CN203581163U - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN203581163U CN203581163U CN201320405041.XU CN201320405041U CN203581163U CN 203581163 U CN203581163 U CN 203581163U CN 201320405041 U CN201320405041 U CN 201320405041U CN 203581163 U CN203581163 U CN 203581163U
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Abstract
The utility model discloses a wall-climbing robot including a transversely moving mechanism and a longitudinally moving mechanism arranged in the belly part of the robot body. The back part of the robot body is provided with a mini-size air pump, a mini-size vacuum pump and a control device fixedly; the transversely moving mechanism and the longitudinally moving mechanism are connected with the mini-size air pump and the mini-size vacuum pump respectively through a control device each. The wall-climbing robot provided by the utility model has beneficial effects that the wall-climbing robot is reliable in operation, simple in structure, low in weight, convenient in movement on a wall face, low in manufacturing cost and high in component universality by adopting the mini-size air source devices; and the wall-climbing robot is also capable of carrying load of a certain weight, so that practicality of the robot is enhanced.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, relates to a kind of climbing robot.
Background technology
At present, the research of climbing robot is mainly concentrated on to several aspects such as suction type, kinematic mechanism, driving mechanism and the vehicle-mounted operating system of body.According to suction type, climbing robot can be divided into several classes such as vacuum suction, magnetic are attached, air-negative-pressure absorption; According to kinematic mechanism, can be divided into that wheeled, crawler type, polypody are legged, frame-type, flight formula etc.; According to driving mechanism, can be divided into motor driving, hydraulic-driven, air pressure driving, jet promotion etc.
But above-mentioned various forms of climbing robots have its deficiency: 1) in suction type, the climbing robot of vacuum suction is reliable and stable, and comformability is the strongest, but it is had relatively high expectations to wall planeness; The attached climbing robot applicability of magnetic is poor, the climbing robot poor reliability of air-negative-pressure absorption.2), in kinematic mechanism, wheeled, crawler-type wall climbing robot maintenance energy is more difficult, the legged climbing robot structure of polypody is more complicated.3) in driving mechanism, motor drives climbing robot complex structure, and hydraulic-driven hydraulic control system climbing robot weight is large, complex structure.Air pressure drives climbing robot control complexity, and functional reliability is poor, and load is less, and commonality is poor.
Utility model content
The purpose of this utility model is to provide a kind of climbing robot, has solved climbing robot air pressure drive configuration control complexity in prior art, and functional reliability is poor, and load is less, the problem that commonality is poor.
The technical scheme that the utility model adopts is that a kind of climbing robot, comprises body, at body belly, is provided with transverse moving mechanism and longitudinal moving mechanism; At body back, be installed with micro air pump, minipump and control setup; Transverse moving mechanism is connected respectively with micro air pump, minipump by control setup separately with longitudinal moving mechanism.
Climbing robot of the present utility model, its feature is also:
Transverse moving mechanism is to comprise the two groups of horizontal linear bearings and the horizontal thrust cylinder that are arranged on body belly; In two groups of horizontal linear bearings, be installed with respectively a horizontal sliding bar, the two ends of two horizontal sliding bars are fixedly connected with a transverse link simultaneously, two horizontal sliding bars and two transverse links connect successively and surround a horizontal rectangular frame, the propelling rod two ends of horizontal thrust cylinder are fixedly connected with a transverse link middle part respectively, at four jiaos of lower surfaces of this horizontal rectangular frame, be respectively arranged with a horizontal pin arm seat, in each horizontal pin arm seat, be provided with a horizontal pin arm cylinder, each horizontal pin arm seat lower end is connected with horizontal sucker by a pair of folded sheet.
