CN113771979A - Reverse thrust adsorption wall-climbing robot - Google Patents
Reverse thrust adsorption wall-climbing robot Download PDFInfo
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- CN113771979A CN113771979A CN202111135155.2A CN202111135155A CN113771979A CN 113771979 A CN113771979 A CN 113771979A CN 202111135155 A CN202111135155 A CN 202111135155A CN 113771979 A CN113771979 A CN 113771979A
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- thrust adsorption
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 79
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000009194 climbing Effects 0.000 claims description 11
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052799 carbon Inorganic materials 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000004760 aramid Substances 0.000 claims description 3
- 229920003235 aromatic polyamide Polymers 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 11
- 238000010168 coupling process Methods 0.000 description 11
- 238000005859 coupling reaction Methods 0.000 description 11
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 3
- 235000017491 Bambusa tulda Nutrition 0.000 description 3
- 241001330002 Bambuseae Species 0.000 description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 3
- 239000011425 bamboo Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229920001342 Bakelite® Polymers 0.000 description 2
- 239000004637 bakelite Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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
The invention relates to the technical field of robots, in particular to a reverse thrust adsorption wall-climbing robot which is strong in adsorption capacity, can be stably adsorbed on wall surfaces of different buildings and is not easy to slip and overturn. The method comprises the following steps: the robot comprises a robot body, a driving wheel traveling mechanism, a one-way reverse thrust adsorption device, a two-degree-of-freedom reverse thrust adsorption device and a driven wheel; two wheels arranged at the rear end of the robot body are driving wheel traveling mechanisms, and two wheels at the front end are driven wheels; the two one-way reverse thrust adsorption devices are symmetrically arranged at two transverse sides of the robot body, and the axes of the one-way reverse thrust adsorption devices are along the vertical direction; the two-degree-of-freedom reverse thrust adsorption devices are symmetrically arranged at the two longitudinal ends of the robot body; the two-degree-of-freedom reverse thrust adsorption device comprises: the motor B, the paddle B and the yaw frame; the motor B is used for driving the blades B arranged on the axis of the yaw frame to rotate so as to generate acting force towards the contact surface; the yaw frame can adjust the pitch angle and the yaw angle of the blades B.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall-climbing robot, and belongs to the field of advanced manufacturing and automation.
Background
The wall climbing robot is an automatic mechanical device which combines a robot technology, a plane moving technology and an adsorption technology and can complete various tasks through programming. The robot can carry various sensors and various actuators to accomplish various tasks.
The wall climbing robot can be roughly divided into the following parts according to the adsorption principle: magnetic force adsorption type, bionic adsorption type, negative pressure adsorption type and sucker adsorption type. Aiming at the wall surface environments of different buildings, most of the existing wall-climbing robots have the characteristics of complex mechanical structure, slow moving speed, poor wall surface adaptability and the like. The common negative pressure adsorption type wall climbing robot has the defects of poor capability of climbing over obstacles, weak adaptability of a contact surface, easy instability during movement and the like. Therefore, the general negative pressure adsorption type wall-climbing robot is difficult to perform various tasks such as wall surface defect detection, metal processing, disaster rescue, dangerous goods detection and the like.
Disclosure of Invention
In view of the above, the invention provides a reverse thrust adsorption negative wall-climbing robot, which has strong adsorption capacity, can be stably adsorbed on wall surfaces of different buildings, has certain obstacle crossing capacity, and is not easy to slip and overturn.
The technical scheme of the invention is as follows: a reverse thrust adsorption negative wall-climbing robot comprising: the robot comprises a robot body, a driving wheel traveling mechanism, a one-way reverse thrust adsorption device, a two-degree-of-freedom reverse thrust adsorption device and a driven wheel;
two wheels arranged at the rear end of the robot body are driving wheel traveling mechanisms, and two wheels at the front end are driven wheels;
the two one-way reverse thrust adsorption devices are symmetrically arranged on the two transverse sides of the robot body, and the axes of the one-way reverse thrust adsorption devices are along the vertical direction;
the two-degree-of-freedom reverse thrust adsorption devices are symmetrically arranged at the two longitudinal ends of the robot body; the two-degree-of-freedom reverse thrust adsorption device comprises: the motor B, the paddle B and the yaw frame; the motor B is used for driving a blade B arranged on the axis of the yaw frame to rotate so as to generate acting force towards a contact surface; the yaw frame can adjust the pitch angle and the yaw angle of the blade B.
