CN106419725A - Double-crawler belt type wall-climbing robot based on electrostatic adsorption principle - Google Patents
Double-crawler belt type wall-climbing robot based on electrostatic adsorption principle Download PDFInfo
- Publication number
- CN106419725A CN106419725A CN201611095707.0A CN201611095707A CN106419725A CN 106419725 A CN106419725 A CN 106419725A CN 201611095707 A CN201611095707 A CN 201611095707A CN 106419725 A CN106419725 A CN 106419725A
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- Prior art keywords
- robot
- cleaning
- double
- module
- crawler belt
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses a double-crawler belt type wall-climbing robot based on an electrostatic adsorption principle. The double-crawler belt type wall-climbing robot comprises a robot body, adsorption modules, a motion module, a cleaning module and a control module. Each adsorption module comprises a high-voltage static generator and two crawler belt electrodes, static generated by the high-voltage static generator is transmitted to the two crawler belt electrodes, and the adsorption modules are arranged on the left and the right of the robot body; the motion module comprises two driving motors and two driving wheels arranged on the two sides of the rear portion of the robot body; the control module can control the two driving motors to rotate at differential speed to achieve a steering function, and is arranged in the middle of the robot body; the cleaning module is arranged in the front of the robot body and makes cleaning convenient. In this way, the crawler belt electrodes are tightly adsorbed on a wall surface to be cleaned to achieve safety and stability, the control module controls the robot to achieve turning, the turning region is small, and cleanness is high.
Description
Technical field
The present invention relates to Electrostatic Absorption technical field, and in particular to a kind of double-crawler type based on electrostatic absorption principle climbs wall
Robot.
Background technology
In building industry, as the daylighting of glass is good, insulation, moistureproof and practical and attractive using stained glass, high-rise
The outward appearance of building is increasingly employed glass curtain wall structure, also adopts ceramic tile to cover to increase without glass-faced place more
The aesthetic feeling of building, but also derive heavy curtain cleaning task.At present, the cleaning major part of high-rise wall is by work
People completes, and not only efficiency is low, and work under bad environment easily occurs accident, thereby produces skyscraper cleaning wall-climbing device
People.
Climbing robot is that one kind can carry certain task load, can enter limit by row work in vertical or inclined wall
The mobile robot of industry, will complete above work, it is necessary to by travel mechanism's (wheeled, crawler type, sufficient formula and Inchworm type) and suction
Random structure is effectively combined could be realized, and suction type traditional at present mainly has bionical absorption, negative-pressure adsorption and magnetic
Absorption.
Although bionical adsorbed wall-climbing robot wide accommodation, adsorbable multiple walls, manufacture difficulty is big, mobile speed
Degree is slow and is still in conceptual phase, is difficult to realize the marketization；The noise of negative pressure adsorption wall-climbing robot is little, speed is fast, but right
Wall roughness has high demands；Magnetically adsorbed wall-climbing robot is to apply a kind of most, most wide climbing robot, electromagnetic type at present
Clutch with adsorbed wall is realized easily, magneto need not consume electric energy, safe and reliable, but can only adsorb magnetic surface, limit
Its range of application is made.
In view of drawbacks described above, creator of the present invention passes through prolonged research and practice obtains the present invention finally.
Content of the invention
For solving above-mentioned technological deficiency, the technical solution used in the present invention is, provides a kind of based on electrostatic absorption principle
Double-crawler type cleaning climbing robot, it include robot body, adsorption module, motion module, cleaning module and control mould
Block, it is characterised in that the adsorption module includes HV generator and two crawler belt electrodes, the HV generator
The electrostatic of generation is delivered on two crawler belt electrodes, increased absorption affinity, and the adsorption module is arranged on the robot
The left and right sides of body；The motion module includes two motors and two driving wheels, and two motors are respectively
Two driving wheels are driven to rotate, two driving wheels are arranged on the both sides at the robot body rear portion；The control
Module is electrically connected with two motors respectively, and controls two motor differentials to rotate, so that the base
Turning function is realized in the double-crawler type cleaning climbing robot of electrostatic absorption principle, be arranged in the robot body
Portion；The cleaning module is arranged on the front portion of the robot body, is easy to cleaning.
Preferably, the adsorption module also includes brush, the brush and the crawler belt electrode contact, by the electricity
Brush, the electrostatic that the HV generator is produced is delivered on the crawler belt electrode.
Preferably, the adsorption module also includes two tensioning wheels, two tensioning wheels are separately positioned on the machine
Both sides in the middle part of human body, can adjust the electroded tensioning state of the shoe, make the brush with the crawler belt electrode seal
Contact.