Longitudinal moving mechanism is to comprise the two groups of longitudinal linear bearings and the longitudinal thrust cylinder that are arranged on body belly; In two groups of longitudinal linear bearings, be installed with respectively a longitudinal slide bar, two longitudinal slide bar two ends are fixedly connected with a longitudinal rod simultaneously, two longitudinal slide bars and two longitudinal rods connect successively and surround a longitudinal rectangular frame, the propelling rod two ends of longitudinal thrust cylinder are fixedly connected with a longitudinal rod middle part respectively, at four jiaos of lower surfaces of this longitudinal rectangular frame, be respectively arranged with a longitudinal pin arm seat, in each longitudinal pin arm seat, be provided with a longitudinal pin arm cylinder, each longitudinal pin arm seat lower end is connected with a longitudinal sucker by another to folded sheet.
Minipump is connected with horizontal sucker and longitudinal sucker respectively by control setup; Micro air pump is connected with horizontal thrust cylinder, longitudinal thrust cylinder, horizontal pin arm cylinder and longitudinal pin arm cylinder respectively by control setup.
The beneficial effects of the utility model are, adopt miniature air machinery, and climbing robot not only operates reliably, simple in structure, lightweight, wall conveniently moving, low cost of manufacture, part universality is strong, can also carry out a fixed load by large suction, has further increased the practicality of robot.
Accompanying drawing explanation
Fig. 1 is that the back axle of the utility model climbing robot measures intention;
Fig. 2 is that the belly axle of the utility model climbing robot measures intention;
Fig. 3 is the schematic top plan view of the utility model climbing robot;
Fig. 4 is the schematic side view of the utility model climbing robot.
In figure, 1. longitudinal pin arm seat, 2. longitudinal rod, 3. longitudinal pin arm cylinder, 4. horizontal sucker, 5. micro air pump, 6. minipump, 7. horizontal linear bearing, 8. horizontal thrust cylinder, 9. body, 10. longitudinal thrust cylinder, 11. longitudinal suckers, 12. horizontal pin arm cylinders, 13. transverse links, 14. horizontal pin arm seats, 15. longitudinal linear bearings, 16. folded sheets, 17. horizontal sliding bars, 18. longitudinal slide bars.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
With reference to Fig. 1, the structure of the utility model climbing robot is, comprises the body 9 of framed structure, at body 9 bellies, is provided with transverse moving mechanism and longitudinal moving mechanism; At body 9 backs, be installed with micro air pump 5, minipump 6 and control setup; Transverse moving mechanism is connected respectively with micro air pump 5, minipump 6 by control setup separately with longitudinal moving mechanism.
Control setup is for controlling air feed and all parts according to the cooperation of certain sequentially-operating.
With reference to Fig. 2, Fig. 3, Fig. 4, transverse moving mechanism and longitudinal moving mechanism are all arranged on body 9 bellies,
The structure of transverse moving mechanism is to comprise two groups of horizontal linear bearing 7(corner locations that are arranged on body 9 bellies) and a horizontal thrust cylinder 8(midway location), in two groups of horizontal linear bearings 7, be installed with respectively a horizontal sliding bar 17, the two ends of two horizontal sliding bars 17 are fixedly connected with a transverse link 13 simultaneously, two horizontal sliding bars 17 and two transverse links 13 connect successively and surround a horizontal rectangular frame, the propelling rod two ends of horizontal thrust cylinder 8 are fixedly connected with transverse link 13 middle parts respectively, at four jiaos of lower surfaces of this horizontal rectangular frame, be respectively arranged with a horizontal pin arm seat 14, in each horizontal pin arm seat 14, be provided with a horizontal pin arm cylinder 12, each horizontal pin arm seat 14 lower ends are connected with horizontal sucker 4 by a pair of folded sheet 16,
The structure of longitudinal moving mechanism is to comprise two groups of longitudinal linear bearing 15(corner locations that are arranged on body 9 bellies) and a longitudinal thrust cylinder 10(midway location), longitudinal thrust cylinder 10 arranges along vertical, horizontal layering with horizontal thrust cylinder 8, in two groups of longitudinal linear bearings 15, be installed with respectively a longitudinal slide bar 18, two longitudinal slide bar 18 two ends are fixedly connected with a longitudinal rod 2 simultaneously, two longitudinal slide bars 18 and two longitudinal rods 2 connect successively and surround a longitudinal rectangular frame, the propelling rod two ends of longitudinal thrust cylinder 10 are fixedly connected with longitudinal rod 2 middle parts respectively, at four jiaos of lower surfaces of this longitudinal rectangular frame, be respectively arranged with a longitudinal pin arm seat 1, in each longitudinal pin arm seat 1, be provided with a longitudinal pin arm cylinder 3, each longitudinal pin arm seat 1 lower end is connected with a longitudinal sucker 11 by another to folded sheet 16,
Minipump 6 is connected with horizontal sucker 4 and longitudinal sucker 11 respectively by control setup, realizes absorption with separation; Micro air pump 5 is connected with horizontal thrust cylinder 8, longitudinal thrust cylinder 10, horizontal pin arm cylinder 12 and longitudinal pin arm cylinder 3 respectively by control setup, thereby co-ordination realizes walking and lifting action.
