CN203019367U - Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function - Google Patents
Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function Download PDFInfo
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- CN203019367U CN203019367U CN 201220690356 CN201220690356U CN203019367U CN 203019367 U CN203019367 U CN 203019367U CN 201220690356 CN201220690356 CN 201220690356 CN 201220690356 U CN201220690356 U CN 201220690356U CN 203019367 U CN203019367 U CN 203019367U
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- curved surface
- magnetic
- adaptive
- climbing robot
- surface adaptive
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- 238000001179 sorption measurement Methods 0.000 title abstract description 9
- 230000001133 acceleration Effects 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 claims description 37
- 230000009194 climbing Effects 0.000 claims description 30
- 238000010521 absorption reaction Methods 0.000 claims description 28
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 26
- 229910052742 iron Inorganic materials 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 4
- 230000036541 health Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 6
- 229910000831 Steel Inorganic materials 0.000 description 14
- 239000010959 steel Substances 0.000 description 14
- 238000005259 measurement Methods 0.000 description 10
- 230000006978 adaptation Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 229910052761 rare earth metal Inorganic materials 0.000 description 2
- 150000002910 rare earth metals Chemical class 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion 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
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000026676 system process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The utility model discloses a magnetic wheel type wall-climbing robot with a curved surface self-adaptive adsorption function. The magnetic wheel type wall-climbing robot comprises a moving platform with the curved surface self-adaptive adsorption function, an acceleration sensor, a wireless communication module, a camera and an upper computer. The moving platform with the curved surface self-adaptive adsorption function is composed of a magnetic driving wheel unit and a curved surface self-adaptive car frame, and through common deformation of an elastic permanent-magnetic layer in the magnetic driving wheel and a loose-leaf hinge in the car frame, the curved surface self-adaptive adsorption function is realized. The robot has a good curved surface self-adaptive ability and an obstacle crossing ability and can stably walk on a curved surface with a small curvature radius, and the engineering application requirements of wireless health detection of a large-span space lattice structure and the like can be met.
Description
Technical field
The utility model belongs to the robot field, relates to a kind of robot, relates in particular to a kind of magnetic wheel type climbing robot with curved surface adaptive absorption.
Background technology
Spatial mesh structure has that span is large, lightweight, construction and installation are easy and the characteristics such as flexible arrangement, not only is widely used in the public buildings such as gymnasium, exhibition center, waiting hall, station, also is widely used in the industrial buildings such as warehouse, hangar, factory building.The coupling of the factors such as environmental attack, material aging and Complicated Loads will inevitably cause damage accumulation and the drag decay of spatial mesh structure, even causes the global failure of structure under extreme case, causes serious accident.Therefore, be on active service for the safety that guarantees spatial mesh structure, must regularly detect maintenance to spatial mesh structure.For this reason, we carry acceleration transducer, the first-class checkout equipment of making a video recording to a kind of climbing robot that can creep of utility model on spatial mesh structure, advanced person's instrument and equipment device is provided for the health detection of network.
Spatial mesh structure mainly is comprised of round steel pipe and ball node.The diameter of steel tube excursion that adopts in same network is larger, and meanwhile, the diameter of ball node is greater than the diameter that intersects steel pipe.In view of such characteristics, the robot of the operation that is adapted at creeping in spatial mesh structure must satisfy two primary conditions: have curved surface adaptive adsorption capacity preferably; Has the obstacle climbing ability of going beyond ball node.
Existing climbing robot mainly contains the three major types such as sufficient formula climbing robot, wheeled climbing robot and crawler-type wall climbing robot.
Foot formula climbing robot is to be adsorbed on wall by the absorption affinity that foot provides, and because its walking characteristics have determined that its absorption affinity is necessary adjustable, adopts the absorption of vacuum suction or electromagnet more." barrier-free constant speed creeping robot " that the patent documentation of application number 200910078568.4 relates to provides a kind of vacuum suction climbing robot, can carry out linear uniform motion, turning and leaping over obstacles on the nonferromugnetic material surface.But it is only suitable for creeping in smooth planar surface.In addition, sufficient formula climbing robot footwork is controlled more complicated, and kinematic dexterity is bad, and the generation absorption affinity need to consume electric energy, the potential safety hazard that exists accident power-off to cause.
