CN113060221B - Machine climbing method and device - Google Patents
Machine climbing method and device Download PDFInfo
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- CN113060221B CN113060221B CN202110248000.3A CN202110248000A CN113060221B CN 113060221 B CN113060221 B CN 113060221B CN 202110248000 A CN202110248000 A CN 202110248000A CN 113060221 B CN113060221 B CN 113060221B
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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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Abstract
A machine climbing method and a device relate to a machine walking climbing technology and are characterized by comprising a machine body, a power shaft which is arranged on the machine body and driven by power to rotate, two main crankshafts and two auxiliary crankshafts which are driven by the power shaft, two sets of two connecting rods which are driven by each main crankshaft, two connecting rods which are driven by each auxiliary crankshaft, a pair of first claws and a pair of second claws, wherein the bending directions of the two main crankshafts are opposite, the bending directions of the two auxiliary crankshafts are opposite, the bending directions of the main crankshafts are mutually vertical to the bending direction of the auxiliary crankshafts, the two main crankshafts and the two auxiliary crankshafts are arranged in a staggered mode along the axial direction of the power shaft, two main shafts which are rotatably arranged on the machine body are symmetrically arranged on two sides of each main crankshaft, and a shaft which is perpendicular to the main shafts and rotates along with the main shafts is arranged on the main shafts. Compared with the prior art, the invention has the advantages of simple structure, no need of auxiliary support and simple and convenient use.
Description
Technical Field
The invention relates to a machine walking and climbing technology.
Background
The current machines climb on the surface of a cylinder or other shaped cylinder, one of which is the complex technical structure that requires the use of a complex control system in conjunction with complex mechanical structures (such as suction cups) and multiple actuators; the other is to use ropes as auxiliary supports, which is complicated to use and has a limited application.
Disclosure of Invention
The invention aims to provide a climbing method and a climbing device which are simple in structure, free of auxiliary support and simple and convenient to use.
The machine climbing method is realized in such a way that when a pair of first claws respectively arranged at two sides of a machine body are driven by power to swing towards a cylinder and the claws are arranged on the cylinder, a pair of second claws respectively arranged at two sides of the machine body are driven by power to do stretching swing away from the cylinder and leave the cylinder, the first claws are driven by power to swing towards the cylinder, and the process of the claws on the cylinder is the same, when the first claws swing towards the cylinder to start the claws on the cylinder, the first claws swing forwards by taking points of the claws on the cylinder as fulcrums under the drive of the power, so that the machine body is driven to move forwards, and then the first claws swing away from the cylinder under the drive of the power; after the second claw is opened and swung to leave the cylinder, the second claw swings backwards under the driving of power and swings upwards under the driving of power, so that the machine body can climb upwards or downwards along the cylinder along with the first claw and the second claw which alternately swing forwards on the cylinder by taking the point of the claw on the cylinder as a fulcrum.
Owing to utilize a pair of claw on the cylinder, like this, just can make the organism location on the cylinder and can not drop, utilize a pair of claw to use the point of claw on the cylinder as the fulcrum forward swing, drive the organism along the cylinder up or down climbing, realized the effect of machine climbing. Utilize the characteristic of cylinder, when a pair of claw is grabbed the motion of closing relatively, just can firmly grasp on the cylinder, utilize the swing in opposite directions behind the cylinder of a pair of grabhook simultaneously, make the organism move forward or backward (when the claw counter swing, just can realize moving backward) to realize the organism and climb along the cylinder.
The main crankshaft drives two connecting rods with one end hinged with the main crankshaft to do stretching and bending actions, the two connecting rods with the stretching and bending actions drive a main shaft which is connected with the other end of the two connecting rods and is rotationally connected to the machine body to rotate back and forth, the main shaft which rotates back and forth drives a first claw or a second claw which is connected with the main shaft to swing, when the two connecting rods do the stretching action, the claws swing away from the direction of the cylinder, and when the two connecting rods do the bending action, the claws swing towards the direction of the cylinder.
The claw is horizontally and rotatably connected with a shaft vertically fixed on the main shaft, the rotating auxiliary crankshaft drives a connecting rod with one end hinged with the auxiliary crankshaft to move back and forth, the other end of the connecting rod drives the claw to swing through a hook at the end of the connecting rod, and when the claw swings in the direction away from the cylinder, the auxiliary crankshaft drives the claw to swing backwards through the hook at the other end of the connecting rod; when the claw swings towards the column direction and is positioned on the main body, the auxiliary crankshaft drives the claw to swing forwards through the hook at the other end of the connecting rod, and the machine body is driven to move forwards.