Climbing robot of the present utility model, longitudinally two of pin arm place longitudinal slide bars 18, by longitudinal linear bearing 15 sliding block joints, are realized longitudinal sliding motion; In addition, laterally two horizontal sliding bars 17 at pin arm place and horizontal linear bearing 7 sliding block joints, realize laterally and sliding, thereby realize climbing robot along Cartesian coordinate type planar movement, add flexible cooperation the up and down of each pin arm cylinder (8 altogether), just realized the three-dimensional stepping of robot and moved.Suction type adopts vacuum suction, by minipump 6, controls each sucker (laterally 8 altogether, sucker 4 and longitudinal sucker 11) action, realizes the absorption to wall and loosens; Micro air pump 5 produces air pressure simultaneously, and for promoting two thrust cylinders (walking is flexible) and 8 pin arm cylinders (pin arm is flexible), control setup, by coordinating the sequence of operation of each cylinder, is realized wall walking.Anticyclonic pressure drives and condition of high vacuum degree absorption makes climbing robot work more reliable, and load-carrying capacity is stronger, and subsidiary vacuum pump and air pump supplement climbing robot atmospheric pressure lost in time, and can attach certain professional apparatus and on wall, carry out operation, take action more convenient.
The principle of work of the utility model climbing robot is:
1) when vertically moving, (along wall, rise), laterally sucker 4 adsorbs wall, laterally pin arm cylinder 12 is in stretching out state, longitudinally sucker 11 departs from wall, longitudinally pin arm cylinder 3 shrinks, longitudinal thrust cylinder 10 stretches out, and promotes longitudinal rod 2 and drives longitudinal slide bar 18 to slide in longitudinal linear bearing 15; After longitudinally slide bar 18 slides and puts in place, longitudinally pin arm cylinder 3 stretches out, and longitudinally sucker 11 adsorbs wall, laterally sucker 4 departs from wall, and longitudinal thrust cylinder 10 shrinks again, drives step pitch to move whole body 9 and horizontal sucker 4, circulation successively, moves thereby realize longitudinal stepping upwards.
Otherwise, to it, take reverse order control just can realize longitudinally and moving down.
2) when carrying out transverse shifting, longitudinally sucker 11 adsorbs wall, and longitudinally pin arm cylinder 3 is in stretching out state, laterally sucker 4 departs from wall, laterally pin arm cylinder 12 shrinks, and then horizontal thrust cylinder 8 stretches out, and promotes transverse link 13 and drives horizontal sliding bar 17 to slide in horizontal linear bearing 7; After horizontal sliding bar 17 puts in place, laterally pin arm cylinder 12 stretches out, and laterally sucker 4 adsorbs wall, and longitudinally sucker 11 departs from wall, horizontal thrust cylinder 8 shrinks again, drives step pitch to move whole body 9 and longitudinal sucker 11, circulation, moves thereby realize horizontal left and right wall successively.