Preferably, the motion module also includes two front jocket wheels, which makes the machine together with two driving wheels
Human body's stable movement.
Preferably, the cleaning module includes one-level Clean Brush for cleaning and two grades of cleaning mechanisms, cleaning thing is carried out secondary clear
Clean, it is ensured that cleannes.
Preferably, the driving wheel and the front jocket wheel can effectively reduce robot overall weight all using hollow design.
Preferably, the crawler belt electrode adopts bipolarity copper electrode, which is surrounded by interdigitated electrode structure polyimide insulative material
Material.
Preferably, the double-crawler type cleaning climbing robot based on electrostatic absorption principle also includes motor, institute
State gear in driving motor output shaft to be engaged with gear on the driving wheel input shaft.
Preferably, the adsorption module also includes set of cells, the set of cells is connected with the HV generator, institute
State the break-make that control module also control the set of cells and the HV generator.
Compared with the prior art the beneficial effects of the present invention is：Driving wheel rotation is driven in motor, so as to drive
While robot ambulation, the electrostatic of HV generator generation is passed to crawler belt electrode and is tightly adsorbed with wall to be cleaned,
Cleaning mechanism is treated cleaning wall and carries out secondary cleaning, and when robot needs to turn, it is poor that controlling organization control motor is realized
Speed is rotated, and robot realizes turning, and adsorbs safety and stability using absorption principle, and turn-around zone is little, cleaning cleanliness factor height.
Description of the drawings
For the technical scheme being illustrated more clearly that in various embodiments of the present invention, below will be to wanting needed for embodiment description
The accompanying drawing for using is briefly described.
Fig. 1 is a kind of functional structure chart of roller ultrasound electric arc composite welding apparatus of the embodiment of the present invention one；
Fig. 2 is a kind of structure chart of roller ultrasound electric arc composite welding apparatus of the embodiment of the present invention two；
Fig. 3 is a kind of structure of the robot body of roller ultrasound electric arc composite welding apparatus of the embodiment of the present invention two
Figure；
Fig. 4 is a kind of structure of the cleaning mechanism of roller ultrasound electric arc composite welding apparatus of the embodiment of the present invention two
Figure；
Fig. 5 is a kind of local knot of the cleaning mechanism of roller ultrasound electric arc composite welding apparatus of the embodiment of the present invention two
Composition.
Specific embodiment
Below in conjunction with accompanying drawing, the above-mentioned He other technical characteristic of the present invention and advantage are described in more detail.
Embodiment one
Fig. 1 is a kind of double-crawler type cleaning climbing robot functional structure chart based on electrostatic absorption principle, and which mainly wraps
Include robot body 1, adsorption module 2, motion module 3, cleaning module 4 and control module 5；Robot body 1 supports absorption
Module 2, motion module 3, cleaning module 4 and control module 5, adsorption module 2 is used for producing electrostatic, using electrostatic absorption principle,
Adsorb on the wall for needing cleaning, be arranged on the both sides of robot body；Motion module 3, moves for driven machine people, and
Its moving equilibrium is made, is arranged on the middle part of robot body；Cleaning module 4, for the wall of cleaning requirement cleaning, is arranged on machine
The front portion of device human body, is easy to the enforcement of cleaning function；Control module 5 controls motion module 3 to realize turning function.
The beneficial effect of the present embodiment is：In the presence of motion module and adsorption module, while robot motion, profit
Adsorbed on wall to be cleaned, using cleaning module according to the electrostatic tightly adsorption module that adsorption module is produced with absorption principle
Wall is cleaned, control module control robot turns, and radius of turn is little, Electrostatic Absorption safety and stability, low noise, low work(
Consumption, to adsorbing wall not damaged, absorption is controlled, and cruising time is long.
Embodiment two
Fig. 2 is a kind of structure chart of the double-crawler type cleaning climbing robot based on electrostatic absorption principle, wherein：
Fig. 3 is robot body 1, and its making material is match steel (POM), this engineering plastics good stability, intensity height, matter
Amount is light, is well suited as the fuselage material of the robot；Which includes two long beams 11 and 12, wide and short crossbeam 13,
Three longerons 14,15 and 16, are provided with two adsorption modules, are provided with motion mould on longeron 14 and 16 on long beam 11 and 12
Block, the front portion of longeron 16 is provided with cleaning module, is provided with control module on crossbeam 13.