The machine climbing device comprises a machine body, a power shaft which is arranged on the machine body and driven by power to rotate, two main crankshafts, two auxiliary crankshafts, two sets of two connecting rods, a pair of first claws and a pair of second claws, wherein the two main crankshafts are driven by the power shaft, the bending directions of the two main crankshafts are opposite, the bending directions of the two auxiliary crankshafts are opposite, the bending directions of the main crankshafts are perpendicular to the bending directions of the auxiliary crankshafts, the two main crankshafts and the two auxiliary crankshafts are arranged in a staggered mode along the axial direction of the power shaft, two main shafts which are rotatably arranged on the machine body are symmetrically arranged on two sides of each main crankshaft, shafts which are perpendicular to the main shafts and rotate along with the main shafts are arranged on the main shafts, one end of a first connecting rod and one end of a second connecting rod on the first main crankshaft are hinged to the first main shaft, and the other end of the first connecting rod and the second connecting rod on one side of the machine body is perpendicularly connected to the first main shaft and drives the first main shaft The shaft rotates, one end of a second connecting rod on the first main crankshaft is hinged on the first main crankshaft, the other end of the second connecting rod on the first main crankshaft is vertically connected on a second main shaft positioned on the other side of the machine body and drives the second main shaft to rotate, the hinged end of a first claw is hinged on the shaft of the first main shaft, the hinged end of a first second claw is hinged on the shaft of the second main shaft, one end of a first connecting rod on a first auxiliary crankshaft adjacent to the first main crankshaft is hinged on the first auxiliary crankshaft, the other end of the first connecting rod on the first auxiliary crankshaft is provided with a hook, the hook of the first connecting rod is lapped on the first claw and drives the first claw to swing forwards or backwards, one end of a second connecting rod on the first auxiliary crankshaft is hinged on the first auxiliary crankshaft, the other end of the second connecting rod on the first auxiliary crankshaft is provided with a hook, the hook of the second connecting rod is lapped on the first second claw and drives the first second claw to swing backwards or forwards, one end of a third connecting rod on the second main crankshaft is hinged on the second main crankshaft, the other end of the third connecting rod on the second main crankshaft is vertically connected on a third main shaft positioned on the other side of the machine body and drives a third main shaft to rotate, one end of a fourth connecting rod on the second main crankshaft is hinged on the second main crankshaft, the other end of the fourth connecting rod on the second main crankshaft is vertically connected on a fourth main shaft positioned on one side of the machine body and drives a fourth main shaft to rotate, the hinged end of a second first claw is hinged on a shaft of the third main shaft, the hinged end of a second claw is hinged on a shaft of the fourth main shaft, one end of a third connecting rod on a second auxiliary crankshaft adjacent to the second main crankshaft is hinged on a second auxiliary crankshaft, the other end of the third connecting rod on the second auxiliary crankshaft is provided with a hook, the hook of the third connecting rod is hooked on the second first claw and drives the second first claw to swing forwards or backwards, one end of a fourth connecting rod on the second auxiliary crankshaft is hinged to the second auxiliary crankshaft, a hook is arranged at the other end of the fourth connecting rod on the second auxiliary crankshaft, and the hook of the fourth connecting rod is lapped on the second claw and drives the second claw to swing backwards or forwards.