Claims (4)
1. a climbing robot, its feature is: comprise body (9), at body (9) belly, be provided with transverse moving mechanism and longitudinal moving mechanism; At body (9) back, be installed with micro air pump (5), minipump (6) and control setup; Transverse moving mechanism is connected respectively with micro air pump (5), minipump (6) by control setup separately with longitudinal moving mechanism.
2. climbing robot according to claim 1, its feature is: described transverse moving mechanism is to comprise the two groups of horizontal linear bearings (7) and the horizontal thrust cylinder (8) that are arranged on body (9) belly, in two groups of horizontal linear bearings (7), be installed with respectively a horizontal sliding bar (17), the two ends of two horizontal sliding bars (17) are fixedly connected with a transverse link (13) simultaneously, two horizontal sliding bars (17) and two transverse links (13) connect successively and surround a horizontal rectangular frame, the propelling rod two ends of horizontal thrust cylinder (8) are fixedly connected with a transverse link (13) middle part respectively, four jiaos of lower surfaces at this horizontal rectangular frame are respectively arranged with a horizontal pin arm seat (14), in each horizontal pin arm seat (14), be provided with a horizontal pin arm cylinder (12), each horizontal pin arm seat (14) lower end is connected with horizontal sucker (4) by a pair of folded sheet (16).
3. climbing robot according to claim 1, its feature is: described longitudinal moving mechanism is to comprise the two groups of longitudinal linear bearings (15) and the longitudinal thrust cylinder (10) that are arranged on body (9) belly, in two groups of longitudinal linear bearings (15), be installed with respectively a longitudinal slide bar (18), two longitudinal slide bars (18) two ends are fixedly connected with a longitudinal rod (2) simultaneously, two longitudinal slide bars (18) and two longitudinal rods (2) connect successively and surround a longitudinal rectangular frame, the propelling rod two ends of longitudinal thrust cylinder (10) are fixedly connected with a longitudinal rod (2) middle part respectively, four jiaos of lower surfaces at this longitudinal rectangular frame are respectively arranged with a longitudinal pin arm seat (1), in each longitudinal pin arm seat (1), be provided with a longitudinal pin arm cylinder (3), each longitudinal pin arm seat (1) lower end is connected with a longitudinal sucker (11) by another to folded sheet (16).
4. according to the climbing robot described in claim 2 or 3, its feature is: described minipump (6) is connected with horizontal sucker (4) and longitudinal sucker (11) respectively by control setup; Micro air pump (5) is connected with horizontal thrust cylinder (8), longitudinal thrust cylinder (10), horizontal pin arm cylinder (12) and longitudinal pin arm cylinder (3) respectively by control setup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320405041.XU CN203581163U (en) | 2013-07-08 | 2013-07-08 | Wall-climbing robot |
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| CN201320405041.XU CN203581163U (en) | 2013-07-08 | 2013-07-08 | Wall-climbing robot |
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| CN201320405041.XU Expired - Fee Related CN203581163U (en) | 2013-07-08 | 2013-07-08 | Wall-climbing robot |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN105035203A (en) * | 2015-08-28 | 2015-11-11 | 昆山塔米机器人有限公司 | Magnetic medium surface climbing robot based on electromagnetic chucks |
