CN212605538U - Wall climbing robot chassis and wall climbing robot - Google Patents
Wall climbing robot chassis and wall climbing robot Download PDFInfo
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- CN212605538U CN212605538U CN202021267186.4U CN202021267186U CN212605538U CN 212605538 U CN212605538 U CN 212605538U CN 202021267186 U CN202021267186 U CN 202021267186U CN 212605538 U CN212605538 U CN 212605538U
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Abstract
The utility model relates to a wall climbing robot chassis and wall climbing robot. The wall climbing robot chassis comprises single-wheel chassis modules, each single-wheel chassis module is connected in series, the adjacent single-wheel chassis modules are hinged, and the two hinged single-wheel chassis modules meet the following requirements: the module hinge axes of the two single-wheel chassis modules are perpendicular to the roller axes of the two single-wheel chassis modules, the module hinge axes extend along the advancing direction of the single-wheel chassis modules, and the arrangement direction of the two single-wheel chassis modules is perpendicular to the advancing direction of the single-wheel chassis modules. Because articulated axis extends along the walking direction, on the direction of travel of robot chassis, the interval of two gyro wheels is difficult to change, and stability is better, compares the gyro wheel of arranging around among the prior art, the utility model discloses a stability on wall climbing robot chassis is better, has solved the relatively poor technical problem of robot walking in-process stability that present wall climbing robot wheel apart from changing easily and leading to when walking along cylinder extending direction on the cylinder.
Description
Technical Field
The utility model relates to a wall climbing robot chassis and wall climbing robot.
Background
The magnetic adsorption type wall-climbing robot is widely applied to various industries to survey, clean and other works in places where workers are difficult to reach, and the wall-climbing principle is that rollers of the robot are set to be magnetic rollers, and the robot is made to climb on the wall surface of a cylindrical structure made of ferromagnetic materials by utilizing the magnetic adsorption effect of the magnetic rollers.
The Chinese patent with the publication number of CN209972619U and the publication date of 2020.02.21 discloses a two-wheeled wall-climbing robot with a curved surface adsorption function, which comprises a front driving device, a rear driving device and a curved surface self-adaptive mechanism, wherein the curved surface self-adaptive mechanism comprises a first hinged support, a second hinged support and a cylindrical pin, the first hinged support and the second hinged support are respectively in a concave-convex shape, a through hole is formed in the side surface of a contact end of the first hinged support and the second hinged support, the through hole is pinched and inserted into the cylindrical pin to be matched and linked, the first hinged support and the second hinged support are hinged through the cylindrical pin, the front driving device and the rear driving device both adopt permanent magnet wheel adsorption mechanisms, and the front driving device is also provided with a steering mechanism for controlling steering.
Although the wall climbing robot can adapt to a curved surface, when climbing and traveling in the rod-shaped cylindrical surface extending direction, the front bracket and the rear bracket of the wall climbing robot are hinged, the front wheel and the rear wheel of the wall climbing robot can easily move back and forth in the traveling direction of the wall climbing robot, the wheel track of the two rollers is easy to change, and the wall climbing robot is poor in stability in the operation process in the working process.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a wall-climbing robot chassis, which is used for solving the technical problem that the stability of the wall-climbing robot is poor in the traveling process due to the fact that the wheel distances of two wheels are easy to change when the conventional wall-climbing robot chassis travels on a cylindrical surface along the extending direction of the cylindrical surface; the utility model also provides an use the wall climbing robot on above-mentioned wall climbing robot chassis.
The utility model discloses a wall climbing robot chassis adopts following technical scheme:
wall climbing robot chassis includes:
the single-wheel chassis module comprises a single-wheel chassis base, a roller and a driving motor, wherein the roller is rotatably assembled on the single-wheel chassis base;
the roller is a magnetic wheel and/or a permanent magnet is arranged on the single-wheel chassis base and is used for attracting the wall surface climbed by the wall-climbing robot chassis to provide adsorption force for the single-wheel chassis base;
at least two single-wheel chassis modules are arranged, each single-wheel chassis module is connected in series, the adjacent single-wheel chassis modules are hinged,
two articulated single-wheel chassis modules satisfy: the module hinge axes of the two single-wheel chassis modules are vertical to the roller axes of the two single-wheel chassis modules, the module hinge axes extend along the advancing direction of the single-wheel chassis modules, and the arrangement direction of the two single-wheel chassis modules is vertical to the advancing direction of the single-wheel chassis modules;
and the controller controls the driving motors on the adjacent single-wheel chassis modules so as to enable the chassis of the wall-climbing robot to move straight or steer in a differential mode.