When the device works, the device is placed on a post, power is started, the power drives a main crankshaft and an auxiliary crankshaft to rotate through a power shaft, the main crankshaft drives claws to swing through two connecting rods, a main shaft and a shaft, so that a first claw and a second claw alternately do actions of grabbing the post and driving a machine body to move through swinging, namely, the first main crankshaft drives a first claw and the second main crankshaft drives a second first claw to swing relatively to the post and grab the post (the main crankshaft rotates to drive a first connecting rod and a second connecting rod to do bending actions, the first main shaft and a fourth main shaft drive corresponding shafts to swing in the direction of leaving the post so that the first claw swings towards the post), the first main crankshaft drives a first second claw and the second main crankshaft drives a second claw to swing relatively leaving the post (the main crankshaft rotates to drive a second connecting rod and a fourth connecting rod to do straightening actions, and the corresponding shaft is driven to swing towards the post direction through the second main shaft and the fourth main shaft, make the second claw toward leaving the swing of post direction), continue to leave the post along with main bent axle drive second claw, vice bent axle drives the second claw through the hook on the connecting rod and swings backward, continue to catch the post along with the first claw of main bent axle drive, vice bent axle drives first claw through the hook on the connecting rod and swings forward, first claw, the second claw catches the post in turn and drives organism and move forward, thereby accomplish the climbing that the organism is along the cylinder and is forward, of course, pass through the power shaft when power and drive main bent axle, when vice bent axle antiport, first claw, the second claw can reverse direction effect on the post, just can realize the climbing that the organism is along the cylinder backward.
The power shaft is adopted to simultaneously drive the main crankshaft and the auxiliary crankshaft to rotate, and then the first claw and the second claw are driven to alternately act through the two connecting rods and the connecting rod, so that climbing can be realized through single driving, and the climbing device has the advantage of a power driving structure.
Here, the hinged end parts of the first claw and the second claw are provided with cross bars, hooks of the connecting rods are hooked on the cross bars, and the cross bars are arranged, so that the hooks on the connecting rods can drive the first claw and the second claw to swing back and forth horizontally more easily.
Compared with the prior art, the invention has the advantages of simple structure, no need of auxiliary support and simple and convenient use.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and examples:
as shown in FIG. 1, the machine climbing device of the present invention is realized by comprising a square frame-shaped machine body 1, a power shaft 3 driven by a power 2 and arranged on a pair of bearings on the machine body 1, two main crankshafts 401 and 402 and two auxiliary crankshafts 501 and 502 driven by the power shaft 3, two sets of two connecting rods 601 and 602 or 603 and 604 driven by each main crankshaft 401 or 402, two connecting rods 701 and 702 or 703 and 704 driven by each auxiliary crankshaft 501 or 52, a pair of first claws 801 and 802, and a pair of second claws 901 and 902, wherein the bending directions of the two main crankshafts 401 and 402 are opposite, the bending directions of the two auxiliary crankshafts 501 and 502 are opposite, the bending directions of the two main crankshafts 401 and 402 are perpendicular to the bending directions of the two auxiliary crankshafts 501 and 502, the two main crankshafts 401 and 402 are arranged in a staggered manner along the axial direction of the power shaft 3 with the two auxiliary crankshafts 501 and 502, two main crankshafts 1001 and 1002 or 1003 and 1004 arranged on the machine body 1 through the bearings are symmetrically arranged on two sides of each main crankshaft 401 or 402 Four main shafts 1001, 1002, 1003 and 1004 are respectively provided with a shaft 11 which is perpendicular to the main shaft 1001 or 1002 or 1003 or 1004 and rotates along with the rotation of the main shaft 1001 or 1002 or 1003 or 1004, one end of a first connecting rod 601 on a first main crankshaft 401 positioned at the front end of the machine body 1 is hinged on the first main crankshaft 401, the other end of the first connecting rod 601 