Wheeled climbing robot is to lean on the absorption affinity of magnet-wheel or magnetic vehicle frame to be adsorbed on the magnetic conduction face." a kind of magnetic adsorption wall climbing robot with curved surface adaptive ability " that the patent documentation of application number 200510086382.5 relates to, be characterized in by the segmentation permanent magnetic adhesion device, increasing moveable hinge connects, change to adapt to curvature of curved surface, have the characteristics such as curved surface adaptive ability that load capacity is strong, motion is flexible and certain.But because the universal wheel of permanent magnetic adhesion device is less, determined that it can't go beyond the crossing wall obstacle with larger angle of cut scope as the Spatial Sphere node.
Crawler-type wall climbing robot is to be adsorbed on wall by the absorbing unit that is arranged in crawler-type mobile mechanism." a kind of change structure crawler-type wall climbing robot " that the patent documentation of application number 200410033770.2 relates to, this crawler-type wall climbing robot has increased the retractable support lever with the belt wheel active link in crawler belt, can change flexibly and significantly the shape of crawler belt, thereby can be on the less curved surface of subsequent corrosion stabilized walking, and have transition between the crossing wall of larger angle of cut scope.But its mechanism is complicated, build is large, kinematic dexterity is relatively poor, and particularly when turning to, because contact area between crawler belt and magnetic conduction wall is large, steering drag and turning radius are larger, the very flexible that turns to.
In sum, above-mentioned each wall-climbing device fails to satisfy two primary conditions of creeping per capita on spatial mesh structure, therefore also fails to use for the engineering of spatial mesh structure health detection the service that provides.
Summary of the invention
The purpose of this utility model is for overcoming shortcomings and deficiencies of the prior art, use in the engineering of spatial mesh structure health detection to realize climbing robot, a kind of magnetic wheel type climbing robot with curved surface adaptive absorption is provided, make it have curved surface adaptive adsorption capacity and the obstacle climbing ability of going beyond ball node preferably, carry the function that acceleration transducer is realized the radio detection spatial mesh structure.
The purpose of this utility model is achieved through the following technical solutions: a kind of magnetic wheel type climbing robot with curved surface adaptive, and it comprises mobile platform, acceleration transducer, wireless communication module, camera, camera bracket, power supply and the host computer with curved surface adaptive absorption; Wherein, acceleration transducer, wireless communication module and camera bracket all are fixed on mobile platform, and camera is arranged on camera bracket, and camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication; Described mobile platform with curved surface adaptive absorption comprises two curved surface adaptive vehicle frames and four magnetic drive wheel units; Be arranged symmetrically with two magnetic drive wheel units of fixed installation on each curved surface adaptive vehicle frame, two curved surface adaptive vehicle frames are hinged by leaf hinge.
Further, described magnetic drive wheel unit comprises motor, by motor-driven wheel hub, is arranged on the elasticity permanent magnetic suck layer of hub outside surface.
Further, described elasticity permanent magnetic suck layer comprises the permanent magnet of evenly pasting in elasticity iron plate basic unit and elasticity iron plate basic unit.
The utility model has following beneficial effect with respect to prior art:
(1) the health military service problem of large span spatial structure is the engineering problem that receives much concern always.Utilize wireless climbing robot to carry out the health detection of long-span space lattice structures, work load and the work that can greatly alleviate the monitoring personnel are dangerous, have obvious economy.
(2) adopt the magnet pulley of direct Contact-sorption to move scheme, having guaranteed still can provide enough load capacity in the unfavorable absorption situation in intersecting the wall transition; Driving wheel has outer elasticity permanent magnetic suck layer, adsorbs but fit for different magnetic conduction wall self adaptations.
(3) adopt curved surface adaptive vehicle frame with leaf hinge, on minimum pipe (60mm) steel pipe that network adopts, can guarantee that still climbing robot and steel pipe closely fit, can adapt to [0,1/60] (mm of unit
-1) curvature of scope changes; When going beyond the ball node obstacle, four-wheel is complete to be driven as sufficient power support is provided in advancing, and the distortion absorption of elasticity permanent magnetic suck layer has guaranteed to still have enough absorption affinities at the crossing wall that larger angle of cut scope is arranged, unlikely skidding.
(4) the utility model Applied economy, simple and compact for structure, and volume is little, and is lightweight, controls easyly, and load capacity is strong.