Adsorption module 2, on robot body 1, which includes HV generator 21,22, two phases of set of cells
Crawler belt electrode 24 identical with brush 23, two tensioning wheel 25 identical with two；
Two tensioning wheels 25 are separately mounted to the middle part of the left and right sides of robot body 1, above two tensioning wheels 25
It is close to two crawler belt electrodes 24, two brushes 23 are fitted tightly with two crawler belt electrodes 24 respectively, tensioning wheel 25 adjusts crawler belt
Electrode 24 elastic, so that brush 23 is in close contact with crawler belt electrode 24；HV generator 21 and set of cells 22 are respectively mounted
At the middle part of robot body 1, HV generator 21 is powered generation electrostatic by set of cells 22, by wire through two electricity
Brush 23 is delivered to respectively on two crawler belt electrodes 24 of the left and right sides, so, under the adjustment effect of tensioning wheel 25, brush 23 with
Crawler belt electrode 24 is in close contact, and the electrostatic energy that HV generator 21 is produced is stable to be delivered on crawler belt electrode 24, crawler belt
Electric charge being carried just on electrode 24, when crawler belt electrode 24 is close with wall to be cleaned, produces and 24 phase of crawler belt electrode on wall
The anti-charges of different polarity, according to the attracting principle of the charges of different polarity, crawler belt electrode 24 and cleaning wall adsorbed close.
Motion module 3, including two driving wheels, 31, two motors 32 and two front jocket wheels 33；Two driving wheels 31
The rear portion of 1 left and right sides of robot body is separately positioned on, two motors 32 are separately positioned on the side of driving wheel 31, drives
Driving wheel 31 is driven by motor 32, engages transmission power by gear to realize to machine between driving wheel 31 and motor 32
The motor control of device people, the gear on 32 output shaft of motor is engaged with the gear on 31 input shaft of driving wheel, motor
The power of 32 outputs is passed to driving wheel 31 by gear engagement, and driven machine people moves, and gear engagement transmission dynamic movement is put down
Steady reliable, transmission efficiency；Two front jocket wheels 33 are non-driving wheels, are arranged on the front portion of robot body 1 or so two, crawler belt
Electrode 24 forms a circle, cover driving wheel 31, front jocket wheel 33 and tensioning wheel 25 cylindrical on, under the driving of driving wheel 31,
Crawler belt electrode with driving wheel 31 roll move ahead while tightly adsorb cleaning wall on.
Two driving wheels 31 by left and right two motors 32 driving, when left and right two 32 rotating speeds of motor consistent when
Robot can be made to move along a straight line, when two 32 rotating speed of the motor differences in left and right, robot can be made to turn or diagonal movement.
As shown in Figure 3 and Figure 4, cleaning module 4, are arranged on the front portion of robot body 1, and cleaning module is exactly cleaner
Structure, cleaning mechanism 4 and external device coordinate the cleaning that realizes to wall, and which includes that external water filling port 41, outlet 42, one-level are clear
Clean hairbrush 43, device for recycling sewage 44, sewage outlet 45 and two grades of cleaning mechanisms 46；
External water injecting mechanism has pressue device, passes through the water containing cleanout fluid by the external water filling port 41 of cleaning mechanism
Passage in wiper mechanism 4 is sprayed by multiple outlets 42, realizes the cleaning to wall.By hairbrush 43 in a cleaning mechanism
High-speed rotation, realize wall first time cleaning；The sewage collecting that device for recycling sewage 44 will be cleaned after finishing, passes through
Sewage outlet 45 is discharged to external sewage collection equipment.Two grades of cleaning mechanisms 46 carry out secondary cleaning, both can guarantee that cleaning
Clean level, can prevent pollutant from remaining, so as to affect to carry out electroded absorption affinity again.
As shown in figure 5, the sewage collecting that will be cleaned after finishing by device for recycling sewage, on device for recycling sewage 44
Arc surface A area, the space B area between the arc surface on one-level Clean Brush for cleaning 43 and device for recycling sewage 44 and cleaning wall three
A cavity can be formed between person, it is ensured that sewage will not seepage.The sewage of collection is discharged to external by sewage outlet 45
Sewage collection equipment.
During work, first external water filling pressue device and waste water reclaiming device are assembled with robot, by external dress
Put the correct position being fixed in robot moving process；Before robot brings into operation, manually wall need to be being cleaned
Flush out one piece of wall that can accommodate robot；By set of cells 22 and 21 power-off of HV generator, by robot by clear
Clean direction is placed on wall, the height that set of cells 22 is produced by HV generator after being energized with HV generator 21
Voltage is directly connected to crawler belt electrode 24 by brush, so that robot is adsorbed on wall；Cleaning mechanism is located in front of robot, this
Design both can effectively flush out smooth finish surface, absorption pair crawler belt below can be adsorbed again on clean wall, has
Higher absorption affinity, causes absorption affinity to reduce without the soil because of wall, or even the coming off of robot.
