CN209700809U - Crawler-type wall climbing device - Google Patents
Crawler-type wall climbing device Download PDFInfo
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- CN209700809U CN209700809U CN201920521826.0U CN201920521826U CN209700809U CN 209700809 U CN209700809 U CN 209700809U CN 201920521826 U CN201920521826 U CN 201920521826U CN 209700809 U CN209700809 U CN 209700809U
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- crawler
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- crawler belt
- car body
- climbing device
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Abstract
The utility model relates to a kind of crawler-type wall climbing device, crawler-type wall climbing device includes car body and mobile mechanism；Mobile mechanism includes wheel, crawler belt and multiple magnet assemblies；Crawler belt is sleeved on wheel；Each magnet assemblies are installed on crawler belt along the extending direction of crawler belt；Magnet assemblies include magnet, pedestal and flexible package structure；Magnet, for being adsorbed on walking wall surface；Flexible package structure, magnet is wrapped with pedestal together with；Pedestal, has backwards to magnet and stretches out the fixed structure of flexible package structure, and magnet assemblies are installed on the crawler belt by fixed structure.On the base by fixed structure setting, it does not need to open up threaded hole on magnet, ensure that the intensity and magnetic attraction of magnet, to ensure that the stability that crawler-type wall climbing device is walked on the walking wall surface of equipment.
Description
Technical field
The utility model relates to a kind of crawler-type wall climbing devices.
Background technique
Climbing wall device can swash row in the horizontal wall surface of equipment and vertical wall surface, to assist and substitute operating personnel's development
Operation is widely used on the large scale equipment in the fields such as electric power, chemical industry, ship consequently facilitating being safeguarded and being overhauled to equipment.
Authorization Notice No. is that the Chinese utility model patent of CN208268643U discloses a kind of pipe robot, the pipeline
Crawler belt in robot is equipped with magnetic suck mechanism, and magnetic suck mechanism includes permanent magnet and the rubber skin that is wrapped on permanent magnet
Set, permanent magnet are equipped with threaded hole, and permanent magnet is fixedly mounted on crawler belt after threaded hole with nut cooperation by screw.
The threaded hole opened up on the permanent magnet of above-mentioned magnetic suck mechanism reduces the intensity and magnetic attraction of permanent magnet, affects
The adsorption effect of magnetic suck mechanism will affect the stability that pipe robot is walked on the complicated wall surface of equipment.
Utility model content
The purpose of this utility model is to provide a kind of crawler-type wall climbing devices, to solve in the prior art in magnetic adsorption engine
Threaded hole is opened up on the permanent magnet of structure, reduces the intensity and magnetic attraction of permanent magnet, and influences pipe robot answering in equipment
The technical issues of stability walked on miscellaneous wall surface.
To achieve the above object, the technical solution of the utility model crawler-type wall climbing device is:
Crawler-type wall climbing device, the moving machine including the car body arranged along the longitudinal direction and for driving car body to move forward
Structure；Mobile mechanism includes wheel, crawler belt and multiple magnet assemblies；Crawler belt is sleeved on wheel；Each magnet assemblies are prolonged along crawler belt
Direction is stretched to be installed on crawler belt；The magnet assemblies include magnet, pedestal and flexible package structure；Magnet, for being adsorbed on
It walks on wall surface；Flexible package structure, magnet is wrapped with pedestal together with；Pedestal has backwards to magnet and stretches out soft
The fixed structure of property package structure, magnet assemblies are installed on the crawler belt by fixed structure.
Beneficial effect is: magnet and pedestal wrap up encapsulated by structures by flexibility and are fixed together, and are hardly damaged magnet, together
When increase coefficient of friction, keep the load capacity of car body stronger, since flexible package structure has certain flexibility, it is concave-convex not
When walking on flat complicated wall surface, flexible package structure can deform under the suction of magnet, make magnet assemblies with
It walks wall surface good fit always, guarantees the stability that magnet adsorbs on walking wall surface；Meanwhile fixed structure being arranged in base
It on seat, does not need to open up threaded hole on magnet, ensure that the intensity and magnetic attraction of magnet, to ensure that crawler-type wall climbing fills
Set the stability walked on the walking wall surface of equipment.
