CN110316272B - Vacuum chuck type walking device for vertical crawling robot - Google Patents
Vacuum chuck type walking device for vertical crawling robot Download PDFInfo
- Publication number
- CN110316272B CN110316272B CN201910617429.8A CN201910617429A CN110316272B CN 110316272 B CN110316272 B CN 110316272B CN 201910617429 A CN201910617429 A CN 201910617429A CN 110316272 B CN110316272 B CN 110316272B
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- 230000009193 crawling Effects 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 239000000758 substrate Substances 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 8
- 241000252254 Catostomidae Species 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a vacuum chuck type walking device for a vertical crawling robot, which comprises a base frame, wherein the base frame is provided with a plurality of vertical crawling robots; the first travelling mechanism comprises two symmetrically arranged first travelling components, and each first travelling component comprises a first linear slide rail, a first sucking disc component and a first driving component; the second walking mechanism comprises two second walking components which are symmetrically arranged, the two second walking components are respectively positioned on two opposite sides of the first walking mechanism, and the second walking components comprise a second linear sliding rail, a second sucking disc component and a second driving component. The invention provides a vacuum chuck type walking device for a vertical crawling robot, which realizes stable crawling of the robot and prevents the robot from falling from a vertical plane through alternate actions of two groups of vacuum chuck walking mechanisms.
Description
Technical Field
The invention relates to a crawling robot walking device, in particular to a vacuum chuck type walking device for a vertical crawling robot.
Background
Vacuum chucks are a technique for maintaining the attachment of two objects without separation by vacuum. The vacuum degree of the sucker is changed in industry to realize 'taking' and 'putting' in the transportation process, and automation and mechanization are realized by matching. Currently, vacuum chucks are widely used in many fields, for example, vacuum chucks are a critical component in products such as window cleaning robots which are popular at present.
In the robots such as the prior window cleaning robots which crawl along the vertical plane, the walking of the robots basically moves through tracks, rollers and the like, the robots need to be matched with suction devices such as suction cups and the like for use, and in the matching of the rollers and the suction cups, once the non-timely engagement of the matching time occurs, the robots are easy to fall off from the vertical plane.
Disclosure of Invention
In view of the above, the present invention provides a vacuum chuck type walking device for a vertical crawling robot, which can realize stable crawling of the robot and prevent the robot from falling off from a vertical plane.
To this end, the present invention provides a vacuum chuck type traveling device for a vertical crawling robot, comprising:
a base frame;
The first travelling mechanism comprises two symmetrically arranged first travelling components, each first travelling component comprises a first linear slide rail, a first sucker component and a first driving component, the first linear slide rail is fixedly arranged on the base frame, the first sucker component is connected to the first linear slide rail in a sliding manner, and the first sucker component is simultaneously connected with the first driving component and is driven by the first driving component to slide back and forth on the first linear slide rail;
The second travelling mechanism comprises two second travelling components which are symmetrically arranged, the two second travelling components are respectively located at two opposite sides of the first travelling mechanism, each second travelling component comprises a second linear sliding rail, a second sucking disc component and a second driving component, the second linear sliding rails are fixedly arranged on the base frame and are parallel to the first linear sliding rails, the second sucking disc components are slidably connected onto the second linear sliding rails, and the second sucking disc components are simultaneously connected with the second driving components and driven by the second driving components to slide back and forth on the second linear sliding rails.
Further, the working positions of the first suction cup component and the second suction cup component are staggered.
Further, the working positions of the two first sucking disc components and the two second sucking disc components are arranged in a convex structure.
Further, the first linear slide rail is a slide groove, two first arc grooves are respectively formed in two opposite groove walls of the first linear slide rail, the first arc grooves are arranged along the length direction of the first linear slide rail, a first side guide round rod is fixedly installed in the first arc grooves, a first sliding block is arranged at the bottom of the first sucker component and is in sliding connection with the first linear slide rail, two first arc concave surfaces are respectively formed in two opposite sides of the first sliding block, and the first arc concave surfaces are in sliding connection with the first side guide round rod.