Motor 32 is opened, and drives driving wheel 31 to carry mobile robot to move ahead, and the cleaning structure 4 positioned at robot front portion exists
It is injected on wall by outlet in the presence of external water injecting mechanism, one-level Clean Brush for cleaning 43 rolls cleaning wall on wall
Face, two grades of cleaning mechanisms carry out secondary cleaning,
Control module 5, for controlling the motor of motion module 3, when robot needs to turn, in control module 5
In the program for weaving is set, control two motor differentials of the robot left and right sides to rotate, realize robot turning.
The present embodiment drives driving wheel rotation in motor, and while so as to drive robot ambulation, high-pressure electrostatic is sent out
The electrostatic of raw device generation is passed to crawler belt electrode and is tightly adsorbed with wall to be cleaned, cleaning mechanism treat cleaning wall carry out secondary
Cleaning, when robot needs to turn, controlling organization control motor realizes differential rotation, and robot realizes turning, using suction
Attached principle adsorbs safety and stability, and turn-around zone is little, cleaning cleanliness factor height.
Embodiment three
Double-crawler type based on electrostatic absorption principle as above cleans climbing robot, and the present embodiment is different from it
Place is：Control module also control the break-make of set of cells and HV generator, start to place on wall to be cleaned
During robot, for safe operation, control module makes set of cells disconnect with HV generator；After placing, control module
Realize set of cells to be energized with HV generator, make HV generator energising that electrostatic is produced, crawler belt electrode is passed to, is inhaled
The cleaning wall face that carries out is attached on wall to be cleaned.The control function improves safe operation, it is to avoid accident occurs.
Example IV
Double-crawler type based on electrostatic absorption principle as above cleans climbing robot, and the present embodiment is different from it
Place is：Driving wheel and front jocket wheel can effectively reduce robot overall weight all using hollow design.
Presently preferred embodiments of the present invention is the foregoing is only, is merely illustrative for the purpose of the present invention, and non-limiting
's.Those skilled in the art understands, can carry out many changes to which in the spirit and scope limited by the claims in the present invention,
Modification, in addition equivalent, but fall within protection scope of the present invention.
Claims (9)
1. a kind of double-crawler type based on electrostatic absorption principle cleans climbing robot, it include robot body, adsorption module,
Motion module, cleaning module and control module, it is characterised in that the adsorption module includes HV generator and two shoes
Belt electrode, the electrostatic that the HV generator is produced is delivered on two crawler belt electrodes, increased absorption affinity, described
Adsorption module is arranged on the left and right sides of the robot body；The motion module includes two motors and two drivings
Wheel, two motors drive two driving wheels to rotate respectively, and two driving wheels are arranged on the robot
The both sides of rear body；The control module is electrically connected with two motors respectively, and controls two driving electricity
Machine differential is rotated, so that the double-crawler type cleaning climbing robot based on electrostatic absorption principle realizes turning function, quilt
It is arranged on the middle part of the robot body；The cleaning module is arranged on the front portion of the robot body, is easy to cleaning.
2. the double-crawler type based on electrostatic absorption principle according to claim 1 cleans climbing robot, it is characterised in that
The adsorption module also includes brush, the brush and the crawler belt electrode contact, and by the brush, the high-pressure electrostatic is sent out
The electrostatic of raw device generation is delivered on the crawler belt electrode.
3. the double-crawler type based on electrostatic absorption principle according to claim 2 cleans climbing robot, it is characterised in that
The adsorption module also includes two tensioning wheels, and two tensioning wheels are separately positioned in the middle part of the robot body two
Side, can adjust the electroded tensioning state of the shoe, so that the brush is contacted with the crawler belt electrode seal.
4. the double-crawler type based on electrostatic absorption principle according to claim 3 cleans climbing robot, it is characterised in that
The motion module also includes two front jocket wheels, and which makes the robot body stable movement together with two driving wheels.
5. the double-crawler type based on electrostatic absorption principle according to claim 4 cleans climbing robot, it is characterised in that
The cleaning module includes one-level Clean Brush for cleaning and two grades of cleaning mechanisms, carries out secondary cleaning to cleaning thing, it is ensured that cleannes.
6. the double-crawler type based on electrostatic absorption principle according to claim 5 cleans climbing robot, it is characterised in that
The driving wheel and the front jocket wheel can effectively reduce robot overall weight all using hollow design.