The magnet assemblies are fixedly connected on crawler belt by the way that fixed structure is removable.Convenient for the maintenance in magnet assemblies later period
And replacement.
The fixed structure is with internal screw thread or externally threaded screw connection structure.It is connected through a screw thread structure and crawler belt
It is fixedly connected, fixed form is relatively simple, is fixed on crawler belt convenient for magnet assemblies.
The screw connection structure is integrated or split settings screw rod on the base, and crawler belt is equipped with suitable with the screw rod
The screw rod pilot hole matched.Screw rod is set on the base, it is easy to process.
The wheel has the evacuation annular groove along its circumferentially extending, and the medial surface of the crawler belt is equipped with and the evacuation ring
The two sidewalls limit cooperation of slot is to prevent the retention bead of crawler belt play in left-right direction, and the screw rod pilot hole is by the outer of crawler belt
The retention bead is run through in lateral inside.Threaded hole is run through into retention bead by the outside of crawler belt inwardly, increases threaded hole
Length, ensure that magnet assemblies stability fixed on crawler belt.
The cross section of the magnet is circle, and the cross section of corresponding pedestal is circle, and the outer peripheral surface of magnet and pedestal
Outer peripheral surface is concordant.The cross section of magnet and pedestal is circle, during magnet assemblies assembly, two adjacent magnet assemblies
It will not interfere；The outer peripheral surface of magnet is concordant with the outer peripheral surface of pedestal simultaneously, guarantees the corresponding pedestal of a magnet, thus
It ensure that the magnetic adsorbability of single magnet assemblies.
The rear of the car body is equipped with anti-overturning devices, and anti-overturning devices include the cantilever design to extend back, cantilever knot
Structure is equipped with the shaft extended along car body left and right directions, is rotatably equipped with column idler wheel, the phase of cantilever design and shaft in shaft
Between should holding be equipped with elastic top laminated structure in front of car body along opposite to each other in walk wall surface direction topple when make column idler wheel with
Wall surface press of walking cooperates.To guarantee that car body in leaping over obstacles, will not make car body topple to fall because torque is unbalance.
The cantilever design includes two cantilevers extended parallel, the respective end of each cantilever one end and shaft far from car body
It is connected by elastic top laminated structure.It is connect respectively with shaft respective end by two cantilevers, improves the stability of cantilever, thus
Guarantee stability of the column idler wheel when rotating in shaft.
The crawler belt is fixedly connected to form by multiple track sections by the way that holding pin is removable, the wheel include driving wheel and
Driven wheel, crawler belt are sleeved on driving wheel and driven wheel, and the optional fixing assembling in position is on the car body along the longitudinal direction for driven wheel.
By adjusting the front-rear position of driven wheel on the car body, while increasing and decreasing the number of track section, to adjust the magnetic attraction size of car body,
To enable car body to match the load of different weight.