Further, be provided with first recess on the groove bottom surface of first straight line slide rail, it is arranged along the length direction of first straight line slide rail, and the bottom sliding connection of first slider is in first recess.
Further, a first conical groove is formed in the groove bottom surface of the first groove and is arranged along the length direction of the first linear sliding rail.
Further, the second linear slide rail is a slide groove, two second arc grooves are respectively arranged on two opposite groove walls of the second linear slide rail, the second arc grooves are arranged along the length direction of the second linear slide rail, a second side guide round rod is fixedly arranged in the second arc grooves, a second slide block is arranged at the bottom of the second sucker component and is in sliding connection with the second linear slide rail, two second arc concave surfaces are respectively arranged on two opposite sides of the second slide block, and the second arc concave surfaces are in sliding connection with the second side guide round rod.
Further, a second groove is formed in the bottom surface of the groove of the second linear sliding rail, the second groove is arranged along the length direction of the second linear sliding rail, and the bottom of the second sliding block is connected in the second groove in a sliding mode.
Further, a second conical groove is formed in the bottom surface of the second groove and is arranged along the length direction of the second linear sliding rail.
Further, the first sucker component comprises a first mounting substrate, a first connecting rod and at least two first suckers, the first suckers are square suckers, two independent first adsorption cavities are formed in the bottoms of the first suckers, the first suckers are fixedly connected to the bottoms of the first connecting rod, the first connecting rod penetrates through the first mounting substrate, a first spring is sleeved on the first connecting rod, and the first spring is located between the first mounting substrate and the first suckers;
The second sucking disc part comprises a second mounting substrate, a second connecting rod and at least two second sucking discs, the second sucking discs are square sucking discs, two independent second sucking cavities are formed in the bottoms of the second sucking discs, the second sucking discs are fixedly connected to the bottoms of the second connecting rods, the second connecting rods are arranged in the second mounting substrate in a penetrating mode, second springs are sleeved on the second connecting rods, and the second springs are located between the second mounting substrate and the second sucking discs.
The invention provides a vacuum chuck type walking device for a vertical crawling robot, which comprises a base frame, wherein the base frame is provided with a plurality of vertical crawling robots; the first travelling mechanism comprises two symmetrically arranged first travelling components, and each first travelling component comprises a first linear slide rail, a first sucking disc component and a first driving component; the second walking mechanism comprises two second walking components which are symmetrically arranged, the two second walking components are respectively positioned on two opposite sides of the first walking mechanism, and the second walking components comprise a second linear sliding rail, a second sucking disc component and a second driving component.
The working principle of the vacuum sucker type walking device is as follows: when the robot needs to climb in the vertical plane, the sucker components of the two traveling components of the first traveling mechanism are adsorbed on the vertical plane, the sucker components of the two traveling components of the second traveling mechanism do not perform adsorption action, the first driving mechanism drives the sucker components to slide relatively with the first sliding rail, the sucker slides to the bottom of the first sliding rail from the top of the first sliding rail, the first sliding rail is fixed on the base frame, the actual position of the sucker components adsorbed on the vertical plane is unchanged, the change of the relative position with the sucker is realized by the upward movement of the first sliding rail, and the sliding rail drives the robot to ascend through the base frame. At this time, the second travelling mechanism sucker component moves upwards due to the second sliding rail fixed on the base frame, the relative position of the second travelling mechanism sucker component moves from the bottom of the second sliding rail to the top of the second sliding rail, and the second travelling mechanism realizes the upward movement of the robot by repeating the actions of the first travelling mechanism. The first travelling mechanism and the second travelling mechanism alternately and repeatedly act to realize continuous advancing of the robot.