| CN105216898A (en) * | 2015-11-04 | 2016-01-06 | 湘潭大学 | Walking pneumatic wall-climbing robot |
| CN105752184A (en) * | 2016-04-15 | 2016-07-13 | 南通宏大机电制造有限公司 | Wall surface carrying mechanism |
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN106275310A (en) * | 2016-08-11 | 2017-01-04 | 上海大学 | A kind of modular metal wall work climbing robot |
| CN106510564A (en) * | 2016-11-01 | 2017-03-22 | 合肥星服信息科技有限责任公司 | Aloft work robot |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN107348915A (en) * | 2017-06-16 | 2017-11-17 | 上海工程技术大学 | A kind of cleaning machine suitable for a variety of walls |
| CN107583211A (en) * | 2017-10-28 | 2018-01-16 | 杨述政 | A kind of high-rise rescue device |
| CN107963141A (en) * | 2017-11-24 | 2018-04-27 | 哈工大机器人（合肥）国际创新研究院 | Adsorbed wall-climbing telecontrol equipment |
| CN108127656A (en) * | 2018-02-09 | 2018-06-08 | 张智林 | Climbing robot |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
| CN108378767A (en) * | 2018-04-13 | 2018-08-10 | 常州工学院 | The intelligence control system and its control method of pneumatic glass curtain cleaning robot |
| CN108523785A (en) * | 2018-04-13 | 2018-09-14 | 常州工学院 | A kind of pneumatic glass curtain cleaning robot |
| CN108577654A (en) * | 2018-04-13 | 2018-09-28 | 常州工学院 | A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people |
| CN109013121A (en) * | 2018-09-19 | 2018-12-18 | 安徽工程大学 | A kind of spray coating auxiliary device, a kind of spray robot |
| CN109307447A (en) * | 2018-09-14 | 2019-02-05 | 江苏常丰节能科技有限公司 | A kind of climbing robot climbs wall method and condenser cleaning equipment |
| CN109571491A (en) * | 2018-11-16 | 2019-04-05 | 江苏峰汇智联科技有限公司 | A kind of intelligent fire robot |
| CN109748211A (en) * | 2017-11-02 | 2019-05-14 | 上海阿发渔具厂 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
| CN109744930A (en) * | 2017-11-07 | 2019-05-14 | 甘肃智呈网络科技有限公司 | A kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people |
| CN109895944A (en) * | 2019-03-22 | 2019-06-18 | 上海海事大学 | One kind climbing wall type ship weld seam detection robot |
| CN110065548A (en) * | 2019-05-05 | 2019-07-30 | 武汉驰驭科技有限公司 | A kind of Ground Penetrating Radar running gear for the detection of dam vertical walls |
| CN110182276A (en) * | 2019-07-11 | 2019-08-30 | 南京工业职业技术学院 | One kind climbing wall cleaning robot |
| CN111441919A (en) * | 2020-03-24 | 2020-07-24 | 武汉理工大学 | Deicing machine for blades of wind driven generator |
| CN112401730A (en) * | 2020-10-26 | 2021-02-26 | 高空机械工程技术研究院有限公司 | Operation device of progressive window cleaning robot |
| CN113291430A (en) * | 2021-05-20 | 2021-08-24 | 湖南苏试广博检测技术有限公司 | Ship body marine organism cleaning robot and motion control method thereof |
-
2013
- 2013-07-08 CN CN201320405041.XU patent/CN203581163U/en not_active Expired - Fee Related
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN105035203A (en) * | 2015-08-28 | 2015-11-11 | 昆山塔米机器人有限公司 | Magnetic medium surface climbing robot based on electromagnetic chucks |
| CN105216898A (en) * | 2015-11-04 | 2016-01-06 | 湘潭大学 | Walking pneumatic wall-climbing robot |
| CN105752184A (en) * | 2016-04-15 | 2016-07-13 | 南通宏大机电制造有限公司 | Wall surface carrying mechanism |
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN105774935B (en) * | 2016-05-24 | 2019-05-17 | 北京史河科技有限公司 | A kind of barrier-crossing wall-climbing robot |
| CN106275310B (en) * | 2016-08-11 | 2018-04-06 | 上海大学 | A kind of modular metal wall work climbing robot |
| CN106275310A (en) * | 2016-08-11 | 2017-01-04 | 上海大学 | A kind of modular metal wall work climbing robot |