The car body is equipped with the long hole that extends along the longitudinal direction, and driven wheel axially extending is installed in long hole along its
Fixing axle, fixing axle have external screw thread, and driven wheel passes through the external screw thread and the optionally fixed dress of nut cooperation position in fixing axle
It fits in long hole.By the way that fixing axle to be installed in long hole, after the position of driven wheel is mobile in place, pass through external screw thread and nut
Fixing axle is fixed in long hole by cooperation, is easy to implement the front and back of driven wheel on the car body and is adjusted.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the crawler-type wall climbing device of the utility model；
Fig. 2 is the structural schematic diagram of the magnet assemblies of the crawler-type wall climbing device of the utility model；
Fig. 3 is the cross-sectional view of Fig. 2；
Fig. 4 is the structural schematic diagram of the track section of the crawler-type wall climbing device of the utility model；
Fig. 5 is the magnet assemblies of the crawler-type wall climbing device of the utility model and the structural schematic diagram of track section assembly；
Fig. 6 is the structural schematic diagram of the anti-overturning devices of the crawler-type wall climbing device of the utility model；
Fig. 7 is the exploded view of Fig. 6；
Fig. 8 is that the crawler-type wall climbing device of the utility model does not install the structural schematic diagram of anti-overturning devices；
Fig. 9 is the structural schematic diagram that the crawler-type wall climbing device of the utility model is walked on vertical water wall；
Figure 10 is the structural schematic diagram that the crawler-type wall climbing device of the utility model is walked on helical water-cooled wall；
In figure: 1- car body；2- battery；3- control module；4- motor；5- driving wheel；6- driven wheel；61- fixing axle；7- is led
To wheel；8- crawler belt；9- magnet assemblies；91- magnet；92- pedestal；93- rubber sleeve；94- screw rod；10- cantilever；The press of 11- elasticity
Structure；111- bolt；The first nut of 112-；113- bolt collar；114- pressure spring；The second nut of 115-；116- third nut；
12- column idler wheel；13- track section；131- retention bead；132- threaded hole；133- pin hole；14- long hole；15- shaft；101- hangs down
Straight water-cooling wall；102- helical water-cooled wall.
Specific embodiment
The embodiments of the present invention is described further with reference to the accompanying drawing.
The specific embodiment of the crawler-type wall climbing device of the utility model, as shown in Figure 1, crawler-type wall climbing device includes edge
The car body 1 of front-rear direction arrangement and mobile mechanism for driving car body 1 to move forward, mobile mechanism includes wheel, on wheel
It is arranged with crawler belt 8, direction is extended along on crawler belt 8 and is installed with multiple magnet assemblies 9.Wherein, on crawler belt 8 magnet assemblies 9 number
Amount can according to need setting, to adjust the magnetic attraction size of crawler-type wall climbing device, and then guarantee suitable driving power consumption.
As shown in Figures 2 and 3, magnet assemblies 9 include magnet 91, pedestal 92 and the two are wrapped rubber together
Gum cover 93, rubber sleeve 93 constitute flexible package structure, and rubber sleeve wraps up magnet, is hardly damaged magnet, while increasing friction
Coefficient keeps the load capacity of car body stronger.Certainly in other embodiments, flexible package structure can be the leather sheath or cloth of sewing
Set.In other embodiments, in order to existing encapsulated molding mode can be passed through together with wrapping magnet with pedestal
In magnet and pedestal External infusion liquid rubber, to form the rubber layer of both packages after liquid rubber solidifies.The present embodiment
In, magnet 91 is permanent magnet, and to improve service life, certainly in other embodiments, magnet is general magnetic in the prior art
Iron, after a period of use, magnetic force can weaken the magnet.
Pedestal 92 has backwards to magnet 91 and stretches out the fixed structure of rubber sleeve 93, and magnet assemblies 9 are solid by fixed structure
It is located on crawler belt 8.Wherein, pedestal 92 is irony pedestal, and magnet 91 is adsorbed on irony pedestal by magnetic attraction, to guarantee magnet
91 stability.In other embodiments, pedestal can be arranged to stainless steel base seat or copper pedestal, magnet only relies at this time
Package power and the pedestal of rubber sleeve are fixed together, and stability is relatively poor.