on the first main crankshaft 401 is vertically connected on the first main shaft 1001 positioned at one side of the machine body 1 and drives the first main shaft 1001 to rotate, one end of a second connecting rod 602 on the first main crankshaft 401 is hinged on the first main crankshaft 401, the other end of a second connecting rod 602 on the first main crankshaft 401 is vertically connected on a second main shaft 1002 positioned at the other side of the machine body 1 and drives the second main shaft 1002 to rotate, the hinged end of a first claw 801 is hinged on the shaft 11 of the first main shaft 1001, the hinged end of a first second claw 901 is hinged on the shaft 11 of the second main shaft 1002, one end of a first connecting rod 701 on a first auxiliary crankshaft 501 which is positioned behind the first main crankshaft 401, is adjacent to the first main crankshaft 401, and has a bending direction perpendicular to the bending direction of the first main crankshaft 401, is hinged on the first auxiliary crankshaft 501, the other end of the first connecting rod 701 on the first auxiliary crankshaft 501 is provided with a hook 12, the hook 12 of the first connecting rod 701 is hooked on a first claw 801 and drives the first claw 801 to swing forwards or backwards, one end of a second connecting rod 702 on the first auxiliary crankshaft 501 is hinged on the first auxiliary crankshaft 501, the other end of the second connecting rod 702 on the first auxiliary crankshaft 501 is provided with a hook 12, the hook 12 of the second connecting rod 702 is hooked on a first second claw 901 and drives the first second claw 901 to swing backwards or forwards, one end of a third connecting rod 603 on the second main crankshaft 402 positioned behind the first auxiliary crankshaft 501 is hinged on the second main crankshaft 402, the other end of a third connecting rod 603 on the second main crankshaft is vertically connected to a third main shaft 1003 positioned on the other side of the machine body 1 and drives the third main shaft 1003 to rotate, one end of a fourth connecting rod 604 on the second main crankshaft 402 is hinged on the second main crankshaft 402, the other end of a fourth connecting rod 604 on the second main crankshaft 402 is vertically connected to a fourth main shaft 1004 positioned on one side of the machine body 1 and drives the fourth main shaft 1004 to rotate, the hinged end of a second first claw 802 is hinged on a shaft 11 of the third main shaft 1003, the hinged end of a second claw 902 is hinged on the shaft 11 of the fourth main shaft 1004, one end of a third connecting rod 703 on a second auxiliary crankshaft 502 adjacent to the second main crankshaft 402 and positioned behind the second main crankshaft 402 is hinged on the second auxiliary crankshaft 502, the other end of the third connecting rod 703 on the second auxiliary crankshaft 502 is provided with a hook 12, the hook 12 of the third connecting rod 703 is hooked on the second first claw 802 and drives the second first claw 802 to swing forwards or backwards, one end of the fourth connecting rod 704 on the second secondary crankshaft 502 is hinged to the second secondary crankshaft 502, the other end of the fourth connecting rod 704 on the second secondary crankshaft 502 is provided with a hook 12, and the hook 12 of the fourth connecting rod 704 is hooked on the second jaw 902 and drives the second jaw 902 to swing back or forth.
The shaft 11 is located above the body 1, and the pair of first claws 801 and 802 and the pair of second claws 901 and 902 are located below the body 1. Thus, when the pair of first claws 801 and 802 and the pair of second claws 901 and 902 are swung by the swing of the shaft 11, the shaft 11 does not interfere with the climbing action of the pair of first claws 801 and 802 and the pair of second claws 901 and 902.
Here, the hinged ends of the first jaw 801 or 802 and the second jaw 901 or 902 are provided with a cross bar 13, and the hook 12 of the link 701 or 702 or 703 or 704 snaps over the cross bar 13.
The hook 12 is annular, the cross rod 13 is provided with an annular buckle 14, and the annular hook 12 is lapped on the annular buckle 14, so that the hook 12 is ensured to drive the cross rod 13 to swing, and meanwhile, the hook 12 is prevented from being separated from the cross rod 13 and not driving the cross rod 13 to swing.
First claw 8 and second claw 9 are evagination arc, like this, the main part is grabbed with the gesture of holding tightly to a pair of first claw 8 or a pair of second claw 9 claw when the cylinder to realize the effect that organism 1 climbed the main part perpendicularly.