The invention provides a vacuum chuck type walking device for a vertical crawling robot, which realizes stable crawling of the robot and prevents the robot from falling from a vertical plane through alternate actions of two groups of vacuum chuck walking mechanisms.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
Fig. 1 is a perspective view of a vacuum chuck type traveling device for a vertical crawling robot according to an embodiment of the present invention;
Fig. 2 is a schematic structural view of a vacuum chuck type walking device for a vertical crawling robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a vacuum chuck type walking device for a vertical crawling robot according to an embodiment of the present invention.
Fig. 4 is an enlarged view of the structure at a in fig. 3.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Embodiment one:
Referring to fig. 1 to 4, there is shown a vacuum chuck type walking device for a vertical crawling robot according to an embodiment of the present invention, including:
A base frame 1;
The first travelling mechanism 2 comprises two symmetrically arranged first travelling assemblies 21, each first travelling assembly 21 comprises a first linear slide rail 22, a first sucking disc component 23 and a first driving component 24, the first linear slide rail 22 is fixedly arranged on the base frame 1, the first sucking disc component 23 is connected to the first linear slide rail 22 in a sliding manner, and the first sucking disc component 23 is simultaneously connected with the first driving component 24 and is driven by the first driving component 24 to slide back and forth on the first linear slide rail 22;
The second travelling mechanism 3 comprises two second travelling assemblies 31 which are symmetrically arranged, the two second travelling assemblies 31 are respectively positioned at two opposite sides of the first travelling mechanism 21, the second travelling assemblies 31 comprise second linear sliding rails 32, second sucking disc components 33 and second driving components 34, the second linear sliding rails 32 are fixedly arranged on the base frame 1, the second linear sliding rails 32 are parallel to the first linear sliding rails 22, the second sucking disc components 33 are slidably connected to the second linear sliding rails 32, and the second sucking disc components 33 are simultaneously connected with the second driving components 34 and are driven by the second driving components 34 to slide back and forth on the second linear sliding rails 32.
Specifically, referring to fig. 1 to 4, the working positions of the first suction cup member 23 and the second suction cup member 33 are offset from each other.
Specifically, referring to fig. 1 to 4, the first linear rail 22 is a chute, two first arc grooves 221 are respectively disposed on two opposite chute walls, the first arc grooves 221 are disposed along the length direction of the first linear rail 22, a first side guiding circular rod 222 is fixedly mounted in the first arc grooves 221, a first slider 231 is disposed at the bottom of the first sucking disc component 23, the first slider 231 is slidably connected to the first linear rail 22, two first arc concave surfaces 232 are respectively disposed on two opposite sides of the first slider 231, and the first arc concave surfaces 232 are slidably connected to the first side guiding circular rod 231.
Specifically, referring to fig. 1 to 4, a first groove 223 is provided on a groove bottom surface of the first linear slide 22, which is disposed along a length direction of the first linear slide 22, and a bottom portion of the first slider 231 is slidably coupled within the first groove 223.
Specifically, referring to fig. 1 to 4, the second linear rail 32 is a chute, two second arc-shaped grooves 321 are respectively disposed on two opposite chute walls, the second arc-shaped grooves 321 are disposed along the length direction of the second linear rail 32, a second side guiding circular rod 322 is fixedly mounted in the second arc-shaped grooves 321, a second slider 331 is disposed at the bottom of the second sucking disc member 33, the second slider 331 is slidably connected to the second linear rail 32, two second arc-shaped concave surfaces 332 are respectively disposed at two opposite sides of the second slider 331, and the second arc-shaped concave surfaces 332 are slidably connected to the second side guiding circular rod 331.
Specifically, referring to fig. 1 to 4, a second groove 323 is provided on the groove bottom surface of the second linear rail 32, which is disposed along the length direction of the second linear rail 32, and the bottom of the second slider 331 is slidably connected in the second groove 323.