Has the advantages that: when the cylinder walks along the cylinder extending direction, because adjacent single round chassis module arranges in the walking direction of perpendicular to the axis disalignment of two gyro wheels, be difficult to rock from beginning to end in the direction of travel. Because articulated axis extends along the walking direction, on the direction of travel of robot chassis, the interval of two gyro wheels is difficult to change, and stability is better, compares the gyro wheel of arranging around among the prior art, the utility model discloses a stability on wall climbing robot chassis is better, has solved the relatively poor technical problem of robot walking in-process stability that present wall climbing robot wheel apart from changing easily and leading to when walking along cylinder extending direction on the cylinder.
Further, two single-wheel chassis modules hinged to each other satisfy: the roller axes of the rollers of the two single-wheel chassis modules are coplanar.
Has the advantages that: the roller axes of the rollers of the two single-wheel chassis modules are coplanar, so that the wall-climbing robot can turn more flexibly and has smaller turning radius.
Further, two single-wheel chassis modules hinged to each other satisfy: in the advancing direction of the single-wheel chassis module, the roller axes of the rollers of the two single-wheel chassis modules are arranged at intervals.
Has the advantages that: the single-wheel chassis module is not easy to swing in the traveling direction when walking on a plane, and is suitable for various different wall conditions.
Further, the number of the single-wheel chassis modules is two.
Has the advantages that: simple structure and low cost.
Furthermore, the adjacent single-wheel chassis base is hinged through a hinge.
Has the advantages that: the hinge has simple structure and low cost, and reduces the cost of the chassis.
Further, the wall-climbing robot chassis further comprises a sensor for correcting the walking direction.
Has the advantages that: the walking stability of the wall-climbing robot is improved.
Furthermore, in the traveling direction of the wall-climbing robot chassis, the roller is arranged at one end of the single-wheel chassis module, and the roller protrudes out of the end of the wall-climbing robot chassis in the traveling direction.
Has the advantages that: the end part of the roller which is protruded can facilitate the roller to climb the wall surface with right angle.
Furthermore, in two adjacent single-wheel chassis modules, the roller of one single-wheel chassis module protrudes to the forward walking direction of the wall-climbing robot chassis, and the roller of the other single-wheel chassis module protrudes to the reverse walking direction of the wall-climbing robot chassis.
Has the advantages that: the wall climbing robot can climb the wall surface with right angle in both forward and backward traveling directions.
Furthermore, in the traveling direction of the wall-climbing robot chassis, one end of each single-wheel chassis module is a forward end, the other end of each single-wheel chassis module is a backward end, and in two adjacent single-wheel chassis modules, the rollers of the two single-wheel chassis modules are arranged at the forward ends.
Has the advantages that: the gyro wheel all sets up the structure of simplifying each module at the advancing end, makes things convenient for the installation of each module.
The utility model discloses wall climbing robot's technical scheme:
the wall-climbing robot comprises a chassis and a functional device mounting seat arranged on the chassis,
the chassis includes:
the single-wheel chassis module comprises a single-wheel chassis base, a roller and a driving motor, wherein the roller is rotatably assembled on the single-wheel chassis base;
the roller is a magnetic wheel and/or a permanent magnet is arranged on the single-wheel chassis base and is used for attracting the wall surface climbed by the chassis to provide adsorption force for the single-wheel chassis base;
at least two single-wheel chassis modules are arranged, each single-wheel chassis module is connected in series, the adjacent single-wheel chassis modules are hinged,
two articulated single-wheel chassis modules satisfy: the module hinge axes of the two single-wheel chassis modules are vertical to the roller axes of the two single-wheel chassis modules, the module hinge axes extend along the advancing direction of the single-wheel chassis modules, and the arrangement direction of the two single-wheel chassis modules is vertical to the advancing direction of the single-wheel chassis modules;
and the controller controls the driving motors on the two adjacent single-wheel chassis modules to enable the chassis to run straight or steer in a differential mode.
