CN112537379A - Wheeled climbing robot and adhesion device thereof - Google Patents
Wheeled climbing robot and adhesion device thereof Download PDFInfo
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- CN112537379A CN112537379A CN202011355481.XA CN202011355481A CN112537379A CN 112537379 A CN112537379 A CN 112537379A CN 202011355481 A CN202011355481 A CN 202011355481A CN 112537379 A CN112537379 A CN 112537379A
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- 230000009194 climbing Effects 0.000 title claims abstract description 57
- 238000003825 pressing Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 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
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wheel type climbing robot and an adhesion device thereof, comprising a main machine body, an auxiliary machine body and an adhesion device; the main machine body comprises a main machine frame, a driving wheel arranged on the main machine frame and a driving motor used for driving the driving wheel to rotate; the auxiliary machine body comprises an auxiliary machine frame and a roller set, wherein the auxiliary machine frame is connected with the main machine frame through a linear bearing; a gap for clamping the climbing belt is formed between the roller group and the driving wheel; the adhesion device comprises a pressing plate assembly, a double-slider connecting rod assembly and a screw rod double-nut mechanism; the pressure plate assembly comprises a guide shaft I, a pressure plate and a spring; the double-slider connecting rod assembly comprises a guide shaft II, two sliders and two connecting rods respectively connected between the two sliders and the pressing plate; the screw rod double-nut mechanism comprises a left-right screw rod, two nuts which are respectively fixed with the two sliding blocks and matched with the left-right screw rod, and an adhesion device motor for driving the left-right screw rod to rotate.
Description
Technical Field
The invention relates to a wheel type climbing robot. In particular to a climbing robot which has small volume, self-adaptive adjustment of the pressing force, a power closed-loop control system and high movement speed through research and can be used for narrow environments and conditions of high-altitude and dangerous operation, such as military reconnaissance and high-altitude cargo transportation.
Background
Rope-climbing and pole-climbing robots are one of the research hotspots of the current robot technology, and with the development of the modern society, the situations that people work at high altitude are more and more, such as military reconnaissance, high-altitude cargo transportation, pipeline maintenance and the like. The rope climbing robot has wide application in high-altitude and dangerous operation, and has increasingly application prospect in other industries, so that the rope climbing robot in various forms is needed. According to the current research situation, most of the existing climbing robots climb the rope with a circular cross section, and have the defects that the pose in the air is not stable enough and is easy to rotate, and the existing climbing robots have climbing mechanisms which can be adopted, so that the climbing robots have the defects of low climbing speed, poor adaptive capacity, low operation efficiency, large space volume and the like. For example, the patent number 'CN 108313152A' relates to a rope climbing robot, is convenient to operate, and solves the problem that the overhead heavy object conveying is time-consuming and labor-consuming. But its volume space occupies great, is unfavorable for narrow space to operate, and its functioning speed is slower simultaneously, and goods and materials conveying efficiency is lower, operation stability is poor. For example, patent number "CN 107757747A" provides a rope climbing robot, which can adjust the climbing ropes of the robot through a lead screw transmission mechanism but lacks feedback control of pressure, so that the robot lacks certain environment self-adaptive capacity; meanwhile, the robot has the defects of large occupied space and slow running speed.
Disclosure of Invention
The invention aims to develop a wheel type climbing robot which can adapt to narrow space environment, has good climbing performance, high efficiency, high speed, high stability and compact structure.
The invention relates to a wheel type climbing robot, which comprises a main machine body, an auxiliary machine body and an adhesion device;
the main machine body comprises a main machine frame, a driving wheel arranged on the main machine frame and a driving motor used for driving the driving wheel to rotate;
the auxiliary machine body comprises an auxiliary machine frame and a roller set, wherein the auxiliary machine frame is connected with the main machine frame through a linear bearing; a gap for clamping the climbing belt is formed between the roller group and the driving wheel;
the adhesion device comprises a pressing plate assembly, a double-slider connecting rod assembly and a screw rod double-nut mechanism; the pressing plate assembly comprises a guide shaft I fixedly arranged on the auxiliary frame, a pressing plate in sliding fit with the guide shaft I and a spring arranged below the pressing plate; the double-slider connecting rod assembly comprises a guide shaft II fixed on the main frame, two sliders in sliding fit with the guide shaft II and two connecting rods respectively connected between the two sliders and the pressing plate; the screw rod double-nut mechanism comprises a left-handed screw rod and a right-handed screw rod which are rotatably arranged on the main rack, two nuts which are respectively fixed with the two sliding blocks and are matched with left-handed threads and right-handed threads of the left-handed screw rod and the right-handed screw rod, and an adhesion device motor for driving the left-handed screw rod and the right-handed screw rod to rotate;
furthermore, the driving motor is a brushless motor with a coding precision encoder and a current feedback system, and an output shaft of the driving motor drives the driving wheel to rotate through a synchronous belt transmission mechanism; the driving wheels, the driving motors and the synchronous belt transmission mechanisms are four groups and are symmetrically distributed on the main frame.
