CN209972619U - Two-wheeled wall climbing robot with curved surface adsorption function - Google Patents
Two-wheeled wall climbing robot with curved surface adsorption function Download PDFInfo
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- CN209972619U CN209972619U CN201920630792.9U CN201920630792U CN209972619U CN 209972619 U CN209972619 U CN 209972619U CN 201920630792 U CN201920630792 U CN 201920630792U CN 209972619 U CN209972619 U CN 209972619U
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Abstract
The utility model discloses a two-wheeled wall climbing robot that possesses curved surface adsorption function, including preceding drive arrangement, back drive arrangement and curved surface self-adaptation mechanism, curved surface self-adaptation mechanism include first hinge support, second hinge support and cylindric lock, first hinge support and second hinge support be unsmooth respectively, the through-hole has been seted up to its contact jaw side, the through-hole in insert the cylindric lock cooperation and connect, first hinge support and second hinge support can be rotatory round the axis of cylindric lock, preceding drive arrangement and back drive arrangement have the same permanent magnetism wheel adsorption apparatus and power transmission mechanism, can tightly adsorb on the metal curved surface, still install steering mechanism on the preceding drive arrangement for control turns to.
Description
Technical Field
The utility model belongs to the technical field of the design of robot, concretely relates to two-wheeled wall climbing robot that possesses curved surface adsorption function.
Background
Most of the wall climbing robots are only suitable for operation on flat wall surfaces, the number of the wall climbing robots which can be well adsorbed on various curved surfaces and can flexibly move is small, and manual operation is mainly adopted in the fields of surface detection of large oil tanks, ship rust removal, surface cleaning of large buildings and the like in China at present, namely, a scaffold is built by workers, and the operation is completed by holding tools. But the human work has the defects of long working period, low efficiency, high danger and the like. Therefore, the research and development of the wall-climbing robot have profound significance and higher application value.
The wall-climbing robot is mainly divided into three categories, namely a wheel type robot, a crawler type robot and a foot type robot. The wheel type wall-climbing robot has flexible movement, easy control and small steering moment, but the contact area between the wheel type wall-climbing robot and the wall surface is small, the generated adsorption force is limited, and the load capacity is poor. The crawler-type wall climbing robot has a large contact area with a wall surface, can provide large adsorption force, but has poor steering capacity. The foot type wall climbing robot has strong obstacle crossing capability and flexible movement, but has slow movement speed and complex control.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the not enough of above-mentioned prior art, a two-wheeled wall climbing robot that possesses curved surface adsorption function is provided.
In order to realize the technical purpose, the utility model discloses the technical scheme who takes does:
a two-wheeled wall climbing robot with curved surface adsorption function, wherein: the curved surface self-adaptive mechanism comprises a first hinge support, a second hinge support and a cylindrical pin, wherein the first hinge support is provided with a concave body, the second hinge support is provided with a convex body, the side surfaces of the convex body and the concave body are respectively provided with a through hole, the convex body can be inserted into the concave body, the cylindrical pin is inserted into the through hole, the first hinge support and the second hinge support can rotate around the cylindrical pin, the left end screw of the first hinge support is connected on the right side wall of a front frame of the front driving device, the right end screw of the second hinge support is connected on the left side wall of a rear frame of the rear driving device, the screw for connecting the second hinge support and the rear frame is in clearance fit with the rear frame, so that the second hinge support can rotate relative to the rear frame, and the screw for connecting the first hinge support and the front frame is in clearance fit with the front frame, enabling the first hinge bracket to rotate relative to the front frame;
the front driving device and the rear driving device comprise a permanent magnet wheel adsorption mechanism and a power transmission mechanism which are identical in structure, the permanent magnet wheel adsorption mechanism comprises a permanent magnet wheel, a long shaft and a n-shaped frame, a through hole is formed in the middle of the permanent magnet wheel, the long shaft is inserted into the through hole, the n-shaped frame wraps the permanent magnet wheel and is connected to the long shaft in a bearing mode, and the long shaft is connected with a first flat key;
one end of the long shaft is connected with a power transmission mechanism, the power transmission mechanism comprises a driven wheel, the driven wheel is sleeved on the long shaft and is in key connection with the long shaft, the driven wheel drives the long shaft to rotate through a first flat key, the outer side surface of the inverted U-shaped frame is also provided with a driving wheel, a servo motor is arranged in the middle of the driving wheel and is in key connection with the driving wheel, and the driving wheel is connected with the driven wheel through a synchronous belt and drives the driven wheel to rotate;
the front frame on still install steering mechanism, steering mechanism include speed reduction step motor, blind flange, back shaft and thrust ball bearing, speed reduction step motor fix in the front on the frame, its output shaft passes preceding frame and back shaft and passes through the second flat key-type connection, the lower terminal surface threaded connection of back shaft at nearly font frame up end, blind flange up end threaded connection under preceding frame terminal surface, blind flange under terminal surface press at thrust ball bearing's upper surface, thrust ball bearing's big internal diameter one end contact with the blind flange, little internal diameter one end matches with the back shaft and presses at nearly font frame up end, speed reduction step motor's output shaft drive the back shaft and rotate, and then drive nearly font frame control permanent magnet wheel and turn to.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the permanent magnet wheel adsorption mechanism further comprises a tensioning sleeve and a sleeve cup.