As shown in Figures 3 to 5, specifically, fixed structure is integrated the screw rod 94 being arranged on pedestal 92, screw rod 94 is constituted
Screw connection structure, corresponding crawler belt 8 are equipped with threaded hole 132, and threaded hole 132 constitutes screw rod pilot hole, screw rod 94 and screw thread
132 Screw assembly of hole, to realize that magnet assemblies 9 are securely fitted on crawler belt 8, while magnet assemblies 9 and crawler belt 8 pass through threaded hole
132, screw rod 94 realizes releasable connection, is also convenient for the maintenance and replacement of later period magnet assemblies 9.In other embodiments, in order to just
Be securely fitted on crawler belt in magnet assemblies, fixed structure is setting threaded hole on the base, corresponding crawler belt be equipped with
The screw rod of respective screw hole cooperation.In other embodiments, base can be arranged in screw rod by way of welding or being threadedly coupled
On seat.In other embodiments, fixed structure be projection in pedestal backwards to the welding structure of magnet, magnet assemblies pass through welding knot
Structure is weldingly fixed on crawler belt, and magnet assemblies damage at this time cannot be safeguarded and be replaced.In other embodiments, fixed structure one
The screw rod of body setting on the base, corresponding crawler belt 8 are equipped with unthreaded hole, and unthreaded hole constitutes screw rod pilot hole, and screw rod and nut cooperate
To realize that magnet assemblies 9 are securely fitted on crawler belt 8.
As shown in Figure 1 and Figure 4, wheel has the evacuation annular groove along its circumferentially extending, and the medial surface of crawler belt 8 is equipped with and keeps away
The two sidewalls of annular groove are allowed to limit the retention bead 131 of cooperation, to prevent the play in left-right direction of crawler belt 8, threaded hole 132 is by crawler belt
Retention bead 131 is run through in 8 outside inwardly, increases the length of threaded hole 132, ensure that magnet assemblies 9 are solid on crawler belt 8
Fixed stability.In other embodiments, threaded hole is blind hole, not through retention bead；Or the depth and crawler belt of threaded hole
Thickness it is identical.In other embodiments, fixed structure is the polished rod extended backwards to pedestal, and polished rod is equipped with axially extending along its
Multiple location holes, crawler belt is equipped with unthreaded hole, and unthreaded hole runs through retention bead by the outside of crawler belt inwardly, and retention bead is equipped with
Positioning pin is equipped with along the mounting hole of unthreaded hole radially penetrated through, mounting hole, positioning pin cooperates to the corresponding location hole on polished rod, with
By magnet assemblies positioning assembly on crawler belt, in addition, one end of positioning pin is equipped with the split pin for preventing positioning pin from falling off.
As shown in Figures 2 and 3, the cross section of magnet 91 is circle, and the cross section of corresponding pedestal 92 is round, and magnet 91
Outer peripheral surface it is concordant with the outer peripheral surface of pedestal 92, the cross section of magnet 91 and pedestal 92 is circle, in the mistake that magnet assemblies 9 are assembled
Cheng Zhong, two adjacent magnet assemblies 9 will not interfere；The outer peripheral surface of magnet 91 is concordant with the outer peripheral surface of pedestal 92 simultaneously,
Guarantee the corresponding pedestal 92 of a magnet 91, to ensure that the magnetic adsorbability of single magnet assemblies 9.
As shown in figures 1 to 6, the rear of car body 1 is equipped with anti-overturning devices, and anti-overturning devices include cantilever design.Specifically
, cantilever design includes two cantilevers to extend back 10, is equipped between two cantilevers 10 and turns along what 1 left and right directions of car body extended
Axis 15 is rotatably equipped with column idler wheel 12 in shaft 15, and elastic top laminated structure is equipped between cantilever 10 and the respective end of shaft 15
11, in the front of car body 1 along opposite to each other cooperating when the direction for wall surface of walking is toppled column idler wheel 12 and walking wall surface press, with
Guarantee that car body in leaping over obstacles, will not make car body topple to fall because torque is unbalance.Wherein, column idler wheel 12, which has, is equal to vehicle
The length of body width or the length for being slightly less than car body, and the outside wall surface of column idler wheel 12 is shiny surface, is avoided in traveling process
The resistance being subject to.In other embodiments, when wall surface of walking is relatively flat, anti-overturning devices can be not provided with.In other realities
It applies in example, cantilever design only includes a cantilever, and the rear end of the cantilever is equipped with U-shaped arm, is equipped with and turns between two parallel arms of U-shaped arm
Axis is equipped with elastic top laminated structure between the both ends of shaft and respective parallel arm, column idler wheel rolling assembling is in shaft.