Has the advantages that: when the cylinder walks along the cylinder extending direction, because adjacent single round chassis module arranges in the walking direction of perpendicular to the axis disalignment of two gyro wheels, be difficult to rock from beginning to end in the direction of travel. Because articulated axis extends along the walking direction, on the direction of travel of robot chassis, the interval of two gyro wheels is difficult to change, and stability is better, compares the gyro wheel of arranging around among the prior art, the utility model discloses the stability on wall climbing robot chassis is better, has solved the relatively poor technical problem of robot walking in-process stability that present wall climbing robot wheel apart from changing easily and leading to when walking along cylinder extending direction on the cylinder.
Further, two single-wheel chassis modules hinged to each other satisfy: the roller axes of the rollers of the two single-wheel chassis modules are coplanar.
Has the advantages that: the roller axes of the rollers of the two single-wheel chassis modules are coplanar, so that the wall-climbing robot can turn more flexibly and has smaller turning radius.
Further, two single-wheel chassis modules hinged to each other satisfy: in the advancing direction of the single-wheel chassis module, the roller axes of the rollers of the two single-wheel chassis modules are arranged at intervals.
Has the advantages that: the single-wheel chassis module is not easy to swing in the traveling direction when walking on a plane, and is suitable for various different wall conditions.
Further, the number of the single-wheel chassis modules is two.
Has the advantages that: simple structure and low cost.
Furthermore, the adjacent single-wheel chassis base is hinged through a hinge.
Has the advantages that: the hinge has simple structure and low cost, and reduces the cost of the chassis.
Further, the chassis also comprises a sensor for correcting the walking direction.
Has the advantages that: the walking stability of the wall-climbing robot is improved.
Furthermore, in the traveling direction of the wall-climbing robot chassis, the roller is arranged at one end of the single-wheel chassis module, and the roller protrudes out of the end of the wall-climbing robot chassis in the traveling direction.
Has the advantages that: the end part of the roller which is protruded can facilitate the roller to climb the wall surface with right angle.
Furthermore, in two adjacent single-wheel chassis modules, the roller of one single-wheel chassis module protrudes to the forward walking direction of the wall-climbing robot chassis, and the roller of the other single-wheel chassis module protrudes to the reverse walking direction of the wall-climbing robot chassis.
Has the advantages that: the wall climbing robot can climb the wall surface with right angle in both forward and backward traveling directions.
Furthermore, in the traveling direction of the wall-climbing robot chassis, one end of each single-wheel chassis module is a forward end, the other end of each single-wheel chassis module is a backward end, and in two adjacent single-wheel chassis modules, the rollers of the two single-wheel chassis modules are arranged at the forward ends.
Has the advantages that: the gyro wheel all sets up the structure of simplifying each module at the advancing end, makes things convenient for the installation of each module.
Drawings
Fig. 1 is a schematic structural view of a single-wheel chassis module in an embodiment 1 of the chassis of the wall-climbing robot of the present invention;
fig. 2 is a schematic view of a state of the wall-climbing robot chassis of the present invention when climbing a column in embodiment 1;
fig. 3 is another schematic view of the wall climbing robot chassis according to embodiment 1 of the present invention in climbing a column;
FIG. 4 is a top view of FIG. 3;
fig. 5 is a schematic view of a state of the wall-climbing robot chassis of embodiment 2 of the present invention when climbing a column (not shown driving motor);
in the figure: 1-a single-wheel chassis module; 11-single-wheel chassis base; 111-roller mounting plate; 12-a roller; 13-a drive motor; 14-a hinge; 15-a reducer; 2-cylinder surface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
The utility model discloses wall climbing robot chassis's concrete embodiment 1:
as shown in fig. 1 and 2, the wall-climbing robot chassis comprises two single-wheel chassis modules 1, and the two single-wheel chassis modules 1 are hinged with each other.