Further, a pressure sensor used for collecting pressing force applied by the pressing plate to the auxiliary frame is arranged between the spring and the auxiliary frame.
Furthermore, the front end and the rear end of the main frame are respectively provided with a guide wheel set for guiding a climbing belt; the guide wheel set comprises two guide wheel mounting plates arranged in parallel and two guide wheels supported between the two guide wheel mounting plates through bearings; the leading wheel is provided with two flanges, and the distance between the two flanges is the same as the width of the climbing belt.
Further, the four driving motors have torque, speed and position feedback so as to realize synchronous control of the four driving motors; the motor of the adhesion device is provided with torque, speed and position feedback so as to realize closed-loop control of pressing force between the roller and the climbing belt.
Further, the main frame comprises two motor mounting plates which are made of aluminum alloy and arranged in parallel, and a battery mounting plate, a driving wheel mounting plate and a belt wheel bearing seat mounting plate which are fixed between the two motor mounting plates.
The invention also discloses an adhesion device, which at least comprises the wheel type climbing robot.
The invention has the beneficial effects that:
1. the invention adopts a high-speed power system driven by a plurality of motors, and the system is driven by four brushless direct current motors, so that the robot has the advantages of high-speed movement performance and high load.
2. The adhesion device drives the screw rods to rotate through the motor and the synchronous belt so that the two screw rod nuts move in opposite directions, then the connecting rod mechanism moves, and the pressing plate moves along the guide shaft to compress the spring so as to keep the roller, the driving wheel and the climbing belt in a clamping state at all times. The clamping force between the conveyor belt and the driving wheel can be automatically adjusted by the adhesion device so as to reduce the friction between the robot and climbing; meanwhile, the pressure sensor is arranged below the spring fixing piece of the adhesion device to measure the pressure data of the adhesion device in real time, so that data feedback is realized, and the pressing force closed-loop control can be realized.
3. The climbing belt of the climbing robot is clamped between the double rollers and the driving wheel. Compared with the climbing belt scheme with double driving wheels, the structure has the advantages that the driving wheels are in line contact with the climbing belt, and the driving wheels are in surface contact with the climbing belt, so that the slip rate of the robot in the high-speed running process can be effectively reduced, and the lifting stability of the robot along the climbing belt can be improved.
4. The climbing belt guide device adopts the guide wheels which are vertically and symmetrically arranged, the climbing belt can penetrate through the two guide wheels, and the guide device adopts the two parallel guide wheels, so that the motion stability of the robot is ensured, and the robot is prevented from deflecting in the running process. The leading wheel is equipped with the flange and prevents that the climbing area from taking place the skew.
5. The driving motor of the invention has torque, speed and position feedback, and realizes the synchronous control of four brushless direct current motors of the power system. The motor of the adhesion device has torque, speed and position feedback, and is beneficial to improving the pressing force control precision. And the power closed-loop control of the robot can be realized.
6. The robot adopts the integral symmetrical layout, prevents the robot from overturning and improves the motion stability. The structure of the robot is optimized, the overall layout of the robot is considered, and a new adhesion device is designed to optimize the size of the robot.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a bottom view of the present invention;
FIG. 2 is an isometric view of the present invention;
FIG. 3 is an isometric view II of the present invention;
FIG. 4 is a left side view of the present invention;
fig. 5 is a schematic structural diagram of the main frame of the present invention.