As shown in fig. 7, elastic top laminated structure 11 includes the bolt 111 on from lower connecting cantilever 10 and shaft 15, bolt
111 have the smooth section arranged along the vertical direction and thread segment, bolt collar 113 are housed on cantilever 10, bolt collar 113 has
External screw thread, bolt collar 113 are fixed on cantilever 10 by its external screw thread and the cooperation of the first nut 112, the smooth section of bolt 111
It is installed in bolt collar 113.The lower part of bolt 111 is installed in the fixation hole of 15 end of shaft, and passes through the second nut
115, the thread segment of third nut 116 and bolt cooperates, and the lower part of bolt 111 is fixed on 15 end of shaft, wherein spiral shell
The setting of bolt sleeve 113 is arranged with pressure spring between bolt collar 113 and the second nut 115 on 10 downside of cantilever, bolt 111
114, wherein in use process, the first nut 112 can be rotated adjust between bolt collar 113 and the second nut 115 away from
From to adjust the elastic force of pressure spring 114, and then the resistance to tipping moment that change anti-overturning devices provide.In other embodiments
In, bolt collar is arranged above cantilever, and the first nut is arranged below cantilever.
As shown in Figure 1 and Figure 4, track section 13 is equipped with pin hole 133, crawler belt 8 by multiple track sections 13 by holding pin and
Pin hole 133 cooperate it is removable be fixedly connected to form, the track section of damage can be replaced or be tieed up according to abrasion condition in this way
It repairs, avoids whole replacements of crawler belt, save cost.In other embodiments, crawler belt is integrally formed shoe in the prior art
Band.
As illustrated in figures 1 and 8, wheel includes driving wheel 5 and driven wheel 6, and crawler belt 8 is sleeved on driving wheel 5 and driven wheel 6
On, directive wheel 7 is additionally provided between driving wheel 5 and driven wheel 6, the rear portion of car body is arranged in driven wheel 6, and driving wheel 5 is sequentially connected
There is motor 4, motor 4 is powered by battery 2, and the bottom of car body 1 is arranged in battery 2, is conducive to carry out on higher walking wall surface
Operation.Certainly in other embodiments, it also can connect cable and be powered.It is additionally provided with control module 3 on car body 1, controls mould
Block 3 is for controlling the work of motor 4.In other embodiments, car body can install different operational modules as needed, according to work
The weight and size of module, can Vehicular body front install additional motor, driven wheel is changed to driving wheel, with guarantee climb wall device by
Enough driving forces.
Position is optionally securely fitted on car body 1 driven wheel 6 along the longitudinal direction, by adjusting driven wheel 6 on car body 1
Front-rear position, and increase and decrease the number of track section 13, to adjust the magnetic adsorbability size of car body 1, so that car body 1 be enable to match
The load of different weight.In other embodiments, the position of driven wheel can not be adjusted.
Specifically, car body 1 is equipped with the long hole 14 that extends along the longitudinal direction, driven wheel 6 axially extending is installed on along its
Fixing axle 61 in long hole 14, fixing axle 61 have external screw thread, and driven wheel 6 is cooperated by the external screw thread in fixing axle 61 with nut
Position is optionally securely fitted in long hole, as being equipped with nut at left and right sides of long hole in fixing axle, passes through two nuts
Cooperate with the external screw thread in fixing axle 61 and fixing axle 61 is fixed in long hole 14, by the way that fixing axle 61 is installed on long hole 14
It is interior, after the position of driven wheel 6 is mobile in place, is cooperated by external screw thread and nut and fixing axle 61 is fixed in long hole 14, just
It is adjusted before and after realizing driven wheel 6 on car body 1.In other embodiments, it is equipped with the shaft shoulder in the side of long hole in fixing axle,
The other side is equipped with nut, only needs the external screw thread cooperation in a nut and fixing axle that can just fixing axle be made to be fixed in long hole.
