concave surfaces, the existing wall-climbing robot cannot well span the obstacles. In order to solve the problems that the existing wall climbing robot is poor in adaptability and cannot cross obstacles, the wall climbing robot with the demagnetizable magnetic wheels is designed.
The chinese patent 'an electromagnetism wheel foot formula horizontal wheel base adjustable hinders wall climbing robot more' for application number 201621431302.5, this robot adopts electromagnetism wheel subassembly absorption mode, makes the magnetism wheel lose magnetism and turns over the obstacle through cutting off the power supply to the electromagnetism wheel when crossing over the obstacle, and this kind of mode control is simple but the electromagnetism wheel need last to adsorb the subassembly power supply when adsorbing, and the energy consumption is big to there is the risk that the outage dropped. The Chinese patent with the application number of 201921494327.3 discloses a large-scale metal facade obstacle-crossing and wall-climbing robot, which changes the adsorption force by controlling the vertical distance of an adsorption component relative to a wall surface to complete obstacle crossing, and the operation is stable in the mode, but the mode can cause the whole robot to have larger volume and the obstacle crossing efficiency is not high. The invention discloses a roller capable of generating magnetism and demagnetizing, which is disclosed in the Chinese patent with the application number of 201721667042.6, and is characterized in that the roller is demagnetized by changing a magnetic circuit inside the roller, the structure operation is simple, but the magnetic circuit changing mode ensures that the adsorption force generated by the magnetic wheel in a magnetism generating state is not large, and the roller is not suitable for being used as an adsorption wheel set of a wall-climbing robot. At present, most of wall-climbing robots with obstacle-crossing capability complete obstacle-crossing actions through lifting adsorption mechanisms, and the overall obstacle-crossing efficiency is low and complicated to control.
Disclosure of Invention
The invention aims to provide a wall-climbing robot with demagnetizable magnetic wheels, aiming at the situation that the wall surface has bulges, cambered surfaces, ribs, concave surfaces and the like, the robot directly realizes the strong adaptability of the wall surface by controlling the magnetism of the magnetic adsorption wheels, so that the whole robot has higher stability.
The technical scheme adopted by the invention for solving the technical problems is as follows: a wall-climbing robot with demagnetizable magnetic wheels comprises a frame, an obstacle crossing joint assembly arranged on the frame, a demagnetizable adsorption assembly and a driving assembly, wherein the demagnetizable adsorption assembly and the driving assembly are connected with the obstacle crossing joint assembly. The robot adsorbs at the magnetic conduction wall through the magnetic force that can degauss adsorption component and provide, and drive assembly provides the power of robot at the wall motion, through to can degaussing adsorption component demagnetization control with hinder joint assembly's cooperation more, overcomes obstacles such as arch, cambered surface, concave surface that present wall climbing robot is difficult to stride across on the magnetic conduction wall.
Preferably, the obstacle crossing joint component comprises a fixing frame, a left joint shaft, a left joint torsion spring, a left limiting nut, a left joint plate, a left joint shaft, a left joint torsion spring, a left limiting nut and a left joint plate; the fixing frame is fixedly connected with the frame, the left joint shaft is rotatably connected with the fixing frame through a round hole in the fixing frame, the left joint plate is rotatably connected with the joint shaft, two sides of the left joint torsion spring are respectively fixedly connected with the fixing frame and the left joint plate and rotatably connected with the joint shaft, the left joint plate can rotate relative to the left fixing frame, an initial position is set through the left joint torsion spring to generate restoring force, and the left limiting nut is fixedly connected with the left limiting shaft and used for axial positioning of the joint plate. The right side joint component adopts the same structural design and arrangement. The obstacle crossing joint assembly realizes the swinging adaptation of the robot walking part to the wall surface environment when the obstacle crossing is carried out.