Reference numerals: 1-brushless dc motor; 2, a guide wheel; 3, climbing a belt; 4, a coupler; 5, a bearing seat I; 6-belt wheel; 7-motor driver; 8, mounting a belt wheel bearing seat; 9-driving wheel; 10-an adhesion device motor; 11-bearing seat II; 12-a battery; 13-battery holder; 14-a control panel; 15-main frame; 16-a pulley; 17-an adhering means; 18-a guide wheel bearing seat; 19-square tube welding frame; 20-linear bearing seat; 21-guide shaft III; 22-fixing the corner fitting; 17 a-guide shaft I; 17 b-a spring; 17 c-a connecting rod; 17 d-screw rod bearing seat; 17e — a slider; 17 f-guide shaft II; 17 g-left and right spiral trapezoidal screw rods; 17 h-attaching the device mounting plate; 17 i-nut; 17 j-copper sheathing; 17 k-mount; 17 l-platen; 17 m-spring fixing plate; 23-installing a metal plate on the roller; 24-roller, 15 a-motor mounting plate I; 15 b-a pulley bearing block mounting plate; 15 c-battery mounting plate; 15 d-driving wheel mounting plate; 15 e-Motor mounting plate II
Detailed Description
As shown in fig. 1 and 2, the wheel type climbing robot of the embodiment comprises a main body, an auxiliary body and an adhesion device 17;
the main body comprises a main frame 15, a driving wheel 9 arranged on the main frame 15 and a driving motor for driving the driving wheel 9 to rotate; as shown in fig. 5, the main frame 15 includes two motor mounting plates (15a, 15e) made of aluminum alloy and arranged in parallel with each other, and a battery mounting plate 15c, a driving wheel mounting plate 15d and pulley bearing seat mounting plates (8,15b) fixed between the two motor mounting plates (15a, 15 e); the driving motor and the motor driver 7 are fixedly arranged on the outer sides of the motor mounting plates (15a, 15e), and hole positions for enabling the output shafts of the motors to penetrate through are arranged on the motor mounting plates (15a, 15 e); a bearing seat I5 for supporting a driving belt wheel shaft and a bearing seat II 11 for supporting a driving wheel shaft are fixedly arranged on the driving wheel mounting plate 15 d; the pulley bearing mounting plate is used for mounting a pulley bearing seat of a transmission system, and the battery mounting plate 15c is fixedly provided with a storage battery 12 through a battery fixing frame 17k 13; as shown in fig. 1, in this embodiment, four driving wheels 9 symmetrically arranged are disposed on the main frame 15, and the four driving motors drive the driving wheels 9 to rotate through a synchronous belt transmission mechanism in a one-to-one correspondence manner; the synchronous belt transmission mechanism comprises a driving belt wheel 6 coaxially fixed with a driving motor output shaft through a shaft coupling 4, a driven belt wheel 6 coaxially fixed with a driving wheel 9 and a synchronous belt connected between the driving belt wheel 6 and the driven belt wheel 6, wherein the driving motor is a brushless direct current motor 1 with a coding precision encoder and a current feedback system, and the brushless direct current motor has torque, speed and position feedback so as to realize synchronous control of the four driving motors.