The tensioning sleeve comprises an inner bushing and an outer bushing, the outer wall of the outer bushing is sleeved on the through hole of the permanent magnet wheel, and the inner hole of the inner bushing of the tensioning sleeve is connected with the long shaft.
Foretell outer bush and interior bush contact surface are the inclined plane, interior bush and outer bush pass through the screw connection along the major axis direction, outer bush remove to the interior bush through rotatory screw, make interior bush and outer bush extrude each other to make permanent magnet wheel, two tensioning sleeves and major axis link together.
The sleeve cups are sleeved on two sides of the permanent magnet wheel on the long shaft, a pair of first deep groove ball bearings is clamped at the contact part of the sleeve cups and the long shaft, and the sleeve cups are in threaded connection with the outer side wall of the inverted V-shaped frame.
And clamping springs are respectively installed at two ends of the long shaft, and the two clamping springs are respectively clamped on the outer side surfaces of the two first deep groove ball bearings.
Foretell two-wheeled wall climbing robot still includes two straining device that the structure is the same, its install respectively in front drive arrangement's a few font frame and rear drive arrangement's back frame on, straining device include axle, support frame, axle head retaining ring and second deep groove ball bearing, support frame bolted connection on a few font frames, a few font frames and back frame on offer the spout that matches with the axle, the axle level place, its one end is installed in the spout, other end cover is equipped with second deep groove ball bearing, second deep groove ball bearing's outer lane press on the synchronous belt, axle head retaining ring suit in the epaxial second deep groove ball bearing outside, it is connected with axle bolted connection.
The upper surface of the shaft is provided with a plane, the support frame is provided with a through hole, a screw is inserted into the through hole, the lower end of the screw is in contact with the plane of the upper surface of the shaft, the upper end of the screw is in threaded connection with the support frame, the shaft slides up and down in the chute by adjusting the tightness of the screw, and the outer ring of the second deep groove ball bearing is driven to be pressed downwards or upwards away from the synchronous belt.
The n-shaped frame of the permanent magnet wheel adsorption mechanism on the rear driving device is a rear frame.
The utility model relates to a two-wheeled wall climbing robot that possesses curved surface adsorption function's beneficial effect:
(1) the permanent magnet wheel is connected to the metal wall surface in an adsorption mode, and the adsorption force is stable.
(2) The front and the rear crawling mechanisms are connected through the curved surface self-adapting mechanism, so that the movement of the crawling robot on metal wall surfaces with different curvatures can be greatly improved.
(3) Compared with a mechanism for realizing steering through differential rotation of the left chain and the right chain, the design of the steering mechanism greatly improves the steering capacity and is simple and easy to realize.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic structural diagram of a permanent magnet wheel adsorption mechanism;
FIG. 3 is a schematic view of the tensioning mechanism;
FIG. 4 is a schematic view of the steering mechanism;
FIG. 5 is a schematic view of a curved adaptive mechanism;
fig. 6 is a schematic diagram of the structure of the present invention.