In other embodiments, multiple fixation holes are equipped on car body along the longitudinal direction, the fixing axle of driven wheel is installed on different consolidate
Determine in hole, to realize that the front and back of driven wheel on the car body is adjusted.In other embodiments, car body is equipped with and extends along the longitudinal direction
Sliding rail, fixing axle is equipped with the U-shaped sliding slot that extends along the longitudinal direction, and the side wall of U-shaped sliding slot is equipped with fastener, U-shaped sliding slot
After sliding in place on the slide rail, sliding slot is locked on the slide rail, to realize the front and back tune of driven wheel on the car body by fastener
Section.
As shown in figure 9, crawler-type wall climbing device, when walking on vertical water wall 101, anti-overturning devices are located at car body 1
Lower section, at this point, the load on car body 1 and car body 1 is by gravity, produce one keeps 1 top of car body remote around driving wheel 5
Tilting moment from walking wall surface.In the case where no anti-overturning devices, overcome the tilting moment mainly by 1 top of car body
The resistance to tipping moment that the magnetic attraction of the absorption walking wall surface of crawler belt 8 generates.When encountering front has barrier or recess, it can make magnetic
The resistance to tipping moment that power generates reduces, and be easy to cause torque unbalance and falls car body 1.After installing anti-overturning devices, elasticity
Press structure 11 provides elastic force and column idler wheel 12 is pressed on walking wall surface, the effect between column idler wheel 12 and walking wall surface
Power provides resistance to tipping moment to car body, and the magnetic attraction of the absorption walking wall surface of crawler belt 8 on the resistance to tipping moment and 1 top of car body produces
Raw resistance to tipping moment is contrary, but is located at the following above and of driving wheel 5, folds two resistance to tipping moment
Add, it is unbalance and topple to avoid torque, improves the obstacle climbing ability for climbing wall device.
As shown in Figure 10, when walking on helical water-cooled wall 102, crawler belt 8 is whole to be led crawler-type wall climbing device by magnetic attraction
Draw, small size bending deformation occurs with the fluctuating of pipeline, is adsorbed on most magnet assemblies 9 on crawler belt 8 on pipeline, ensure that foot
Enough adsorption capacities.
Claims (10)
1. crawler-type wall climbing device, the moving machine including the car body arranged along the longitudinal direction and for driving car body to move forward
Structure；
Mobile mechanism includes wheel, crawler belt and multiple magnet assemblies；
Crawler belt is sleeved on wheel；
Each magnet assemblies are installed on crawler belt along the extending direction of crawler belt；
It is characterized by: the magnet assemblies include magnet, pedestal and flexible package structure；
Magnet, for being adsorbed on walking wall surface；
Flexible package structure, magnet is wrapped with pedestal together with；
Pedestal, has backwards to magnet and stretches out the fixed structure of flexible package structure, and magnet assemblies are installed in by fixed structure
On the crawler belt.
2. crawler-type wall climbing device according to claim 1, it is characterised in that: the magnet assemblies can by fixed structure
That tears open is fixedly connected on crawler belt.
3. crawler-type wall climbing device according to claim 2, it is characterised in that: the fixed structure be with internal screw thread or
Externally threaded screw connection structure.
4. crawler-type wall climbing device according to claim 3, it is characterised in that: the screw connection structure is integrated or divides
The screw rod of body setting on the base, crawler belt are equipped with the screw rod pilot hole being adapted to the screw rod.