The auxiliary machine body comprises an auxiliary machine frame connected with the main machine frame 15 through a linear bearing and a roller 24 group arranged on the auxiliary machine frame; a gap for clamping the climbing belt 3 is formed between the roller 24 group and the driving wheel 9; the auxiliary frame comprises a square tube welding frame 19, an adhesion device mounting plate 17h, a fixing frame 17k and a control plate 14, wherein the adhesion device mounting plate 17h, the fixing frame 17k and the control plate 14 are fixed above the square tube welding frame 19; two linear bearing seats 20 are respectively fixed on two sides of the main frame 15, a guide shaft III 21 matched with the linear bearing is fixed on two sides of the auxiliary frame through a fixed angle piece 22, and the auxiliary frame slides relative to the main frame 15 under the guide of the linear bearing to realize the adjustment of the distance between the driving shaft and the roller 24 group; the roller 24 group is arranged on the auxiliary frame through a roller 24 installation metal plate 23; each set of rollers 24 comprises two rollers 24 arranged parallel to each other, the climbing belt 3 of the climbing robot being clamped between the twin rollers 24 and the drive wheel 9. Compared with the climbing belt scheme with the double driving wheels 9, the driving wheels 9 are in line contact with the climbing belt 3, and the driving wheels 9 are in surface contact with the climbing belt 3, so that the slip rate of the robot in the high-speed operation process can be effectively reduced, and the lifting stability of the robot along the climbing belt 3 can be improved;
the adhesion device 17 comprises a pressing plate assembly, a double-slider connecting rod assembly and a screw rod double-nut mechanism; the pressing plate assembly comprises two guide shafts I17 a fixedly arranged on a fixing clamp on the auxiliary frame, a pressing plate 17l in sliding fit with the guide shafts I17 a (a copper sleeve 17j used for being matched with the guide shafts I17 a is fixed on the pressing plate 17 l), and a spring 17b arranged below the pressing plate 17 l; the spring 17b is mounted on the spring fixing plate 17 m; the double-slider connecting rod assembly comprises a guide shaft II 17f fixed on the main frame 15, two sliders 17e in sliding fit with the guide shaft II 17f and two connecting rods 17c respectively connected between the two sliders 17e and the pressure plate 17 l; the screw rod double-nut mechanism comprises a left-right-handed trapezoidal screw rod 17g supported on the main frame 15 through a screw rod bearing seat 17d, two nuts which are respectively fixed with the two sliders 17e and are matched with left-handed threads and right-handed threads of the left-handed trapezoidal screw rod 17g and the right-handed trapezoidal screw rod 17g, and an adhesion device motor 10 for driving the left-handed trapezoidal screw rod 17g and the right-handed trapezoidal screw rod 17g to rotate; the motor 10 of the adhesion device transmits power to the left and right spiral trapezoidal lead screws 17g through a synchronous belt transmission mechanism, and when the left and right spiral trapezoidal lead screws 17g rotate, the two nuts 17i approach to each other or are far away from each other; when the two nuts 17i approach each other, the two sliders 17e drive the auxiliary frame to move away from the main frame 15 through the two connecting rods 17c, so as to reduce the clamping force of the roller 24 and the driving wheel 9 on the climbing belt 3; on the contrary, when the two nuts 17i are far away, the two sliders 17e drive the auxiliary frame to move close to the main frame 15 through the two connecting rods 17c, so as to increase the clamping force of the roller 24 and the driving wheel 9 on the climbing belt 3; and a pressure sensor used for acquiring pressing force applied by the pressing plate 17l to the auxiliary frame is arranged on the spring fixing plate 17m, and pressure data of the adhesion device is measured in real time through the pressure sensor to realize data feedback, so that closed-loop control on the clamping force of the climbing belt 3 can be realized.
In this embodiment, the front end and the rear end of the main frame 15 are respectively provided with a guide wheel set for guiding the climbing belt 3; the guide wheel set comprises two guide wheel mounting plates arranged in parallel and two guide wheels 2 supported between the two guide wheel mounting plates through guide wheel bearing seats 18; the guide wheel 2 is provided with two flanges, and the distance between the two flanges is the same as the width of the climbing belt 3; the leading wheel 2 that adopts in the direction wheelset is upper and lower symmetrical arrangement, and climbing belt 3 can be followed and passed between two leading wheels 2, and guider adopts parallel leading wheel 2, guarantees the stability of robot motion, prevents that the robot from taking place to deflect at the operation process. The leading wheel 2 is provided with a flange to prevent the climbing belt 3 from deviating.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. A wheeled climbing robot which characterized in that: comprises a main machine body, a secondary machine body and an adhesion device;
the main machine body comprises a main machine frame, a driving wheel arranged on the main machine frame and a driving motor used for driving the driving wheel to rotate;
the auxiliary machine body comprises an auxiliary machine frame and a roller set, wherein the auxiliary machine frame is connected with the main machine frame through a linear bearing; a gap for clamping the climbing belt is formed between the roller group and the driving wheel;
the adhesion device comprises a pressing plate assembly, a double-slider connecting rod assembly and a screw rod double-nut mechanism; the pressing plate assembly comprises a guide shaft I fixedly arranged on the auxiliary frame, a pressing plate in sliding fit with the guide shaft I and a spring arranged below the pressing plate; the double-slider connecting rod assembly comprises a guide shaft II fixed on the main frame, two sliders in sliding fit with the guide shaft II and two connecting rods respectively connected between the two sliders and the pressing plate; the screw rod double-nut mechanism comprises a left-handed screw rod and a right-handed screw rod which are rotatably arranged on the main frame, two nuts which are respectively fixed with the two sliding blocks and are matched with the left-handed thread and the right-handed thread of the left-handed screw rod and the right-handed screw rod, and an adhesion device motor which is used for driving the left-handed screw rod and the right-handed screw rod to rotate.