The single-wheel chassis module 1 comprises a single-wheel chassis base 11, rollers 12 and a driving motor 13, wherein the driving motor 13 is arranged on the single-wheel chassis base 11 and used for driving the rollers 12 to rotate, and the rollers 12 are rotatably assembled on the single-wheel chassis base 11. In this embodiment, the rollers 12 are cylindrical magnetic wheels, and the single-wheel chassis module 1 is adsorbed on the climbing wall surface through the rollers 12. The single-wheel chassis base 11 is provided with two roller mounting plates 111, the wheel shaft of the roller 12 is rotatably assembled on the roller mounting plates 111, wherein the driving motor 13 is fixed on the roller mounting plates, the driving motor 13 is connected with a speed reducer 15, and the output shaft of the speed reducer is connected with the wheel shaft of the roller.
In this embodiment, in order to make the wall climbing robot chassis can climb the vertically wall, on the walking direction on wall climbing robot chassis, single round chassis module one end is the end of advancing, and the other end is the end of retreating, and gyro wheel 12 sets up the end of advancing at single round chassis module 1, and the gyro wheel is to the protruding end of advancing of wall climbing robot chassis advancing direction, when meetting vertical wall, gyro wheel 12 can contact with two vertically walls simultaneously, climbs to another wall from a wall on. Certainly, the roller protrudes out of the advancing end, so that the obstacle can be conveniently crossed, and the obstacle can be easily crossed by the roller when encountering the obstacle, and the obstacle is not easily clamped with the single-wheel chassis base. The forward end of the roller in this embodiment is relatively, and represents the end of the roller in the direction of travel of the single-wheel chassis module.
As shown in fig. 2 to 4, the two single-wheel chassis modules 1 are hinged, in this embodiment, the single-wheel chassis seats 11 of the two single-wheel chassis modules 1 are hinged by hinges 14, and two connecting pieces of the hinges 14 are respectively fixed on the two single-wheel chassis seats 11.
In order to ensure the stability of the two one-wheel chassis modules 1 when climbing on the cylindrical surface 2, the module articulation axis extends in the direction of travel of the one-wheel chassis module 1, the two one-wheel chassis modules 1 are arranged perpendicular to the direction of travel, and the roller axes of the rollers 12 are perpendicular to the module articulation axis. In this embodiment, the rollers 12 of the two single-wheel chassis modules 1 are always coplanar. The module hinge axis is the hinge axis of the two single-wheel chassis modules 1.
The robot chassis is in the process of marcing along 2 extending directions of cylinder on cylinder 2, receives gyro wheel 12 adsorption affinity, and two single-wheel chassis module atress point to 2 centers on cylinder, because two gyro wheels 12 disalignment, the axis of two gyro wheels 12 is crossing, each other becomes certain angle, and two single-wheel chassis modules 1 after the combination become triangle stable structure with the cylinder 2 of climbing, consequently whole machine chassis can keep stable at the in-process of walking, can not overturn around taking place because of the reason of driving motor 13 rotation torque. Two single-wheel chassis modules 1 cannot swing back and forth in the traveling direction, so that the stability of the wall-climbing robot is ensured.
Since the arrangement direction of the two single-wheel chassis modules 1 is perpendicular to the travelling direction, the distance between the rollers 12 on the two single-wheel chassis modules 1 in the travelling direction does not change during travelling. The direction that driving motor 13 drive gyro wheel 12 marchd is unanimous with robot chassis marching direction, and in the direction of marching of perpendicular to robot chassis, does not have power to drive gyro wheel 12 and moves, consequently, in the direction of marching of perpendicular to robot chassis, the wheel base between the gyro wheel 12 on two single-wheel chassis modules 1 is difficult to change, and stability is better. In the process that the robot chassis advances along the extending direction of the cylindrical surface 2 on the cylindrical surface 2, the robot chassis is not easy to swing in the front-back direction, the wheel distance is not easy to change in the left-right direction, and the overall stability is good.
The chassis of the wall climbing robot also comprises a controller for controlling the two driving motors 13, the utility model discloses a turning to of the chassis of the wall climbing robot depends on the driving motors 13 to realize, according to the needs that turn to, the rotational speed of the two driving motors 13 of controller control makes the rotational speed of two gyro wheels 12 have certain difference, and the chassis of the wall climbing robot realizes that the differential turns to.