5. crawler-type wall climbing device according to claim 4, it is characterised in that: the wheel has along its circumferentially extending
Annular groove is avoided, the medial surface of the crawler belt, which is equipped with, to be cooperated with the two sidewalls limit of the evacuation annular groove to prevent crawler belt along left and right
The retention bead of direction play, the screw rod pilot hole run through the retention bead by the outside of crawler belt inwardly.
6. crawler-type wall climbing device according to any one of claims 1-5, it is characterised in that: the cross section of the magnet
Cross section for circle, corresponding pedestal is circle, and the outer peripheral surface of magnet is concordant with the outer peripheral surface of pedestal.
7. crawler-type wall climbing device according to any one of claims 1-5, it is characterised in that: the rear of the car body is set
There are anti-overturning devices, anti-overturning devices include the cantilever design to extend back, and cantilever design is equipped with prolongs along car body left and right directions
The shaft stretched is rotatably equipped with column idler wheel in shaft, and elastic top laminated structure is equipped between cantilever design and the respective end of shaft
With in front of car body along opposite to each other in walk wall surface direction topple when make column idler wheel and walking wall surface press cooperate.
8. crawler-type wall climbing device according to claim 7, it is characterised in that: the cantilever design includes extending parallel
The respective end of two cantilevers, each cantilever one end and shaft far from car body is connected by elastic top laminated structure.
9. crawler-type wall climbing device according to any one of claims 1-5, it is characterised in that: the crawler belt is by multiple shoes
Belt segment is fixedly connected to form by the way that holding pin is removable, and the wheel includes driving wheel and driven wheel, and crawler belt is sleeved on driving wheel
On driven wheel, the optional fixing assembling in position is on the car body along the longitudinal direction for driven wheel.
10. crawler-type wall climbing device according to claim 9, it is characterised in that: the car body is equipped with along the longitudinal direction
The long hole of extension, driven wheel along its it is axially extending have a fixing axle being installed in long hole, fixing axle has external screw thread, and driven wheel is logical
The external screw thread and nut cooperation position crossed in fixing axle are optionally securely fitted in long hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920521826.0U CN209700809U (en) | 2019-04-17 | 2019-04-17 | Crawler-type wall climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920521826.0U CN209700809U (en) | 2019-04-17 | 2019-04-17 | Crawler-type wall climbing device |
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| Publication Number | Publication Date |
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| CN209700809U true CN209700809U (en) | 2019-11-29 |
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ID=68648147
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920521826.0U Active CN209700809U (en) | 2019-04-17 | 2019-04-17 | Crawler-type wall climbing device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109835428A (en) * | 2019-04-17 | 2019-06-04 | 武汉润能时代科技有限公司 | A kind of crawler-type wall climbing device |
| CN113002646A (en) * | 2021-04-01 | 2021-06-22 | 江苏科技大学 | Crawler-type vertical facade obstacle crossing travelling mechanism |
| NO20210954A1 (en) * | 2021-08-02 | 2023-02-03 | Watbots As | Magnetic cleaning device and method |
-
2019
- 2019-04-17 CN CN201920521826.0U patent/CN209700809U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109835428A (en) * | 2019-04-17 | 2019-06-04 | 武汉润能时代科技有限公司 | A kind of crawler-type wall climbing device |
| CN113002646A (en) * | 2021-04-01 | 2021-06-22 | 江苏科技大学 | Crawler-type vertical facade obstacle crossing travelling mechanism |
| CN113002646B (en) * | 2021-04-01 | 2022-05-24 | 江苏科技大学 | Crawler-type vertical facade obstacle crossing travelling mechanism |
| NO20210954A1 (en) * | 2021-08-02 | 2023-02-03 | Watbots As | Magnetic cleaning device and method |
| WO2023014229A1 (en) * | 2021-08-02 | 2023-02-09 | Watbots As | Magnetic cleaning device and method |
| GB2624328A (en) * | 2021-08-02 | 2024-05-15 | Watbots As | Magnetic cleaning device and method |
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