2. The wheel-climbing robot of claim 1, wherein: the driving motor is a brushless motor with a coding precision encoder and a current feedback system, and an output shaft of the driving motor drives the driving wheel to rotate through a synchronous belt transmission mechanism; the driving wheels, the driving motors and the synchronous belt transmission mechanisms are four groups and are symmetrically distributed on the main frame.
3. The wheel-climbing robot of claim 2, wherein: and a pressure sensor used for acquiring pressing force of the pressing plate on the auxiliary frame is arranged between the spring and the auxiliary frame.
4. The wheel-climbing robot of claim 3, wherein: the front end and the rear end of the main frame are respectively provided with a guide wheel set for guiding a climbing belt; the guide wheel set comprises two guide wheel mounting plates arranged in parallel and two guide wheels supported between the two guide wheel mounting plates through bearings; the leading wheel is provided with two flanges, and the distance between the two flanges is the same as the width of the climbing belt.
5. The wheel-climbing robot of claim 4, wherein: the four driving motors have torque, speed and position feedback so as to realize synchronous control of the four driving motors; the motor of the adhesion device is provided with torque, speed and position feedback so as to realize closed-loop control of pressing force between the roller and the climbing belt.
6. The wheel-climbing robot of claim 5, wherein: the main frame comprises two motor mounting plates which are made of aluminum alloy and are arranged in parallel, and a battery mounting plate, a driving wheel mounting plate and a belt wheel bearing seat mounting plate which are fixed between the two motor mounting plates.
7. An adhesion device employing the wheel climbing robot of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011355481.XA CN112537379A (en) | 2020-11-26 | 2020-11-26 | Wheeled climbing robot and adhesion device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011355481.XA CN112537379A (en) | 2020-11-26 | 2020-11-26 | Wheeled climbing robot and adhesion device thereof |
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| Publication Number | Publication Date |
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| CN112537379A true CN112537379A (en) | 2021-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011355481.XA Pending CN112537379A (en) | 2020-11-26 | 2020-11-26 | Wheeled climbing robot and adhesion device thereof |
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| CN (1) | CN112537379A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU872157A1 (en) * | 1980-01-07 | 1981-10-15 | Ордена Ленина Завод "Ленинская Кузница" | Device for one-side automatic welding of parts |
| CN107176223A (en) * | 2017-07-10 | 2017-09-19 | 河北工业大学 | A kind of cambered surface self-bonding magnetic adsorption wall climbing detects robot |
| CN109396700A (en) * | 2018-12-07 | 2019-03-01 | 北京博清科技有限公司 | It creeps welding robot and its control method |
| CN208559586U (en) * | 2018-05-17 | 2019-03-01 | 香港中文大学（深圳） | A kind of cable climbing robot |
| CN209408224U (en) * | 2018-08-23 | 2019-09-20 | 铜陵狮达防火门有限责任公司 | A kind of hold-down mechanism for the processing of door industry |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
-
2020
- 2020-11-26 CN CN202011355481.XA patent/CN112537379A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU872157A1 (en) * | 1980-01-07 | 1981-10-15 | Ордена Ленина Завод "Ленинская Кузница" | Device for one-side automatic welding of parts |
| CN107176223A (en) * | 2017-07-10 | 2017-09-19 | 河北工业大学 | A kind of cambered surface self-bonding magnetic adsorption wall climbing detects robot |
| CN208559586U (en) * | 2018-05-17 | 2019-03-01 | 香港中文大学（深圳） | A kind of cable climbing robot |
| CN209408224U (en) * | 2018-08-23 | 2019-09-20 | 铜陵狮达防火门有限责任公司 | A kind of hold-down mechanism for the processing of door industry |
| CN109396700A (en) * | 2018-12-07 | 2019-03-01 | 北京博清科技有限公司 | It creeps welding robot and its control method |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
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Application publication date: 20210323 |