Preferably, the driving assembly comprises a driving motor, a first synchronizing wheel, a synchronizing belt and a second synchronizing wheel, the driving motor is fixedly connected with a left joint plate in the obstacle crossing joint assembly, the first synchronizing wheel is fixedly connected to a rotating shaft extending out of the driving motor, the first synchronizing wheel and the second synchronizing wheel are in synchronous belt transmission, and the second synchronizing wheel is connected with the demagnetizing adsorption assembly to transmit power.
Preferably, the demagnetizable adsorption assembly comprises an electromagnetic push rod fixing plate, an electromagnetic push rod, a follow-up push plate, an internal permanent magnet assembly, a middle magnetic conduction assembly, an external magnetic conduction assembly and a driving shaft, wherein the electromagnetic push rod fixing plate is connected with a right joint plate and is connected with the electromagnetic push rod fixing plate, the follow-up push plate is fixedly connected with the electromagnetic push rod, the internal permanent magnet assembly, the middle magnetic conduction assembly and the external magnetic conduction assembly are connected to form a wheel type magnetic adsorption module, the middle magnetic conduction module is fixedly connected with the follow-up push plate, and the left and right movement relative to the internal permanent magnet assembly and the external magnetic conduction assembly can be realized along with the movement of the electromagnetic push rod, so that the magnetic control of the demagnetizable adsorption module is realized, and the driving shaft is connected with a second synchronizing wheel of the driving assembly to transmit the driving force.
Preferably, one or more groups of obstacle crossing joint assemblies, driving assemblies and assembly bodies formed by demagnetizing adsorption assemblies can be determined to be carried on the frame according to the actual environment of the magnetic conductive wall surface, and stable adsorption of the wall climbing robot is achieved.
Compared with the prior art, the invention provides a wall-climbing robot with demagnetizable magnetic wheels, which has the following beneficial effects:
1. the design that magnetism has or not can be controlled through the adsorption component that can demagnetize, avoids conventional wall climbing robot to cause the shortcoming that is difficult to cross the obstacle because of the strong adsorption affinity of wall face to the robot.
2. An obstacle crossing joint assembly is arranged between the robot walking part and the frame, so that the robot has better obstacle crossing performance.
3. After the robot finishes the field work, the magnetic force of the adsorption component can be eliminated, and the adsorption component can be easily taken down from the magnetic conduction wall surface.
4. The demagnetizable magnetic adsorption component completes demagnetization by controlling the electromagnetic push rod, and is simple to control and strong in applicability.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of an obstacle crossing joint assembly of the present invention.
Fig. 3 is a schematic view of a drive assembly of the present invention.
FIG. 4 is a schematic view of a degaussable adsorbent assembly of the present invention.
Fig. 5 is a schematic view of an internal permanent magnet assembly of the degaussable adsorbent assembly of the present invention.
FIG. 6 is a schematic view of a middle magnetic conductive and isolating assembly of the demagnetizable adsorption assembly of the invention.
FIG. 7 is a schematic diagram of an external magnetically conductive assembly of the degaussable adsorbent assembly of the present invention.
FIG. 8 is a schematic diagram of the magnetization state of the demagnetizable adsorption component of the invention.
FIG. 9 is a schematic diagram of a demagnetizing state of the demagnetizable attraction component according to the present invention.
In the figure: 1. a frame, 2, an obstacle crossing joint component, 3, a driving component, 4, a demagnetizable adsorption component, 5, an electronic control component protection box, 6, a lifting handle, 201, a fixing frame, 202, a left joint shaft, 203, a left joint torsion spring, 204, a left limit nut, 205, a left joint plate, 206, a right joint shaft, 207, a right joint torsion spring, 208, a right limit nut, 209, a motor side synchronous pulley, 301, a driving motor, 302, a first synchronous wheel, 303, a synchronous wheel, 304, a second synchronous wheel, 41, an electromagnetic push rod fixing plate, 42, an electromagnetic push rod, 43, a follow-up push plate, 44, an internal permanent magnet component, 45, a middle magnetic conduction and isolation component, 46, an external magnetic conduction component, 47, a driving shaft, 4401, an internal left magnetic conduction steel, 4402, a magnet, 4403, an internal right steel, 4501, a middle first magnetic isolation block, 4502, a middle first magnetic conduction steel, 4503, a middle second magnetic conduction steel, 4504. middle second magnetism isolating block, 4505, moving connecting piece, 4506, ball component, 4601, left limiting piece, 4602, left outer magnetic guiding steel, 4603, right outer magnetic guiding steel, 4604, right limiting piece.