The utility model discloses a stability is the best when climbing wall robot chassis when using along 2 extending direction of cylinder walking, and the direction walking that is certain contained angle with 2 extending direction of cylinder also can be followed according to actual needs of course, and the contained angle should be less than 90 degrees, guarantees that the axis of two gyro wheels 12 does not coincide this moment, and stability is also better. Of course, in other embodiments, according to actual needs, the utility model discloses a wall climbing robot chassis also can use the climbing on the plane, or along the circumstances of cylinder 2 upwards climbing in week.
In order to further improve the stability of the wall-climbing robot chassis, in this embodiment, the wall-climbing robot chassis further includes a gyroscope for correcting the walking direction, and the gyroscope in this embodiment is fixed on one of the single-wheel chassis modules 1. The gyroscope constitutes a sensor for correcting the direction of chassis travel.
The utility model discloses a wall climbing robot chassis adopts the modularized design, makes things convenient for the equipment on wall climbing robot chassis, reduction in production manufacturing cost.
The utility model discloses concrete embodiment 2 on wall climbing robot chassis, the structure on wall climbing robot chassis in this embodiment only lies in with the difference among the above-mentioned concrete embodiment 1: as shown in fig. 5, the roller axes of the rollers 12 of the two single-wheel chassis modules 1 in the present embodiment are arranged at intervals in the traveling direction of the single-wheel chassis module 1. The chassis module of the robot is not easy to swing back and forth when walking on the horizontal plane, and the adaptability of the chassis of the robot is improved.
In two adjacent single round chassis modules 1, the gyro wheel of one of them single round chassis module 1 is to climbing the forward walking direction protrusion place tip of wall robot chassis, protrusion forward end forward promptly, and the gyro wheel of another single round chassis module 1 is to climbing the reverse walking direction protrusion place tip of wall robot chassis, protrusion backward end promptly, makes wall robot advance to retreat two walking directions homoenergetic and climb the wall that has the right angle. In other embodiments, when a plurality of single-wheel chassis modules are provided, two adjacent rollers project forwards to the advancing end, and two adjacent rollers project backwards to the retreating end; of course, the roller in other embodiments may not protrude forward or backward depending on the working conditions.
The utility model discloses concrete embodiment 3 on wall climbing robot chassis, the structure on wall climbing robot chassis in this embodiment only lies in with the difference among the above-mentioned concrete embodiment 1: in this embodiment, three single-wheel chassis modules are provided. In other embodiments, any number of four, five, etc. single-wheel chassis modules may be provided as desired.
The utility model discloses concrete embodiment 4 on wall climbing robot chassis, the structure on wall climbing robot chassis in this embodiment only lies in with the difference among the above-mentioned concrete embodiment 1: in this embodiment, the adjacent single-wheel chassis base can be integrally provided with a hinge lug, and the adjacent single-wheel chassis base is hinged through a hinge shaft penetrating through the hinge lug.
The utility model discloses concrete embodiment 5 on wall climbing robot chassis, the structure on wall climbing robot chassis in this embodiment only lies in with the difference in above-mentioned concrete embodiment 1: the gyro wheel is not the magnetism wheel, sets up the permanent magnet on the chassis seat of single round, through the permanent magnet with climb the wall inter attraction that the wall robot chassis climbed and provide the adsorption affinity to the chassis seat of single round. In other embodiments, the roller may be a magnetic wheel, and the permanent magnet may be disposed on the single-wheel chassis base, so as to provide an attraction force to the single-wheel chassis base under the combined action of the permanent magnet and the magnetic wheel.
The utility model discloses concrete embodiment 6 on wall climbing robot chassis, the structure on wall climbing robot chassis in this embodiment only lies in with the difference in above-mentioned concrete embodiment 1: the driving motor of the single-wheel chassis module is a built-in hub motor, an inner stator of the hub motor is connected with the single-wheel chassis base, and a rotor is connected with the roller, so that the roller is driven to rotate.