Description of drawings
Fig. 1 is a kind of composition frame chart with magnetic wheel type climbing robot of curved surface adaptive absorption of the utility model;
Fig. 2 is the structure chart that has curved surface adaptive absorption mobile platform in Fig. 1;
Fig. 3 is magnetic drive wheel unit composition diagram in Fig. 2;
Fig. 4 is Fig. 3 Elastic permanent magnetic suck layer structure chart;
Fig. 5 is Fig. 4 Elastic iron plate basic unit expanded view;
Fig. 6 is for having curved surface adaptive absorption mobile platform steel pipe self adaptation absorption schematic diagram;
Fig. 7 has the operation principle schematic diagram of curved surface adaptive absorption mobile platform when going beyond ball node;
Fig. 8 is climbing robot control circuit flow chart;
Fig. 9 is pc control procedure flow chart in Fig. 1;
In figure, magnetic drive wheel unit 1, curved surface adaptive vehicle frame 2, elasticity permanent magnetic suck layer 10, permanent magnet 11, elasticity iron plate basic unit 12, wheel hub 13, motor 14, leaf hinge 21, steel pipe 100, steel ball 200.
The specific embodiment
Be described in further detail the utility model below in conjunction with drawings and Examples.
As shown in Figure 1, a kind of magnetic wheel type climbing robot with curved surface adaptive of the utility model comprises mobile platform, acceleration transducer, wireless communication module, camera, camera bracket, power supply and the host computer with curved surface adaptive absorption.Wherein, acceleration transducer, wireless communication module and camera bracket all are fixed on mobile platform, and camera is arranged on camera bracket, and camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication.
Fig. 2 is the structure chart that has the mobile platform of curved surface adaptive absorption in Fig. 1, comprises two curved surface adaptive vehicle frames 2 and four magnetic drive wheel units 1.Be arranged symmetrically with 1, two curved surface adaptive vehicle frame 2 of two magnetic drive wheel units of fixed installation on each curved surface adaptive vehicle frame 2 hinged by leaf hinge 21.
Fig. 3 is the composition diagram of magnetic drive wheel unit 1 in Fig. 2, and magnetic drive wheel unit 1 comprises motor 14, by the wheel hub 13 that motor 14 drives, is arranged on the elasticity permanent magnetic suck layer 10 of wheel hub 13 outer surfaces.
Fig. 4 is the structure chart of Fig. 3 Elastic permanent magnetic suck layer 10, and elasticity permanent magnetic suck layer 10 comprises the permanent magnet 11 of evenly pasting in elasticity iron plate basic unit 12 and elasticity iron plate basic unit 12.Permanent magnet 11 can adopt 4 * 4 * 1mm(length and width high) Nd-Fe-B rare-earth permanent magnet iron.Can be clean and tidy according to wall etc. situation change the width of elasticity iron plate basic unit 12 and the number of Nd-Fe-B rare-earth permanent magnet iron 11.During actual job, robot is adsorbed on wall with can relying on these elasticity permanent magnetic suck layer self-adaptings, produces absorption affinity.
Fig. 5 is the expanded view of Fig. 4 Elastic iron plate basic unit 12, can adopt to have flexible 0.1mm iron plate and process.
Described host computer can be realized by ordinary PC; Described camera can adopt pin industry camera.Described acceleration transducer is for the vibration acceleration of sampled measurements wall.When arriving measurement point, start measurement pattern, acceleration transducer begins to measure local vibration acceleration value, converts data signal to, and data are passed to host computer by wireless communication module, realizes that wireless health detects.
Fig. 9 is pc control procedure flow chart in Fig. 1: after system started, operating personnel can select the robot mode of operation: straight-going mode, measurement pattern, and remote control mode.Under straight-going mode, robot with constant speed to the forward position straight-line travelling, until arrive the destination; Under measurement pattern, when robot arrived the measurement destination, host computer sent stop signal, and the acceleration transducer measurement module on the people that starts the machine, and begins to measure, and measurement data is sent it back host computer; Under remote control mode, operating personnel are by host computer screen viewing robot direction of advance, by the left and right rotating speed of taking turns of control, adjust machine human motion direction, if depart from normal orbit during robot ride, can realize artificial correction, make robot can accurately arrive the destination.
Figure 6 shows that first embodiment with curved surface adaptive absorption mobile platform curved surface adaptive, mobile platform is self adaptation absorption on the steel pipe 100 of 60mm caliber.At first elasticity permanent magnetic suck layer 10 is along steel pipe 100 circumferencial direction strain self adaptations absorption, and secondly the leaf hinge 21 at vehicle frame 2 middle parts of mobile platform is owing to being subject to that running resistance can be opened passively or closedly adapting to different calibers.When creeping on different tube diameters, leaf hinge in mobile platform 21 and elasticity permanent magnetic suck layer 10 cooperative transformation make the mobile platform can self adaptation steel pipe curved surface, can stablize on steel pipe and creep.