Detailed Description
The present invention will be described in detail with reference to the specific embodiments shown in the drawings, which are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the specific embodiments are included in the scope of the present invention.
As shown in fig. 1, the wall-climbing robot with demagnetizable magnetic wheels comprises a frame (1), an obstacle crossing joint assembly (2) arranged on the frame, a demagnetizable adsorption assembly (4) connected with the obstacle crossing joint assembly, and a driving assembly (3); the demagnetizable adsorption component can control the magnetism of the demagnetizable magnetic adsorption component by changing the arrangement form of a magnetic circuit of the magnet inside the component. The robot adsorbs at the magnetic conduction wall through can demagnetizing adsorption component, and drive assembly provides the power of robot at the wall motion, through to the demagnetization adsorption component demagnetization control with hinder joint assembly's cooperation more, comes through obstacles such as arch on the magnetic conduction wall, solitary face, concave surface.
As shown in fig. 2, the obstacle crossing joint assembly (2) comprises a fixing frame (201) fixedly connected with a frame (1), a round hole is formed in the fixing frame, a left joint shaft (202) is rotatably connected with the fixing frame through the round hole, a left joint plate (205) is rotatably connected with the left joint shaft and axially limited through a left limiting nut (204), two sides of a left joint torsion spring (203) are respectively fixedly connected with the fixing frame and the left joint plate and rotatably connected with the joint shaft, the left joint plate can rotate relative to the left fixing frame, an initial position is set through the left joint torsion spring, and restoring force is generated. The right side joint component adopts the same structural design and arrangement. When the robot crosses the obstacle, the left and right joint plates can drive the lower walking mechanism to rotate relative to the frame to adapt to the obstacle raised on the wall surface, and after the obstacle passes, the left and right joint plates return to the initial positions due to the restoring force of the left and right joint torsion springs to complete the obstacle crossing action.
As shown in fig. 3, the driving assembly (3) comprises a driving motor (301), a first synchronizing wheel (302), a synchronizing belt (303) and a second synchronizing wheel (304), the driving motor is fixedly connected with a left joint plate (205) in the obstacle crossing joint assembly (2), the first synchronizing wheel is fixedly connected to a rotating shaft extending out of the driving motor, the first synchronizing wheel and the second synchronizing wheel are in synchronous belt transmission, the second synchronizing wheel is connected with the demagnetizable adsorption assembly (4), and power is transmitted to the demagnetizable adsorption assembly (4) from the driving motor.
As shown in fig. 4, the demagnetizable adsorption component (4) comprises an electromagnetic push rod fixing plate (41), an electromagnetic push rod (42), a follow-up push plate (43), an internal permanent magnet component (44), a middle magnetic conduction component (45), an external magnetic conduction component (46) and a driving shaft (47), wherein the electromagnetic push rod fixing plate is connected with a right joint plate (209) and is connected with the electromagnetic push rod fixing plate, the follow-up push plate is fixedly connected with the electromagnetic push rod and can move left and right along with the push rod in the electromagnetic push rod, the internal permanent magnet component, the middle magnetic conduction component and the external magnetic conduction component are connected to form a wheel type magnetic adsorption module to provide enough magnetic adsorption force for the robot, the middle magnetic conduction component is fixedly connected with the follow-up push plate, and the left and right movement relative to the internal permanent magnet component and the external magnetic conduction component can be realized through the control of the electromagnetic push rod, so as to realize, the driving shaft is connected with a second synchronous wheel (304) of the driving assembly (3) and transmits driving force to the wheel type magnetic adsorption module, so that the wheel type magnetic adsorption module can complete rotation and walk on the magnetic conduction wall surface.