The utility model discloses wall climbing robot's specific embodiment, including chassis and the functional device mount pad of setting on the chassis, wherein the functional device mount pad is used for installing functional device such as sensor, and the structure on chassis is the same with the structure on chassis in the arbitrary embodiment on above-mentioned wall climbing robot chassis, and here is no longer repeated.
The above description is only for the preferred embodiment of the present invention, and the present invention is not limited thereto, the protection scope of the present invention is defined by the claims, and all structural changes equivalent to the contents of the description and drawings of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Wall climbing robot chassis, its characterized in that includes:
the single-wheel chassis module comprises a single-wheel chassis base, a roller and a driving motor, wherein the roller is rotatably assembled on the single-wheel chassis base;
the roller is a magnetic wheel and/or a permanent magnet is arranged on the single-wheel chassis base and is used for attracting the wall surface climbed by the wall-climbing robot chassis to provide adsorption force for the single-wheel chassis base;
at least two single-wheel chassis modules are arranged, each single-wheel chassis module is connected in series, the adjacent single-wheel chassis modules are hinged,
two articulated single-wheel chassis modules satisfy: the module hinge axes of the two single-wheel chassis modules are vertical to the roller axes of the two single-wheel chassis modules, the module hinge axes extend along the advancing direction of the single-wheel chassis modules, and the arrangement direction of the two single-wheel chassis modules is vertical to the advancing direction of the single-wheel chassis modules;
and the controller is used for controlling the driving motors on the adjacent single-wheel chassis modules so as to enable the wall-climbing robot chassis to go straight or turn in a differential mode.
2. The wall-climbing robot chassis of claim 1, wherein two single-wheel chassis modules that are hinged meet: the roller axes of the rollers of the two single-wheel chassis modules are coplanar.
3. The wall-climbing robot chassis of claim 1, wherein two single-wheel chassis modules that are hinged meet: in the advancing direction of the single-wheel chassis module, the roller axes of the rollers of the two single-wheel chassis modules are arranged at intervals.
4. A wall-climbing robot chassis according to claim 1, 2 or 3, wherein two single-wheel chassis modules are provided.
5. A wall-climbing robot chassis according to claim 1, 2 or 3, wherein adjacent single-wheel chassis bases are hinged by hinges.
6. A wall-climbing robot chassis according to claim 1, 2 or 3, characterized in that the wall-climbing robot chassis further comprises sensors for correcting the walking direction.
7. A wall-climbing robot chassis according to claim 1, 2 or 3, characterized in that in the walking direction of the wall-climbing robot chassis, the roller is arranged at one end of the single-wheel chassis module, and the roller protrudes to the end of the wall-climbing robot chassis where it is located.
8. The wall-climbing robot chassis according to claim 7, wherein in two adjacent single-wheel chassis modules, the roller of one single-wheel chassis module protrudes to the end of the wall-climbing robot chassis where the roller protrudes in the forward walking direction, and the roller of the other single-wheel chassis module protrudes to the end of the wall-climbing robot chassis where the roller protrudes in the reverse walking direction.
9. The wall-climbing robot chassis according to claim 7, wherein in the traveling direction of the wall-climbing robot chassis, one end of the single-wheel chassis module is a forward end, and the other end of the single-wheel chassis module is a backward end, and in two adjacent single-wheel chassis modules, the rollers of the two single-wheel chassis modules are both disposed at the forward end.
10. Wall-climbing robot, including chassis and functional device mount pad that sets up on the chassis, characterized in that, the chassis is the wall-climbing robot chassis of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021267186.4U CN212605538U (en) | 2020-07-02 | 2020-07-02 | Wall climbing robot chassis and wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021267186.4U CN212605538U (en) | 2020-07-02 | 2020-07-02 | Wall climbing robot chassis and wall climbing robot |
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| Publication Number | Publication Date |
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| CN212605538U true CN212605538U (en) | 2021-02-26 |
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| CN202021267186.4U Active CN212605538U (en) | 2020-07-02 | 2020-07-02 | Wall climbing robot chassis and wall climbing robot |
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| CN (1) | CN212605538U (en) |
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- 2020-07-02 CN CN202021267186.4U patent/CN212605538U/en active Active
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