7. climbing robot is cleaned according to the arbitrary described double-crawler type based on electrostatic absorption principle of claim 1 to 6, which is special
Levy and be, the crawler belt electrode adopts bipolarity copper electrode, and which is surrounded by interdigitated electrode structure polyimide foam insulation.
8. the double-crawler type based on electrostatic absorption principle according to claim 1 cleans climbing robot, it is characterised in that
The double-crawler type cleaning climbing robot based on electrostatic absorption principle also includes motor, the driving motor output shaft
On gear be engaged with gear on the driving wheel input shaft.
9. the double-crawler type based on electrostatic absorption principle according to claim 8 cleans climbing robot, it is characterised in that
The adsorption module also includes set of cells, and the set of cells is connected with the HV generator, and the control module is also controlled
Make the break-make of the set of cells and the HV generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095707.0A CN106419725A (en) | 2016-12-02 | 2016-12-02 | Double-crawler belt type wall-climbing robot based on electrostatic adsorption principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095707.0A CN106419725A (en) | 2016-12-02 | 2016-12-02 | Double-crawler belt type wall-climbing robot based on electrostatic adsorption principle |
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| CN106419725A true CN106419725A (en) | 2017-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611095707.0A Pending CN106419725A (en) | 2016-12-02 | 2016-12-02 | Double-crawler belt type wall-climbing robot based on electrostatic adsorption principle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106880325A (en) * | 2017-04-11 | 2017-06-23 | 沈雅恒 | A kind of multifunctional wall clearing apparatus |
| CN107696022A (en) * | 2017-09-06 | 2018-02-16 | 上海交通大学 | Multidirectional wriggling soft robot |
| CN108527443A (en) * | 2018-03-26 | 2018-09-14 | 西安交通大学 | Flexible variation rigidity mechanism and production method based on Electrostatic Absorption with obstruction principle |
| CN109645907A (en) * | 2019-01-28 | 2019-04-19 | 浙江工业大学 | Magnetic adsorption flexible climbs wall and cleans trolley |
| CN110948497A (en) * | 2019-10-29 | 2020-04-03 | 河北工业大学 | Boats and ships adhere to biological cleaning robot |
| WO2023193602A1 (en) * | 2022-04-08 | 2023-10-12 | 北京石头世纪科技股份有限公司 | Robot vacuum cleaner |
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| CN1428226A (en) * | 2001-12-28 | 2003-07-09 | 吴志明 | Crawler multi-sucker wall-climbing robot and its implement method |
| WO2013047061A1 (en) * | 2011-09-27 | 2013-04-04 | ヤンマー株式会社 | Underwater cleaning robot |
| CN104071249A (en) * | 2014-07-11 | 2014-10-01 | 哈尔滨工业大学（威海） | Double-caterpillar-band wall-climbing monitoring robot |
| CN105342528A (en) * | 2015-11-24 | 2016-02-24 | 苏州大学 | Automatic mopping cleaner and mopping robot |
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| JPH03253604A (en) * | 1990-03-01 | 1991-11-12 | Mitsubishi Heavy Ind Ltd | Cleaning apparatus for inside wall of water way |
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| WO2013047061A1 (en) * | 2011-09-27 | 2013-04-04 | ヤンマー株式会社 | Underwater cleaning robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106880325A (en) * | 2017-04-11 | 2017-06-23 | 沈雅恒 | A kind of multifunctional wall clearing apparatus |
| CN106880325B (en) * | 2017-04-11 | 2018-07-20 | 沈雅恒 | A kind of multifunctional wall clearing apparatus |
| CN107696022A (en) * | 2017-09-06 | 2018-02-16 | 上海交通大学 | Multidirectional wriggling soft robot |
| CN107696022B (en) * | 2017-09-06 | 2021-01-08 | 上海交通大学 | Multidirectional wriggling software robot |
| CN108527443A (en) * | 2018-03-26 | 2018-09-14 | 西安交通大学 | Flexible variation rigidity mechanism and production method based on Electrostatic Absorption with obstruction principle |
| CN108527443B (en) * | 2018-03-26 | 2020-03-17 | 西安交通大学 | Flexible variable stiffness mechanism based on electrostatic adsorption and blocking principle and manufacturing method thereof |
| CN109645907A (en) * | 2019-01-28 | 2019-04-19 | 浙江工业大学 | Magnetic adsorption flexible climbs wall and cleans trolley |
| CN110948497A (en) * | 2019-10-29 | 2020-04-03 | 河北工业大学 | Boats and ships adhere to biological cleaning robot |
| WO2023193602A1 (en) * | 2022-04-08 | 2023-10-12 | 北京石头世纪科技股份有限公司 | Robot vacuum cleaner |
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