As shown in fig. 5 inside permanent magnet subassembly (44) is including inside left side magnetic steel (4401), magnet (4402), inside right side magnetic steel (4403) is led, inside left side magnetic steel (magnetic steel adopts magnetic material to add, like electrician's pure iron, low carbon steel etc.) and magnet fixed connection, and keep coaxial arranging, inside right side magnetic steel and magnet fixed connection, and keep coaxial arranging, magnet provides the magnetism source that can degauss adsorption component (4), it has the keyway to open on inside left side magnetic steel and the inside right side magnetic steel to lead, pass through key-type connection transmission moment of torsion with drive shaft (47).
As shown in fig. 6, the middle magnetic conductive and isolating component (45) comprises a middle first magnetic isolating block (4501), a middle first magnetic conductive steel (4502), a middle second magnetic isolating block (4503), a middle second magnetic conductive steel (4504), a movable connecting piece (4505) and a ball piece (4506), wherein the middle first magnetic isolating block (the magnetic isolating block is made of non-magnetic material, such as aluminum, copper and the like), the middle first magnetic conductive steel, the middle second magnetic isolating block and the middle second magnetic conductive steel have the same size, and is coaxially and fixedly connected through a screw, the movable connecting piece is fixedly connected with the middle second magnetic conduction steel and is fixedly connected with the follow-up push plate (43), used for transmitting the thrust of an electromagnetic push rod (42), the ball piece consists of a plurality of spherical steel wheels, for reducing drag on side-to-side movement of the intermediate magnetic isolation assembly while completing torque transfer of the inner permanent magnet assembly (44) to the intermediate magnetic isolation assembly (4505).
As shown in fig. 7, the external magnetic conductive assembly (46) includes a left limiting member (4601), a left external magnetic conductive steel (4602), a right external magnetic conductive steel (4603), and a right limiting member (4604), the external magnetic conductive assembly is integrally and coaxially and fixedly connected through a bolt, and the left limiting member is fixedly connected with the internal permanent magnet module (44), so that the internal permanent magnet assembly (44) and the external magnetic conductive assembly are fixed in relative positions.
The following description is about the arrangement form of the internal magnet of the demagnetizable adsorption component (4) in the magnetic generation and demagnetization states:
as shown in fig. 8, the demagnetizable magnet assembly is currently in a magnetic generating state, the electromagnetic push rod (42) drives the internal permanent magnet assembly (44) to be on the opposite left side, at this time, the magnet (4402), the internal left and right magnetic guide steels (4401, 4403), the middle first and second magnetic guide steels (4502, 4504), and a closed magnetic loop can be formed between the external left and right magnetic guide steels (4602, 4603) and the wall surface, so that a stable magnetic attraction force is formed between the wall surface and the demagnetizable attraction assembly (4).
As shown in fig. 9, the demagnetizable adsorption component is in a demagnetizing state, and in a relative magnetism generating state, the electromagnetic push rod (42) drives the internal permanent magnet component (44) to move rightwards, so that the original positions of the first and second magnetic conductive magnets (4502, 4504) in the middle are changed into the first and second magnetism isolating blocks (4501, 4503) in the middle, so that a magnetic circuit between the magnet and the wall surface is isolated, a closed loop can only be generated in the demagnetizable adsorption component (4), most of magnetic lines of force cannot be transmitted to the wall surface, the magnetic force between the demagnetizable adsorption component and the wall surface is basically zero, and the purpose of demagnetization is achieved.
After the magnetic force can be eliminated by the adsorption component of the wall-climbing robot, various environments of protrusion and depression of the wall surface on the magnetic conduction wall surface can be easily coped by matching with the obstacle crossing joint component (2). Simultaneously, can set up multiunit joint subassembly (2) that hinder more on the frame, drive assembly (3), the assembly body that can degaussing adsorption component (4) formed according to on-the-spot wall surface environment, provide more stable magnetic adsorption power, make and climb wall robot more reliable.