The reference signs are: the front driving device 1, the front frame 11, the rear driving device 2, the rear frame 21, the curved surface self-adapting mechanism 3, the first hinge bracket 31, the second hinge bracket 32, the cylindrical pin 33, the permanent magnet wheel adsorption mechanism 4, the permanent magnet wheel 41, the long shaft 42, the inverted V-shaped frame 43, the first flat key 44, the sleeve cup 45, the outer bushing 46, the inner bushing 47, the first deep groove ball bearing 48, the snap spring 49, the power transmission mechanism 5, the driven wheel 51, the driving wheel 52, the servo motor 53, the synchronous belt 54, the steering mechanism 6, the speed reduction stepping motor 61, the flange cover 62, the support shaft 63, the thrust ball bearing 64, the second flat key 66, the tensioning mechanism 7, the shaft 71, the support frame 72, the shaft end retainer ring 73, the second deep groove ball bearing 74 and the chute 75.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, a two-wheeled wall-climbing robot with curved surface adsorption function, wherein: the curved surface self-adaptive mechanism 3 comprises a front driving device 1, a rear driving device 2 and a curved surface self-adaptive mechanism 3, wherein the curved surface self-adaptive mechanism 3 comprises a first hinge support 31, a second hinge support 32 and a cylindrical pin 33, the first hinge support 31 is provided with a concave body, the second hinge support 32 is provided with a convex body, the side surfaces of the convex body and the concave body are respectively provided with a through hole, the convex body can be inserted into the concave body, the cylindrical pin 33 is inserted into the through hole, the first hinge support 31 and the second hinge support 32 can rotate around the cylindrical pin 33, the left end of the first hinge support 31 is connected on the right side wall of a front frame 11 of the front driving device 1 through a screw, the right end of the second hinge support 32 is connected on the left side wall of a rear frame 21 of the rear driving device 2 through a screw, and the screw connecting the second hinge support 32 and the rear frame 21 is in clearance fit with the rear frame 21, so that the second hinge support 32 can rotate relative to the rear, a screw connecting the first hinge bracket 31 and the front frame 11 is in clearance fit with the front frame 11, so that the first hinge bracket 31 can rotate relative to the front frame 11;
the front driving device 1 and the rear driving device 2 comprise a permanent magnet wheel adsorption mechanism 4 and a power transmission mechanism 5 which are identical in structure, the permanent magnet wheel adsorption mechanism 4 comprises a permanent magnet wheel 41, a long shaft 42 and a n-shaped frame 43, a through hole is formed in the middle of the permanent magnet wheel 41, the long shaft 42 is inserted into the through hole, the n-shaped frame 43 wraps the permanent magnet wheel 41 and is connected to the long shaft 42 in a bearing mode, and a first flat key 44 is connected to the long shaft;
one end of the long shaft 42 is connected with a power transmission mechanism 5, the power transmission mechanism 5 comprises a driven wheel 51, the driven wheel 51 is sleeved on the long shaft 42 and is connected with the long shaft 42 in a key mode, the driven wheel 51 drives the long shaft 42 to rotate through a first flat key 44, a driving wheel 52 is further installed on the outer side face of the n-shaped frame 43, a servo motor 53 is installed in the middle of the driving wheel 52, the servo motor 53 is connected with the driving wheel 52 in a key mode, and a synchronous belt 54 is connected between the driving wheel 52 and the driven wheel 51 and drives the driven wheel 51 to rotate;
the front frame 11 is also provided with a steering mechanism 6, the steering mechanism 6 comprises a speed reduction stepping motor 61, a flange cover 62, a supporting shaft 63 and a thrust ball bearing 64, the speed reduction stepping motor 61 is fixed on the front frame 11, the output shaft of the supporting shaft 63 passes through the front frame 11 and is connected with the supporting shaft 63 through a second flat key 66, the lower end surface of the supporting shaft 63 is connected with the upper end surface of the inverted V-shaped frame 43 through screw threads, the upper end surface of the flange cover 62 is connected with the lower end surface of the front frame 11 in a threaded manner, the lower end surface of the flange cover 62 is pressed on the upper surface of the thrust ball bearing 64, the large inner diameter end of the thrust ball bearing 64 is contacted with the flange cover 62, the small inner diameter end is matched with the supporting shaft 63 and pressed on the upper end surface of the inverted V-shaped frame 43, the output shaft of the speed-reducing stepping motor 61 drives the support shaft 63 to rotate, and then drives the n-shaped frame 43 to control the rotation of the permanent magnet wheel.