In a preferred aspect of the present invention, the one-way reverse thrust adsorption device includes: the culvert clamp, the straight culvert, the motor A, the blade A and the motor support rod;
the duct holders are of semicircular structures, and the two duct holders are oppositely clamped outside the straight duct and then fixed on the robot body through a connecting seat at the end part;
the straight-tube culvert is characterized in that a motor supporting rod is arranged inside the straight-tube culvert, the motor A is installed on the motor supporting rod, and the power output end of the motor A is connected with the paddle A and used for driving the paddle A to rotate.
In a preferred mode of the present invention, the upper half of the inner circumferential surface of the straight-tube duct is a cylindrical surface, and the lower half is a flared conical surface.
As a preferable mode of the invention, the included angle between the generatrix of the conical surface and the central axis of the straight-tube culvert is beta, and beta is more than 8 degrees and less than 12 degrees.
In a preferred embodiment of the present invention, the motor support rod is provided with a support rod clamping piece as a reinforcing rib.
As a preferable mode of the present invention, the robot body is a flat plate structure, four copper pillars are respectively connected to left and right sides of an upper surface of the flat plate structure, and a support plate for placing an electronic component is connected to the other end of each copper pillar.
In a preferred embodiment of the present invention, when mounting the electronic component, the distance between the center of gravity and the centroid of the robot is adjusted to fall within a predetermined error range by adjusting the position of the electronic component on the support plate.
In a preferred mode of the invention, the flat plate of the robot car body is made of a carbon plate-aramid paper honeycomb-carbon plate composite material.
As a preferable aspect of the present invention, the driving wheel traveling mechanism includes: the motor C, the driving wheel connector, the coupler and the driving wheel hub;
the motor C is connected with the robot body through a driving wheel connector; the coupler is sleeved and fixed on an output shaft of the motor C, and the driving hub is sleeved and fixed on the coupler; when the motor C rotates, the output shaft belt of the motor C drives the driving wheel hub to rotate through the coupler.
Has the advantages that:
(1) the robot provided by the invention is provided with four reverse thrust adsorption platforms, so that the robot is ensured to have enough adsorption force, and can be stably attached to a wall surface; and the counterthrust adsorption platform has certain height to the ground, even there is the barrier below the counterthrust platform can not produce too big influence to the adsorption affinity yet, guaranteed that the robot has good obstacle performance more from this.
(2) The robot disclosed by the invention is based on reverse thrust adsorption, so that the robot can run under various wall surface conditions. The inclined plane is arranged below the straight-tube duct of the unidirectional reverse thrust adsorption device, and compared with a common duct with a plane section, the straight-tube duct can provide larger adsorption force.
(3) The rear end of the robot is provided with the two driving wheels, so that the robot can move more flexibly. And two counterthrust adsorption platforms in the counterthrust adsorption platforms have two degrees of freedom, so that the robot is ensured to have enough traction force, and the robot has high maneuverability.
(4) The robot has the advantages of simple structure, convenient processing, low cost and easy maintenance.
Drawings
FIG. 1 is a schematic view of the overall structure of a reverse thrust adsorption wall-climbing robot according to the present invention;
FIG. 2 is a top view of the robot of the present invention;
FIG. 3 is a bottom view of the robot of the present invention;
FIG. 4 is an assembly view of the driving wheel traveling mechanism;
FIG. 5 is a schematic structural view of a one-way reverse thrust adsorption device;
FIG. 6 is a bottom view of the one-way reverse thrust adsorption unit;
FIG. 7 is a cross-sectional view of a straight ducted conduit;
wherein: 1-robot body, 2-driving wheel walking mechanism, 3-one-way reverse thrust adsorption device, 4-two-degree-of-freedom reverse thrust adsorption device, 5-driven wheel, 201-direct current brush motor, 202-driving wheel connector, 203-hexagonal shaft coupler, 204-driving wheel hub, 301-duct gripper, 302-straight duct, 303-direct current brushless motor, 304-motor supporting rod, 305-supporting rod clamping piece, 306-supporting rod end clamping piece, 307-blade, 3011-duct gripper connecting hole A, 3012-duct gripper connecting hole B, 3021-cylindrical surface and 3022-conical surface.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
To the shortcomings of the traditional wall climbing robot such as poor obstacle climbing capability and weak contact surface adaptability, the embodiment provides a reverse thrust adsorption wall climbing robot which can be stably adsorbed on a wall surface, has certain obstacle climbing capability and is not easy to slip and overturn.
As shown in fig. 1 to 3, the wall-climbing robot includes: the robot comprises a robot body 1, a driving wheel traveling mechanism 2, a one-way reverse thrust adsorption device 3, a two-degree-of-freedom reverse thrust adsorption device 4 and a driven wheel 5.