An electric control assembly protection box (5) is arranged on the frame and used for preventing water and dust, and a lifting handle (6) is arranged and used for carrying the robot body.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A wall climbing robot with a demagnetizable magnetic wheel is characterized in that: comprises a frame (1), an obstacle crossing joint component (2) arranged on the frame, a demagnetizable adsorption component (4) connected with the obstacle crossing joint component, and a driving component (3); the demagnetizable adsorption component controls the magnetism of the demagnetizable magnetic adsorption component by changing the arrangement form of a magnetic circuit inside the component.
The robot adsorbs at the magnetic conduction wall through can demagnetizing adsorption component, and drive assembly provides the power of robot at the wall motion, through to the demagnetization adsorption component demagnetization control with hinder joint assembly's cooperation more, comes through obstacles such as arch on the magnetic conduction wall, cambered surface, concave surface.
2. The wall-climbing robot of claim 1, wherein: the obstacle crossing joint component comprises a fixed frame (201), a left joint shaft (202), a left joint torsion spring (203), a left limit nut (204), a left joint plate (205), a right joint shaft (206), a right joint torsion spring (207), a right limit nut (208) and a right joint plate (209); the fixing frame is fixedly connected with the frame (1), a round hole is formed in the fixing frame, the left joint shaft is rotatably connected with the fixing frame through the round hole, the left joint plate is rotatably connected with the joint shaft, two sides of the left joint torsion spring are respectively fixedly connected with the fixing frame and the left joint plate and rotatably connected with the joint shaft, the left joint plate can rotate relative to the left fixing frame, an initial position is set through the left joint torsion spring, restoring force is generated, and the left limiting nut is fixedly connected with the left limiting shaft and used for axial positioning of the joint plate. The right side joint component adopts the same structural design and arrangement.
3. The wall-climbing robot according to claim 1 or 2, characterized in that: the driving assembly comprises a driving motor (301), a first synchronizing wheel (302), a synchronous belt (303) and a second synchronizing wheel (304), the driving motor is fixedly connected with a left joint plate (205) in the obstacle crossing joint assembly, the first synchronizing wheel is fixedly connected to a rotating shaft extending out of the driving motor, and the first synchronizing wheel and the second synchronizing wheel transmit power to the demagnetizing adsorption assembly (4) through the synchronous belt.
4. A wall-climbing robot as claimed in claims 1, 2 and 3, wherein: the demagnetizable adsorption component comprises an electromagnetic push rod fixing plate (41), an electromagnetic push rod (42), a follow-up push plate (43), an internal permanent magnet component (44), a middle magnetic conduction component (45), an external magnetic conduction component (46) and a driving shaft (47), wherein the electromagnetic push rod fixing plate is connected with a right joint plate (209) and is connected with the electromagnetic push rod fixing plate, the follow-up push plate is fixedly connected with the electromagnetic push rod, the internal permanent magnet component, the middle magnetic conduction component and the external magnetic conduction component are connected to form a wheel type magnetic adsorption module, the middle magnetic conduction module is fixedly connected with the follow-up push plate, the left and right movement relative to the internal permanent magnet component and the external magnetic conduction component can be realized through the control of the electromagnetic push rod, so that the magnetic control of the demagnetizable adsorption component (4) is realized, and the driving shaft is connected with a second synchronizing wheel (304) of, transmitting the driving force to the wheel type magnetic adsorption module.
5. The wall-climbing robot according to claim 1 or 4, characterized in that: inside permanent magnet subassembly includes inside left side magnetic steel (4401), magnet (4402), and inside right side magnetic steel (4403) is led, inside left side magnetic steel and magnet fixed connection to keep coaxial the arranging, inside right side magnetic steel and magnet fixed connection, and keep coaxial the arranging, but magnet provides the magnetism source that can degauss adsorption component (4), and inside left side magnetic steel and inside right side lead and open on the magnetic steel have the keyway, pass through the key-type connection transmission moment of torsion with drive shaft (47).