In this embodiment, the permanent magnetic wheel adsorption mechanism 4 further includes a tension sleeve and a sleeve cup 45.
In this embodiment, the tension sleeve includes an inner bushing 47 and an outer bushing 46, the outer wall of the outer bushing 46 is sleeved on the through hole of the permanent magnet wheel 41, and the inner hole of the inner bushing 47 of the tension sleeve is connected with the long shaft 42.
In this embodiment, the contact surface between the outer bushing 46 and the inner bushing 47 is an inclined surface, the inner bushing 47 and the outer bushing 46 are connected by a screw in the long axis direction, and the outer bushing 46 moves toward the inner bushing 47 by rotating the screw, so that the inner bushing 47 and the outer bushing 46 are pressed against each other, and the permanent magnet wheel 41, the two tension sleeves and the long axis 42 are connected together.
In this embodiment, the sleeve cup 45 is sleeved on the two sides of the permanent magnet wheel 41 on the long shaft 42, a pair of first deep groove ball bearings 48 is clamped at the contact part of the sleeve cup 45 and the long shaft 42, and the sleeve cup 45 is in threaded connection with the outer side wall of the inverted V-shaped frame 43.
In this embodiment, two ends of the long shaft 42 are respectively provided with a snap spring 49, and the two snap springs 49 are respectively clamped on the outer side surfaces of the two first deep groove ball bearings 48.
In this embodiment, the two-wheeled wall-climbing robot further includes two tensioning mechanisms 7 with the same structure, which are respectively mounted on the inverted-V-shaped frame 43 of the front driving device 1 and the rear frame 21 of the rear driving device 2, each tensioning mechanism 7 includes a shaft 71, a support frame 72, a shaft end retainer ring 73 and a second deep groove ball bearing 74, the support frame 72 is connected to the inverted-V-shaped frame 43 through bolts, the inverted-V-shaped frame 43 and the rear frame 21 are provided with chutes 75 matched with the shafts, the shaft 71 is horizontally disposed, one end of the shaft 71 is mounted in the chute 75, the other end of the shaft is sleeved with the second deep groove ball bearing 74, an outer ring of the second deep groove ball bearing 74 is pressed on the synchronous belt 54, and the shaft end retainer ring 73 is sleeved outside the second deep groove ball bearing 74 on the shaft 71 and is connected to the shaft 71 through bolts.
In this embodiment, a plane is formed on the upper surface of the shaft 71, a through hole is formed in the support frame 72, a screw is inserted into the through hole, the lower end of the screw contacts with the plane on the upper surface of the shaft 71, the upper end of the screw is in threaded connection with the support frame 72, the shaft 71 slides up and down in the chute 75 by adjusting the tightness of the screw, and the outer ring of the second deep groove ball bearing 74 is driven to press downwards or be away from the synchronous belt 54 upwards.
In this embodiment, the inverted-v-shaped frame 43 of the permanent magnet wheel attracting mechanism 4 of the rear drive device 2 is the rear frame 21.
The utility model discloses a during operation, with fig. 1-6 show, include the following step:
when the vehicle is driven in a straight line:
step A: the screw is loosened and the shaft 71 is controlled to move up and down in the sliding grooves 75 of the inverted V-shaped frame 43 and the rear frame 21, so that the second deep groove ball bearing 74 is driven to press or be far away from the synchronous belt 54, and the tension degree of the synchronous belt 54 between the driving wheel and the driven wheel is adjusted.
And B: starting a servo motor 53, driving a driving wheel 52 to run, driving the driving wheel 52 to drive a driven wheel 51 to run through transmission of a synchronous belt 54, driving the long shaft 42 to rotate by the driven wheel 51, driving the permanent magnet wheel 41 on the long shaft 42 to rotate by the long shaft 42, and further enabling the crawling mechanism to move forwards;
and C: when the crawling robot walks on a surface with changed curvature, the first hinge bracket 31 and the second hinge bracket 32 in the curved surface self-adaptive mechanism 3 can rotate relative to the axis of the cylindrical pin 33, the second hinge bracket 32 can rotate relative to the connecting surface of the rear frame 21 and the second hinge bracket 32, and the first hinge bracket 31 can also rotate relative to the connecting surface of the front frame 11 and the first hinge bracket 31, so that the crawling robot can adapt to walking on different curved surfaces.