The transverse direction of the wall-climbing robot is taken as the left-right direction, and the whole wall-climbing robot is in a left-right symmetrical structure; the robot is of a four-wheel vehicle body structure, namely, four corners of a robot vehicle body 1 are respectively provided with a wheel; wherein, the two wheels at the rear end are driving wheel traveling mechanisms 2; the two wheels at the front end are driven wheels 5; the two transverse sides of the robot body 1 are respectively provided with a one-way reverse thrust adsorption device 3, and the axis of the one-way reverse thrust adsorption device 3 is along the vertical direction; two-degree-of-freedom reverse thrust adsorption devices 4 are respectively arranged at two longitudinal ends; wherein the two-degree-of-freedom reverse thrust adsorption device 4 is arranged at a set distance position above the robot car body 1.
The robot body 1 is used as a supporting structure of the wall-climbing robot, the main body of the robot body is of a flat plate structure, the left side and the right side of the upper surface of the flat plate structure are respectively connected with four copper columns through bolts, and the other ends of the copper columns are connected with a small supporting plate through bolts. Electronic elements such as a microprocessor, a sensor and the like can be placed on the two small supporting plates. When the electronic component is installed, the position of the electronic component on the supporting plate is adjusted to ensure that the gravity center and the centroid of the robot are coincided, so that the attitude sensor can accurately obtain attitude data of the robot when the robot is controlled; during actual installation, the gravity center of the robot is ensured to be around the centroid as much as possible; the distance between the gravity center and the centroid is d, and d is more than or equal to 0mm and less than or equal to 40 mm. The flat plate of the robot car body 1 is made of a carbon plate-aramid paper honeycomb-carbon plate composite material, so that the overall weight is light, and the strength is also ensured.
As shown in fig. 4, the primary pulley traveling mechanism 2 includes: a direct current brush motor 201, a drive wheel connector 202, a hexagonal coupling 203 and a drive wheel hub 204. The direct current brush motor 201 is connected with the driving wheel connector 202 through a bolt, and the driving wheel connector 202 is connected with a flat plate of the robot car body 1 through a bolt, so that the direct current brush motor 201 is fixed on the robot car body 1. . The hexagonal coupling 203 is provided with a threaded hole, the hexagonal coupling 203 is sleeved on the output shaft of the direct current brush motor 201, and the output shaft of the direct current brush motor 201 and the hexagonal coupling 203 are coaxially fixed through a machine-meter screw. The driving hub 204 fits over the hex coupling 203. When the dc brush motor 201 rotates, the output shaft thereof drives the hexagonal coupling 203 to rotate, and the hexagonal coupling 203 drives the driving hub 204 to rotate. The hexagonal coupling 203 has the advantages of simple structure, convenience in processing, no need of processing a key groove at the hub connection part, and suitability for working conditions with smaller load. The hexagonal coupling 203 is well suited for use on a wall climbing robot. The hexagonal coupling 203 is made of 6061 aluminum alloy, so that the hexagonal coupling is low in mass and has certain strength.
As shown in fig. 5 and 6, the one-way reverse thrust adsorption device 3 includes: duct gripper 301, straight duct 302, brushless dc motor 303, paddle 307, motor strut 304, strut clip 305, and strut end clip 306. Duct holder 301 is semi-circular structure, and two duct holders 301 are relative the centre gripping outside straight section of thick bamboo duct 302 for the installation that realizes straight section of thick bamboo duct 302 is fixed, and straight section of thick bamboo duct 302 passes through duct holder 301 promptly and links to each other with robot automobile body 1, specifically is: after the two duct holders 301 butt against and clamp the straight duct 302, the straight duct is fixed on the robot car body 1 through a connecting seat at the end part. The inner radius r1 of the duct gripper 301 is slightly smaller than the outer radius r2 of the straight cylindrical duct 302, wherein 1.5mm < r2-r1 < 3 mm; after the two duct holders 301 hold the straight duct 302, a gap d is formed between the end surfaces of the opposite ends of the two duct holders 301, and d is more than 1mm and less than 5 mm. The two duct holders 301 are connected by bolts through duct holder connection holes a3011 and duct holder connection holes B3012 provided on the connection base at the end of the duct holder 301. A motor support rod 304 is radially arranged inside the straight-barrel duct 302, the direct-current brushless motor 303 is connected to the motor support rod 304 through a bolt, and the direct-current brushless motor 303 is located on the axis of the straight-barrel duct 302. The power output end of the dc brushless motor 303 is connected to the paddle 307, for driving the paddle 307 to rotate. A supporting rod clamping piece 305 serving as a reinforcing rib is arranged on the motor supporting rod 304, one end of the supporting rod clamping piece 305 is connected with the motor supporting rod 304 through casting glue, and the other end of the supporting rod clamping piece is connected through tight fit. The supporting rod clamping piece 305 is beneficial to improving the strength of the motor supporting rod 304 and avoiding the strength failure of the motor supporting rod 304 in a flow field. A supporting rod end clamping piece 306 is arranged on the part of the motor supporting rod 304 extending out of the ducted clamp 301, and the supporting rod end clamping piece 306 can axially fix the motor supporting rod 304 and the supporting rod clamping piece 305. The motor supporting rod 304, the supporting rod clamping piece 305 and the supporting rod end clamping piece 306 are made of bakelite plates, and the bakelite plates are low in density, high in strength and good in insulating property, and are beneficial to the robot to carry out work tasks on the wall.