The climbing method of the machine is realized in such a way that a power 2 drives main crankshafts 401 and 402 and auxiliary crankshafts 501 and 502 to rotate through a power shaft 3, the main cranks 401 and 402 respectively drive first claws 801 and 802 and second claws 901 and 902 to swing through two connecting rods 601, 602, 603 and 604, main shafts 1001, 102, 103 and 104 and a shaft 11, when the first main crankshaft 401 and the second main crankshaft 402 respectively drive a first two-connecting rod 601 and a third two-connecting rod 603 to switch from a straightened state to a bent state, the first main shaft 1001 and the third main shaft are respectively driven to rotate towards the outer side of the machine body 1, so that the first claw 801 and the second first claw 802 swing towards a column A, and the claws swing on the column A, and simultaneously, the first main crankshaft 401 and the second main crankshaft 402 respectively drive a second connecting rod 602 and a fourth two-connecting rod 604 to switch from a bent state to a straightened state, and respectively drive a second main shaft 1002 and a fourth main shaft 1004 to rotate towards the inner side of the machine body 1, the first second jaw 901 and the second jaw 902 are swung in a direction away from the cylinder a and away from the cylinder a, along with the swinging of the first jaw 801 and the second first jaw 802 toward the cylinder a and the jaws on the cylinder a, the first secondary crankshaft 501 drives the first jaw 801 to swing forward by taking the point of the first jaw 801 on the body a as a fulcrum through the hook 12 hooked on the crossbar 13 of the first jaw 801 on the first connecting rod 701, and simultaneously, the second secondary crankshaft 502 drives the second first jaw 802 to swing forward by taking the point of the second first jaw 802 on the body a as a fulcrum through the hook 12 hooked on the crossbar 13 of the second first jaw 802 on the third connecting rod 703, so as to drive the machine body 1 to move forward, and then the first jaw 801 and the second first jaw 802 are swung away from the cylinder a by power; meanwhile, as the second main shaft 1002 and the fourth main shaft 1004 rotate toward the inside of the machine body 1, the first second claw 901 and the second claw 902 are separated from the column a, the first secondary crankshaft 501 drives the first second claw 901 to swing forward through the hook 12 hooked on the cross bar 13 of the first second claw 901 by the hook on the second connecting rod 702, meanwhile, the second secondary crankshaft 502 drives the second claw 902 to swing forward through the hook 12 hooked on the cross bar 13 of the second claw 902 by the hook on the fourth connecting rod 704, and then the first second claw 901 and the second claw 902 swing in the direction of the column a under the driving of power; thus, the machine body 1 climbs up or down along the column A as the pair of first claws 8 and the pair of second claws 9 alternately swing forward on the column A with the point of the claws on the column A as a fulcrum.
Claims (7)
1. A machine climbing device is characterized by comprising a machine body, a power shaft which is arranged on a pair of bearings on the machine body in a rotating mode and driven to rotate by power, two main crankshafts and two auxiliary crankshafts driven by the power shaft, two sets of two connecting rods driven by each main crankshaft, two connecting rods driven by each auxiliary crankshaft, a pair of first claws and a pair of second claws, the bending directions of the two main crankshafts are opposite, the bending directions of the two auxiliary crankshafts are opposite, the bending directions of the main crankshafts and the auxiliary crankshafts are mutually perpendicular, the two main cranks and the two auxiliary cranks are arranged in a staggered mode along the axial direction of the power shaft, two main shafts which are rotatably arranged on the machine body are symmetrically arranged on two sides of each main crankshaft, shafts which are perpendicular to the main shafts and rotate along with the main shafts are arranged on the main shafts, one end of a first connecting rod and a second connecting rod on the first main crankshaft is hinged to the first main crankshaft, and the other end of the first connecting rod on one side of the machine body is perpendicularly connected to the first main shaft The shaft drives the first main shaft to rotate, one end of a second connecting rod on the first main crankshaft is hinged on the first main crankshaft, the other end of the second connecting rod on the first main crankshaft is vertically connected on a second main shaft positioned on the other side of the machine body and drives the second main shaft to rotate, the hinged end of a first claw is hinged on the shaft of the first main shaft, the hinged end of a first second claw is hinged on the shaft of the second main shaft, one end of a first connecting rod on a first auxiliary crankshaft adjacent to the first main crankshaft is hinged on the first auxiliary crankshaft, the other end of a first connecting rod on the first auxiliary crankshaft is provided with a hook, the hook of the first connecting rod is lapped on the first claw and drives the first claw to swing forwards or backwards, one end of a second connecting rod on the first auxiliary crankshaft is hinged on the first auxiliary crankshaft, the other end of the second connecting rod on the first auxiliary crankshaft is provided with a hook, the hook of the second connecting rod is lapped on the first second claw and drives the first second claw to swing backwards or forwards, one end of a third connecting rod on the second main crankshaft is hinged on the second main crankshaft, the other end of the third connecting rod on the second main crankshaft is vertically connected on a third main shaft positioned on the other side of the machine body and drives a third main shaft to rotate, one end of a fourth connecting rod on the second main crankshaft is hinged on the second main crankshaft, the other end of the fourth connecting rod on the second main crankshaft is vertically connected on a fourth main shaft positioned on one side of the machine body and drives the fourth main shaft to rotate, the hinged end of the second first claw is hinged on a shaft of the third main shaft, the hinged end of the second claw is hinged on a shaft of the fourth main shaft, one end of a third connecting rod on a second auxiliary crankshaft adjacent to the second main crankshaft is hinged on the second auxiliary crankshaft, and the other end of the third connecting rod on the second auxiliary crankshaft is provided with a hook, the hook of the third connecting rod is lapped on the second first claw and drives the second first claw to swing forwards or backwards, one end of a fourth connecting rod on the second auxiliary crankshaft is hinged on the second auxiliary crankshaft, the other end of the fourth connecting rod on the second auxiliary crankshaft is provided with a hook, and the hook of the fourth connecting rod is lapped on the second claw and drives the second claw to swing backwards or forwards.