6. The wall-climbing robot according to claim 1 or 4, characterized in that: the middle magnetic conduction and isolation assembly comprises a middle first magnetic isolation block (4501), a middle first magnetic conduction block (4502), a middle second magnetic isolation block (4503), a middle second magnetic conduction block (4504), a movable connecting piece (4505) and a ball piece (4506), wherein the middle first magnetic isolation block, the middle first magnetic conduction block, the middle second magnetic isolation block and the middle second magnetic conduction steel are coaxially and fixedly connected through screws, the movable connecting piece is fixedly connected with the middle second magnetic conduction steel and is fixedly connected with a follow-up push plate (43) and used for transmitting thrust of an electromagnetic push rod (42), and the ball piece is composed of a plurality of spherical steel wheels and used for reducing resistance when the middle magnetic isolation assembly moves left and right and simultaneously used for transmitting torque from an internal permanent magnet assembly (44) to the middle magnetic conduction and isolation assembly (45).
7. The wall-climbing robot according to claim 1 or 4, characterized in that: the external magnetic conduction assembly comprises a left limiting piece (4601), a left external magnetic conduction steel (4602), a right external magnetic conduction steel (4603) and a right limiting piece (4604), the whole external magnetic conduction assembly is coaxially and fixedly connected through a bolt, the left limiting piece is fixedly connected with an internal permanent magnet module (44), so that the relative positions of the internal permanent magnet module and the external magnetic conduction assembly are fixed, and the torque transmission of the middle magnetic conduction assembly and the external magnetic conduction assembly is also transmitted through a ball piece (4506).
8. The wall-climbing robot of claim 1, wherein: can set up one set of or multiunit joint subassembly (2) that hinder more on the frame according to the wall demand, drive assembly (3), but assembly body that demagnetization adsorption component (4) formed.
9. The wall-climbing robot of claim 1, wherein: an electric control assembly protection box (5) and a lifting handle (6) are arranged on the frame.
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| CN202010822552.6A CN111891245A (en) | 2020-08-14 | 2020-08-14 | Wall-climbing robot with demagnetizable magnetic wheels |
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| CN202010822552.6A CN111891245A (en) | 2020-08-14 | 2020-08-14 | Wall-climbing robot with demagnetizable magnetic wheels |
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| CN112498514A (en) * | 2020-12-18 | 2021-03-16 | 北京博清科技有限公司 | Wall-climbing robot and adsorption control method thereof |
| CN112960046A (en) * | 2021-03-29 | 2021-06-15 | 新天绿色能源股份有限公司 | Self-adaptive wall-climbing robot |
| CN113173043A (en) * | 2021-04-20 | 2021-07-27 | 北京机械设备研究所 | Chassis device of individual power-assisted tractor and individual power-assisted tractor |
| CN113247135A (en) * | 2021-05-25 | 2021-08-13 | 之江实验室 | Bridge detection robot for steel plate beam structure |
| CN114516373A (en) * | 2022-02-25 | 2022-05-20 | 北京航空航天大学 | Curved surface self-adaptation wall climbing robot |
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| CN112498514A (en) * | 2020-12-18 | 2021-03-16 | 北京博清科技有限公司 | Wall-climbing robot and adsorption control method thereof |
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| CN112960046A (en) * | 2021-03-29 | 2021-06-15 | 新天绿色能源股份有限公司 | Self-adaptive wall-climbing robot |
| CN113173043A (en) * | 2021-04-20 | 2021-07-27 | 北京机械设备研究所 | Chassis device of individual power-assisted tractor and individual power-assisted tractor |
| CN113247135A (en) * | 2021-05-25 | 2021-08-13 | 之江实验室 | Bridge detection robot for steel plate beam structure |
| CN114516373A (en) * | 2022-02-25 | 2022-05-20 | 北京航空航天大学 | Curved surface self-adaptation wall climbing robot |
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