As shown in fig. 7, the upper half part of the inner circumferential surface of the straight culvert 302 is a cylindrical surface 3021, and the lower half part is a flared conical surface 3022; the included angle between the generatrix of the conical surface 3022 and the central line of the straight-tube culvert 302 is beta, and beta is more than 8 degrees and less than 12 degrees. When the dc brushless motor 303 rotates, the tapered surface 3022 is beneficial to generating a flow field with a faster speed, so that the one-way thrust reverser 3 can generate a larger suction force.
The two-degree-of-freedom reverse thrust adsorption device 4 is connected above the robot car body 1 through a bracket; the two-degree-of-freedom reverse thrust adsorption device 4 can adjust a pitch angle and a yaw angle; the method comprises the following steps: the direct current brushless motor, the paddle and the yaw frame; wherein, the two ends of the yawing frame are connected with the bracket through the hinged support, and the hinged support is internally provided with a bearing, so that the yawing frame can smoothly rotate. The direct-current brushless motor is used for driving the blades to rotate so as to generate acting force towards the contact surface; the yaw frame can adjust the pitch angle and the yaw angle of the blades. The two-degree-of-freedom thrust reverser 4 can be a rotary wing as disclosed in the patent application No. 2021104401148.
The working principle of the wall-climbing robot is as follows:
when the robot works, the direct current brushless motors in the one-way reverse thrust adsorption device 3 and the two-degree-of-freedom reverse thrust adsorption device 4 drive the blades to rotate, the blades cut air to generate a flow field, the flow field generates pressure difference above and below the blades, the pressure difference generates acting force on the blades, and the acting force is used for realizing the adsorption of the robot on the wall surface.
When the wall climbing robot runs on a wall, the driving wheel running mechanisms 2 rotate, and the robot moves forwards, backwards and turns by controlling the rotating speeds of the two driving wheel running mechanisms 2. The two-degree-of-freedom reverse thrust adsorption devices 4 can adjust the pitching and yawing angles of the blades of the two-degree-of-freedom reverse thrust adsorption devices, so that the adsorption force generates components in three directions, namely the longitudinal direction, the lateral direction and the direction perpendicular to the wall surface. The longitudinal component of the adsorption force can provide traction force in the advancing direction of the robot, the lateral component of the adsorption force can provide pulling force in the lateral direction of the robot, and the component perpendicular to the wall surface can provide positive pressure of the robot. More specifically, when the robot moves forward, the pitch angle of the blades of the robot is adjusted through the two-degree-of-freedom reverse thrust adsorption device 4, traction force is provided in the forward direction of the robot, and the robot is guaranteed to have sufficient power to move forward. When the robot sideslips, the yaw angle of the blades of the robot is adjusted through the two-degree-of-freedom reverse thrust adsorption device 4, and the robot is prevented from further sideslip. When the robot has a tendency of overturning, the pitching or/and yawing angles of the blades of the robot are adjusted by the two-degree-of-freedom reverse thrust adsorption device 4, so that the component of the adsorption force of the robot perpendicular to the wall surface is larger, and the robot is prevented from overturning.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. Adsorbed wall climbing robot of thrust reversal, its characterized in that includes: the robot comprises a robot body (1), a driving wheel traveling mechanism (2), a one-way reverse thrust adsorption device (3), a two-degree-of-freedom reverse thrust adsorption device (4) and a driven wheel (5);
two wheels arranged at the rear end of the robot body (1) are driving wheel traveling mechanisms (2), and two wheels at the front end are driven wheels (5);
the two one-way reverse thrust adsorption devices (3) are symmetrically arranged on two transverse sides of the robot car body (1), and the axis of the one-way reverse thrust adsorption device (3) is vertical;
the two-degree-of-freedom reverse thrust adsorption devices (4) are symmetrically arranged at the two longitudinal ends of the robot car body (1); the two-degree-of-freedom reverse thrust adsorption device (4) comprises: the motor B, the paddle B and the yaw frame; the motor B is used for driving a blade B arranged on the axis of the yaw frame to rotate so as to generate acting force towards a contact surface; the yaw frame can adjust the pitch angle and the yaw angle of the blade B.