Figure 7 shows that second embodiment with curved surface adaptive absorption mobile platform curved surface adaptive, mobile platform intersects the wall transition at steel pipe 100/ steel ball 200 nodes.When wall was intersected in 1 contact of one group of magnetic drive wheel unit, the elasticity permanent magnetic suck layer 10 of this group wheel can deform to adapt to the applying wall, thereby produces absorption affinity.Under the common driving of pulling in front and others push behind of wheels, climbing robot realizes intersecting the transition of wall.
Fig. 8 is climbing robot control circuit flow chart: after system started working, the vision signal with camera sent to host computer incessantly, for operating personnel's real-time monitoring system motion state, by host computer, system was sent suitable telecommand accordingly.When host computer was sent startup command, host computer was opened straight-going mode automatically, and system's four-wheel runs up with equidirectional, identical speed, began to keep straight on; In the time of need to turning to, host computer switches to remote control mode, and to left and right wheel speed and turn to manually and arrange, system processes the order that host computer is sent, and changes accordingly each wheel speed and turn to, and realizes the left and right wheels differential steering; When arriving measurement point, start measurement pattern, acceleration transducer begins to measure local vibration acceleration value, converts data signal to, and data are passed to host computer by wireless communication module, and the wireless health of implementation space network detects.
Claims (3)
1. the magnetic wheel type climbing robot with curved surface adaptive, is characterized in that, it comprises mobile platform, acceleration transducer, wireless communication module, camera, camera bracket, power supply and the host computer with curved surface adaptive absorption; Wherein, described acceleration transducer, wireless communication module and camera bracket all are fixed on mobile platform, camera is arranged on camera bracket, and camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication; Described mobile platform with curved surface adaptive absorption comprises two curved surface adaptive vehicle frames (2) and four magnetic drive wheel units (1); Be arranged symmetrically with fixed installation two magnetic drive wheel units (1) on each curved surface adaptive vehicle frame (2), two curved surface adaptive vehicle frames (2) are hinged by leaf hinge (21).
2. the magnetic wheel type climbing robot that has according to claim 1 curved surface adaptive, it is characterized in that, described magnetic drive wheel unit (1) comprises motor (14), by the wheel hub (13) that motor (14) drives, is arranged on the elasticity permanent magnetic suck layer (10) of wheel hub (13) outer surface.
3. have according to claim 2 the magnetic wheel type climbing robot of curved surface adaptive, it is characterized in that, described elasticity permanent magnetic suck layer (10) comprises the upper permanent magnet (11) of evenly pasting of elasticity iron plate basic unit (12) and elasticity iron plate basic unit (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220690356 CN203019367U (en) | 2012-12-13 | 2012-12-13 | Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220690356 CN203019367U (en) | 2012-12-13 | 2012-12-13 | Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function |
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| CN203019367U true CN203019367U (en) | 2013-06-26 |
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| CN 201220690356 Expired - Lifetime CN203019367U (en) | 2012-12-13 | 2012-12-13 | Magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption function |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009373A (en) * | 2012-12-13 | 2013-04-03 | 浙江大学 | Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption |
| CN105690401A (en) * | 2015-12-07 | 2016-06-22 | 山东科技大学 | Flexible steel-made wall-climbing robot |
| CN105835976A (en) * | 2016-05-13 | 2016-08-10 | 中国东方电气集团有限公司 | Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment |
| CN106143667A (en) * | 2016-08-11 | 2016-11-23 | 上海大学 | A kind of hinge-type metal wall work climbing robot |
| CN106514610A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot with sliding rail-type mechanical arm |
| CN106903469A (en) * | 2017-04-24 | 2017-06-30 | 湘潭大学 | A kind of many break-off types climb wall welding robot |