2. The machine climbing device according to claim 1, wherein the hinged ends of the first jaw and the second jaw are provided with a cross bar on which the hooks of the connecting rod are hooked.
3. The machine climbing device according to claim 2, wherein the hooks are ring-shaped, and the cross bar is provided with ring-shaped buckles, and the ring-shaped hooks are connected with the ring-shaped buckles in a lap joint mode.
4. The machine climbing device according to claim 1, 2, or 3, wherein the first jaw and the second jaw are convexly curved.
5. The machine climbing device according to claim 1, wherein when a pair of first claws respectively arranged at two sides of the body are driven by power to swing toward the cylinder and the claws are on the cylinder, and a pair of second claws respectively arranged at two sides of the body are driven by power to swing away from the cylinder and away from the cylinder, the first claws are driven by power to swing toward the cylinder and the claws are driven by the cylinder, and the process of the claws on the cylinder is such that when the first claws swing toward the cylinder to start the claws on the cylinder, the first claws are driven by power to swing forward with the points of the claws on the cylinder as pivots, so as to drive the body to move forward, and then the first claws swing away from the cylinder under the power; after the second claw is opened and swung to leave the cylinder, the second claw swings backwards under the driving of power and swings upwards under the driving of power, so that the machine body can climb upwards or downwards along the cylinder along with the first claw and the second claw which alternately swing forwards on the cylinder by taking the point of the claw on the cylinder as a fulcrum.
6. The machine climbing device according to claim 5, wherein the rotating main crankshaft drives two connecting rods, one end of which is hinged to the main crankshaft, to perform an extending and bending motion, the two connecting rods performing the extending and bending motion drive a main shaft, which is connected to the other end of the two connecting rods and is rotatably connected to the machine body, to rotate back and forth, the main shaft rotating back and forth drives a first jaw or a second jaw connected to the main shaft to swing, when the two connecting rods perform the extending motion, the jaws swing away from the column, and when the two connecting rods perform the bending motion, the jaws swing toward the column.
7. The machine climbing device according to claim 5, wherein the jaw is horizontally and rotatably connected to a shaft vertically fixed to the main shaft, a rotating secondary crankshaft drives a connecting rod, one end of which is hinged to the secondary crankshaft, to move back and forth, the other end of the connecting rod drives the jaw to swing through a hook at the end of the connecting rod, and when the jaw swings away from the column, the secondary crankshaft drives the jaw to swing back through the hook at the other end of the connecting rod; when the claw swings towards the column direction and is positioned on the main body, the auxiliary crankshaft drives the claw to swing forwards through the hook at the other end of the connecting rod, and the machine body is driven to move forwards.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110248000.3A CN113060221B (en) | 2021-03-06 | 2021-03-06 | Machine climbing method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110248000.3A CN113060221B (en) | 2021-03-06 | 2021-03-06 | Machine climbing method and device |
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| CN113060221A CN113060221A (en) | 2021-07-02 |
| CN113060221B true CN113060221B (en) | 2022-03-25 |
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| CN202110248000.3A Active CN113060221B (en) | 2021-03-06 | 2021-03-06 | Machine climbing method and device |
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| CN113581311B (en) * | 2021-07-09 | 2023-07-11 | 佛山科学技术学院 | Enclasping type autonomous lifting manipulator |
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2021
- 2021-03-06 CN CN202110248000.3A patent/CN113060221B/en active Active
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| CN107010134A (en) * | 2017-03-24 | 2017-08-04 | 广西大学 | A kind of step-by-step movement becomes born of the same parents' tree-climbing machine robot mechanism |
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| CN113060221A (en) | 2021-07-02 |
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