When turning to the direction:
step A: when the speed-reducing stepping motor 61 is started, the output shaft of the speed-reducing stepping motor drives the support shaft 63 to rotate, the support shaft 63 drives the n-shaped frame 43 to rotate, the n-shaped frame 43 drives the long shaft 42 to rotate, and the long shaft 42 further drives the permanent magnet wheel 41 to rotate, so that the steering function is realized.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (9)
1. The utility model provides a two-wheeled wall climbing robot that possesses curved surface adsorption function which characterized in that: the self-adaptive mechanism comprises a front driving device (1), a rear driving device (2) and a curved surface self-adaptive mechanism (3), wherein the curved surface self-adaptive mechanism (3) comprises a first hinge support (31), a second hinge support (32) and a cylindrical pin (33), the first hinge support (31) is provided with a concave body, the second hinge support (32) is provided with a convex body, the side surfaces of the convex body and the concave body are respectively provided with a through hole, the convex body can be inserted into the concave body, the cylindrical pin (33) is inserted into the through holes, the first hinge support (31) and the second hinge support (32) can rotate around the cylindrical pin (33), the left end screw of the first hinge support (31) is connected to the right side wall of a front frame (11) of the front driving device (1), the right end screw of the second hinge support (32) is connected to the left side wall of a rear frame (21) of the rear driving device (2), and a gap is formed between the screw for connecting the second hinge support (32) and the rear frame (21) The second hinge bracket (32) can rotate relative to the rear frame (21), and a screw for connecting the first hinge bracket (31) and the front frame (11) is in clearance fit with the front frame (11), so that the first hinge bracket (31) can rotate relative to the front frame (11);
the front driving device (1) and the rear driving device (2) comprise a permanent magnet wheel adsorption mechanism (4) and a power transmission mechanism (5) which are identical in structure, the permanent magnet wheel adsorption mechanism (4) comprises a permanent magnet wheel (41), a long shaft (42) and a n-shaped frame (43), a through hole is formed in the middle of the permanent magnet wheel (41), the long shaft (42) is inserted into the through hole, the n-shaped frame (43) wraps the permanent magnet wheel (41) and is connected to the long shaft (42) in a bearing mode, and a first flat key (44) is connected to the long shaft;
one end of the long shaft (42) is connected with a power transmission mechanism (5), the power transmission mechanism (5) comprises a driven wheel (51), the driven wheel (51) is sleeved on the long shaft (42) and connected with the long shaft (42) in a key mode, the driven wheel (51) drives the long shaft (42) to rotate through a first flat key (44), a driving wheel (52) is installed on the outer side face of the n-shaped frame (43), a servo motor (53) is installed in the middle of the driving wheel (52), the servo motor (53) is connected with the driving wheel (52) in a key mode, and a synchronous belt (54) between the driving wheel (52) and the driven wheel (51) is connected and drives the driven wheel (51) to rotate;
the steering mechanism (6) is further installed on the front frame (11), the steering mechanism (6) comprises a speed reduction stepping motor (61), a flange cover (62), a supporting shaft (63) and a thrust ball bearing (64), the speed reduction stepping motor (61) is fixed on the front frame (11), an output shaft of the speed reduction stepping motor passes through the front frame (11) and is connected with the supporting shaft (63) through a second flat key (66), the lower end face of the supporting shaft (63) is in threaded connection with the upper end face of the n-shaped frame (43), the upper end face of the flange cover (62) is in threaded connection with the lower end face of the front frame (11), the lower end face of the flange cover (62) is pressed on the upper surface of the thrust ball bearing (64), the large inner diameter end of the thrust ball bearing (64) is in contact with the flange cover (62), the small inner diameter end is matched with the supporting shaft (63) and is pressed on the upper end face of the n-shaped frame (43, an output shaft of the speed reduction stepping motor (61) drives the support shaft (63) to rotate, and then drives the n-shaped frame (43) to control the rotation of the permanent magnet wheel.
2. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 1, characterized in that: the permanent magnetic wheel adsorption mechanism (4) further comprises a tensioning sleeve and a sleeve cup (45).
3. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 2, characterized in that: the tensioning sleeve comprises an inner bushing (47) and an outer bushing (46), the outer wall of the outer bushing (46) is sleeved on a through hole of the permanent magnet wheel (41), and an inner hole of the inner bushing (47) of the tensioning sleeve is connected with the long shaft (42).
4. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 3, wherein: outer bush (46) and interior bush (47) contact surface be the inclined plane, interior bush (47) and outer bush (46) pass through the screw connection along the major axis direction, outer bush (46) remove to interior bush (47) through rotatory screw, make interior bush (47) and outer bush (46) extrude each other to make permanent magnet wheel (41), two tensioning cover and major axis (42) link together.
5. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 4, wherein: the sleeve cup (45) is sleeved on two sides of the permanent magnet wheel (41) on the long shaft (42), a pair of first deep groove ball bearings (48) is clamped at the contact part of the sleeve cup (45) and the long shaft (42), and the sleeve cup (45) is in threaded connection with the outer side wall.
6. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 5, wherein: jump rings (49) are respectively installed at two ends of the long shaft (42), and the two jump rings (49) are respectively clamped on the outer side surfaces of the two first deep groove ball bearings (48).
7. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 1, characterized in that: the two-wheeled wall-climbing robot further comprises two tensioning mechanisms (7) with the same structure, the two tensioning mechanisms (7) are respectively arranged on the n-shaped frame (43) of the front driving device (1) and the rear frame (21) of the rear driving device (2), each tensioning mechanism (7) comprises a shaft (71), a support frame (72), a shaft end retainer ring (73) and a second deep groove ball bearing (74), the support frames (72) are connected onto the n-shaped frame (43) through bolts, sliding grooves (75) matched with the shafts are formed in the n-shaped frame (43) and the rear frame (21), the shafts (71) are horizontally placed, one ends of the shafts are arranged in the sliding grooves (75), the other ends of the shafts are sleeved with the second deep groove ball bearings (74), the outer rings of the second deep groove ball bearings (74) are pressed on the synchronous belt (54), and the shaft end retainer rings (73) are sleeved outside the second deep groove ball bearings (74) on the shafts, which is bolted to the shaft (71).
8. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 7, wherein: the upper surface of the shaft (71) is provided with a plane, the support frame (72) is provided with a through hole, a screw is inserted into the through hole, the lower end of the screw is in contact with the plane on the upper surface of the shaft (71), the upper end of the screw is in threaded connection with the support frame (72), the shaft (71) slides up and down in the chute (75) by adjusting the tightness of the screw, and the outer ring of the second deep groove ball bearing (74) is driven to be pressed downwards or upwards away from the synchronous belt (54).
9. The two-wheeled wall-climbing robot having a curved surface adsorption function according to claim 1, characterized in that: the inverted V-shaped frame (43) of the permanent magnet wheel adsorption mechanism (4) on the rear driving device (2) is a rear frame (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920630792.9U CN209972619U (en) | 2019-05-06 | 2019-05-06 | Two-wheeled wall climbing robot with curved surface adsorption function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920630792.9U CN209972619U (en) | 2019-05-06 | 2019-05-06 | Two-wheeled wall climbing robot with curved surface adsorption function |
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| CN209972619U true CN209972619U (en) | 2020-01-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232732A (en) * | 2021-06-16 | 2021-08-10 | 燕山大学 | Crawler-type wall climbing robot with curved surface self-adaption capability |
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2019
- 2019-05-06 CN CN201920630792.9U patent/CN209972619U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232732A (en) * | 2021-06-16 | 2021-08-10 | 燕山大学 | Crawler-type wall climbing robot with curved surface self-adaption capability |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20200731 Address after: Chen CI Cun Guangling Shatou 225000 area in Jiangsu city of Yangzhou Province Patentee after: YANGZHOU YIYANG TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: Longpan road Xuanwu District of Nanjing city of Jiangsu Province, No. 159 210037 Patentee before: NANJING FORESTRY University |
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| 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: 20200121 Termination date: 20210506 |