| CN106510564A (en) * | 2016-11-01 | 2017-03-22 | 合肥星服信息科技有限责任公司 | Aloft work robot |
| CN107348915A (en) * | 2017-06-16 | 2017-11-17 | 上海工程技术大学 | A kind of cleaning machine suitable for a variety of walls |
| CN107348915B (en) * | 2017-06-16 | 2019-11-12 | 上海工程技术大学 | A kind of cleaning machine suitable for a variety of wall surfaces |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN107583211A (en) * | 2017-10-28 | 2018-01-16 | 杨述政 | A kind of high-rise rescue device |
| CN109748211A (en) * | 2017-11-02 | 2019-05-14 | 上海阿发渔具厂 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
| CN109744930A (en) * | 2017-11-07 | 2019-05-14 | 甘肃智呈网络科技有限公司 | A kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people |
| CN109744930B (en) * | 2017-11-07 | 2024-04-26 | 甘肃智呈网络科技有限公司 | Many sucking discs formula high altitude glass curtain wall cleaning robot |
| CN107963141A (en) * | 2017-11-24 | 2018-04-27 | 哈工大机器人（合肥）国际创新研究院 | Adsorbed wall-climbing telecontrol equipment |
| CN108127656A (en) * | 2018-02-09 | 2018-06-08 | 张智林 | Climbing robot |
| CN108127656B (en) * | 2018-02-09 | 2024-02-06 | 张智林 | Wall climbing robot |
| CN108284888B (en) * | 2018-03-27 | 2024-03-22 | 上海识质电力科技有限公司 | Fan tower robot |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
| CN108523785A (en) * | 2018-04-13 | 2018-09-14 | 常州工学院 | A kind of pneumatic glass curtain cleaning robot |
| CN108577654A (en) * | 2018-04-13 | 2018-09-28 | 常州工学院 | A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people |
| CN108378767A (en) * | 2018-04-13 | 2018-08-10 | 常州工学院 | The intelligence control system and its control method of pneumatic glass curtain cleaning robot |
| CN108523785B (en) * | 2018-04-13 | 2020-12-18 | 常州工学院 | Pneumatic glass curtain wall cleaning robot |
| CN108577654B (en) * | 2018-04-13 | 2020-12-18 | 常州工学院 | Wall-climbing mechanism of glass curtain wall cleaning robot and working method thereof |
| CN109307447A (en) * | 2018-09-14 | 2019-02-05 | 江苏常丰节能科技有限公司 | A kind of climbing robot climbs wall method and condenser cleaning equipment |
| CN109307447B (en) * | 2018-09-14 | 2020-08-04 | 江苏常丰节能科技有限公司 | Wall climbing robot, wall climbing method and condenser cleaning device |
| CN109013121B (en) * | 2018-09-19 | 2021-09-17 | 安徽工程大学 | Spraying auxiliary device and spraying robot adopting same |
| CN109013121A (en) * | 2018-09-19 | 2018-12-18 | 安徽工程大学 | A kind of spray coating auxiliary device, a kind of spray robot |
| CN109571491A (en) * | 2018-11-16 | 2019-04-05 | 江苏峰汇智联科技有限公司 | A kind of intelligent fire robot |
| CN109895944A (en) * | 2019-03-22 | 2019-06-18 | 上海海事大学 | One kind climbing wall type ship weld seam detection robot |
| CN110065548A (en) * | 2019-05-05 | 2019-07-30 | 武汉驰驭科技有限公司 | A kind of Ground Penetrating Radar running gear for the detection of dam vertical walls |
| CN110182276A (en) * | 2019-07-11 | 2019-08-30 | 南京工业职业技术学院 | One kind climbing wall cleaning robot |
| CN111441919A (en) * | 2020-03-24 | 2020-07-24 | 武汉理工大学 | Deicing machine for blades of wind driven generator |
| CN111441919B (en) * | 2020-03-24 | 2021-06-25 | 武汉理工大学 | Deicing machine for blades of wind driven generator |
| CN112401730A (en) * | 2020-10-26 | 2021-02-26 | 高空机械工程技术研究院有限公司 | Operation device of progressive window cleaning robot |
| CN112401730B (en) * | 2020-10-26 | 2022-01-04 | 高空机械工程技术研究院有限公司 | Operation device of progressive window cleaning robot |
| CN113291430A (en) * | 2021-05-20 | 2021-08-24 | 湖南苏试广博检测技术有限公司 | Ship body marine organism cleaning robot and motion control method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140507 Termination date: 20160708 |