| CN107021144A (en) * | 2017-05-23 | 2017-08-08 | 湖南沄耀中创科技有限公司 | A kind of magnetic track climbing robot adaptively contacted |
| CN108974166A (en) * | 2018-08-15 | 2018-12-11 | 罗高生 | A kind of adaptive curved surface climbing robot of magnetic suck |
| CN109070628A (en) * | 2016-05-18 | 2018-12-21 | 沙特阿拉伯石油公司 | Magnetic omni-directional wheel with rolling wheel support |
| CN109606494A (en) * | 2018-12-05 | 2019-04-12 | 山东大学 | The adaptive wheel hub of working curved surface and underwater cleaning robot |
| CN109969282A (en) * | 2019-05-06 | 2019-07-05 | 南京林业大学 | A kind of four-wheel climbing robot having curved surface adsorption function and its application method |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| CN112388649A (en) * | 2020-11-02 | 2021-02-23 | 郑州九泰科技有限公司 | Double-arm four-wheel drive magnetic grinding thickness measuring visual inspection robot |
| CN112843518A (en) * | 2021-01-04 | 2021-05-28 | 国网福建省电力有限公司泰宁县供电公司 | Prevent high safety protection apparatus that weighs down |
| CN113955034A (en) * | 2021-12-01 | 2022-01-21 | 上海海洋大学 | Underwater garbage cleaning and recycling robot for curved ship body |
| WO2023130673A1 (en) * | 2022-01-04 | 2023-07-13 | 北京史河科技有限公司 | Path planning method for wall-climbing robot |
-
2012
- 2012-12-13 CN CN 201220690356 patent/CN203019367U/en not_active Expired - Lifetime
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009373A (en) * | 2012-12-13 | 2013-04-03 | 浙江大学 | Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption |
| CN105690401A (en) * | 2015-12-07 | 2016-06-22 | 山东科技大学 | Flexible steel-made wall-climbing robot |
| CN105690401B (en) * | 2015-12-07 | 2019-01-18 | 山东科技大学 | A kind of flexible steel wall surface Work robot |
| CN105835976B (en) * | 2016-05-13 | 2018-05-18 | 中国东方电气集团有限公司 | A kind of magnetic suck driving wheel group device of axis angle automatic adjustment |
| CN105835976A (en) * | 2016-05-13 | 2016-08-10 | 中国东方电气集团有限公司 | Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment |
| CN109070628A (en) * | 2016-05-18 | 2018-12-21 | 沙特阿拉伯石油公司 | Magnetic omni-directional wheel with rolling wheel support |
| CN106143667A (en) * | 2016-08-11 | 2016-11-23 | 上海大学 | A kind of hinge-type metal wall work climbing robot |
| CN106514610B (en) * | 2016-12-30 | 2020-07-10 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot carrying slide rail type mechanical arm |
| CN106514610A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot with sliding rail-type mechanical arm |
| CN106903469A (en) * | 2017-04-24 | 2017-06-30 | 湘潭大学 | A kind of many break-off types climb wall welding robot |
| CN106903469B (en) * | 2017-04-24 | 2019-07-09 | 湘潭大学 | A kind of more break-off types climb wall welding robot |
| CN107021144B (en) * | 2017-05-23 | 2022-12-13 | 湖南沄耀中创科技有限公司 | Magnetic track climbing robot of self-adaptation contact |
| CN107021144A (en) * | 2017-05-23 | 2017-08-08 | 湖南沄耀中创科技有限公司 | A kind of magnetic track climbing robot adaptively contacted |
| CN108974166A (en) * | 2018-08-15 | 2018-12-11 | 罗高生 | A kind of adaptive curved surface climbing robot of magnetic suck |
| CN109606494A (en) * | 2018-12-05 | 2019-04-12 | 山东大学 | The adaptive wheel hub of working curved surface and underwater cleaning robot |
| CN109969282A (en) * | 2019-05-06 | 2019-07-05 | 南京林业大学 | A kind of four-wheel climbing robot having curved surface adsorption function and its application method |
| CN109969282B (en) * | 2019-05-06 | 2023-08-22 | 南京林业大学 | Four-wheel wall climbing robot with curved surface adsorption function and use method thereof |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| CN112388649A (en) * | 2020-11-02 | 2021-02-23 | 郑州九泰科技有限公司 | Double-arm four-wheel drive magnetic grinding thickness measuring visual inspection robot |
| CN112843518B (en) * | 2021-01-04 | 2021-12-28 | 国网福建省电力有限公司泰宁县供电公司 | Prevent high safety protection apparatus that weighs down |
| CN112843518A (en) * | 2021-01-04 | 2021-05-28 | 国网福建省电力有限公司泰宁县供电公司 | Prevent high safety protection apparatus that weighs down |
| CN113955034A (en) * | 2021-12-01 | 2022-01-21 | 上海海洋大学 | Underwater garbage cleaning and recycling robot for curved ship body |
| WO2023130673A1 (en) * | 2022-01-04 | 2023-07-13 | 北京史河科技有限公司 | Path planning method for wall-climbing robot |
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Granted publication date: 20130626 Effective date of abandoning: 20141126 |
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