2. The reverse-thrust adsorption wall-climbing robot according to claim 1, wherein the one-way reverse-thrust adsorption device (3) comprises: the device comprises a duct holder (301), a straight duct (302), a motor A, a blade A and a motor supporting rod (304);
the duct holders (301) are of a semicircular structure, and the two duct holders (301) are oppositely clamped outside the straight duct (302) and then fixed on the robot vehicle body (1) through connecting seats at the end parts;
the straight-tube duct (302) is internally provided with a motor supporting rod (304), the motor A is installed on the motor supporting rod (304), and the power output end of the motor A is connected with the paddle A and used for driving the paddle A to rotate.
3. The reverse-thrust adsorption wall-climbing robot as recited in claim 2, wherein the upper half part of the inner circumferential surface of the straight duct (302) is a cylindrical surface (3021), and the lower half part is a flared conical surface (3022).
4. The reverse-thrust adsorption wall-climbing robot as recited in claim 3, characterized in that the included angle between the generatrix of the conical surface (3022) and the central axis of the straight duct (302) is β, 8 ° < β < 12 °.
5. The reverse-thrust adsorption wall-climbing robot according to claim 2, wherein the motor support rod (304) is provided with a support rod clamping piece (305) as a reinforcing rib.
6. The reverse thrust adsorption wall-climbing robot according to claim 1, wherein the robot body (1) is a flat plate structure, four copper columns are connected to the left side and the right side of the upper surface of the flat plate structure respectively, and the other ends of the copper columns are connected with a supporting plate for placing electronic components.
7. The reverse-thrust adsorption wall-climbing robot according to claim 6, wherein the distance between the center of gravity and the centroid of the robot is within a set error range by adjusting the position of the electronic component on the support plate when the electronic component is mounted.
8. The reverse-thrust adsorption wall-climbing robot is characterized in that a flat plate of the robot body (1) is made of a composite material of carbon plate-aramid paper honeycomb-carbon plate.
9. The reverse-thrust adsorption wall-climbing robot according to claim 1, wherein the driving wheel traveling mechanism (2) comprises: the motor C, the driving wheel connector, the coupler and the driving wheel hub;
the motor C is connected with the robot car body (1) through a driving wheel connector; the coupler is sleeved and fixed on an output shaft of the motor C, and the driving hub (204) is sleeved and fixed on the coupler (203); when the motor C rotates, the output shaft belt of the motor C drives the driving hub (204) to rotate through the coupler.
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| CN202111135155.2A CN113771979A (en) | 2021-09-27 | 2021-09-27 | Reverse thrust adsorption wall-climbing robot |
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| CN202111135155.2A CN113771979A (en) | 2021-09-27 | 2021-09-27 | Reverse thrust adsorption wall-climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115009388A (en) * | 2022-06-28 | 2022-09-06 | 天津商业大学 | Double-propeller driving type space monitoring equipment |
| CN116001938A (en) * | 2022-12-28 | 2023-04-25 | 北京理工大学 | Crawler-type double-rotor wall climbing robot |
| EP4339080A1 (en) * | 2022-09-19 | 2024-03-20 | China Railway Design Corporation (CRDC) | Tunnel operation robot |
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| CN112829846A (en) * | 2021-03-03 | 2021-05-25 | 广东省科学院智能制造研究所 | Wall-climbing robot and wall surface transition method thereof |
| CN113232739A (en) * | 2021-04-13 | 2021-08-10 | 沈阳工业大学 | Detection wall-climbing robot based on negative pressure adsorption |
| CN113071576A (en) * | 2021-04-23 | 2021-07-06 | 北京理工大学 | Reverse thrust adsorption high-speed mobile robot |
Cited By (3)
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| CN115009388A (en) * | 2022-06-28 | 2022-09-06 | 天津商业大学 | Double-propeller driving type space monitoring equipment |
| EP4339080A1 (en) * | 2022-09-19 | 2024-03-20 | China Railway Design Corporation (CRDC) | Tunnel operation robot |
| CN116001938A (en) * | 2022-12-28 | 2023-04-25 | 北京理工大学 | Crawler-type double-rotor wall climbing robot |
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