The invention provides a vacuum chuck type walking device for a vertical crawling robot, which comprises a base frame, wherein the base frame is provided with a plurality of vertical crawling robots; the first travelling mechanism comprises two symmetrically arranged first travelling components, and each first travelling component comprises a first linear slide rail, a first sucking disc component and a first driving component; the second walking mechanism comprises two second walking components which are symmetrically arranged, the two second walking components are respectively positioned on two opposite sides of the first walking mechanism, and the second walking components comprise a second linear sliding rail, a second sucking disc component and a second driving component.
The working principle of the vacuum sucker type walking device is as follows: when the robot needs to climb in the vertical plane, the sucker components of the two traveling components of the first traveling mechanism are adsorbed on the vertical plane, the sucker components of the two traveling components of the second traveling mechanism do not perform adsorption action, the first driving mechanism drives the sucker components to slide relatively with the first sliding rail, the sucker slides to the bottom of the first sliding rail from the top of the first sliding rail, the first sliding rail is fixed on the base frame, the actual position of the sucker components adsorbed on the vertical plane is unchanged, the change of the relative position with the sucker is realized by the upward movement of the first sliding rail, and the sliding rail drives the robot to ascend through the base frame. At this time, the second travelling mechanism sucker component moves upwards due to the second sliding rail fixed on the base frame, the relative position of the second travelling mechanism sucker component moves from the bottom of the second sliding rail to the top of the second sliding rail, and the second travelling mechanism realizes the upward movement of the robot by repeating the actions of the first travelling mechanism. The first travelling mechanism and the second travelling mechanism alternately and repeatedly act to realize continuous advancing of the robot.
The invention provides a vacuum chuck type walking device for a vertical crawling robot, which realizes stable crawling of the robot and prevents the robot from falling from a vertical plane through alternate actions of two groups of vacuum chuck walking mechanisms.
Embodiment two:
Referring to fig. 1 to 4, a vacuum chuck type walking device for a vertical crawling robot according to a second embodiment of the present invention is shown, and the following technical solutions are further provided as improvements on the basis of the foregoing embodiments: the working positions of the two first suction cup members 23 and the two second suction cup members 33 are arranged in a "convex" shape.
The positions of the two first sucker components and the two second sucker components are staggered all the time, one group is positioned at the top of the sliding rail, and the other group is positioned at the bottom of the sliding rail to form a convex structure so as to realize alternate actions to promote the robot to move continuously.
Embodiment III:
Referring to fig. 1 to 4, a vacuum chuck type walking device for a vertical crawling robot according to a third embodiment of the present invention is shown, and the following technical solutions are further provided as improvements on the basis of the above embodiments: the groove bottom surface of the first groove 223 is provided with a first tapered groove 224, which is arranged along the length direction of the first linear slide rail 22. A second tapered groove 324 is formed on the bottom surface of the second groove 323, and is disposed along the length direction of the second linear rail 32.
When the sucker component slides on the sliding rail, the sliding block repeatedly rubs in the sliding groove, so that abrasion is easy to generate, and a conical groove is arranged at the bottom of the sliding groove to serve as an oil groove for lubricating the sliding mechanism.
Embodiment four:
Referring to fig. 1 to 4, a vacuum chuck type walking device for a vertical crawling robot according to a fourth embodiment of the present invention is shown, and the following technical solutions are further provided as improvements on the basis of the above embodiments: the first sucking disc component 23 comprises a first mounting substrate 232, a first connecting rod 233 and at least two first sucking discs 234, the first sucking discs 234 are square sucking discs, two independent first sucking cavities 2341 are formed in the bottoms of the first sucking discs 234, the first sucking discs 234 are fixedly connected to the bottoms of the first connecting rods 233, the first connecting rods 233 penetrate through the first mounting substrate 232, first springs 235 are sleeved on the first connecting rods 233, and the first springs 235 are located between the first mounting substrate 232 and the first sucking discs 234;
The second sucking disc part 33 comprises a second mounting substrate 332, a second connecting rod 333 and at least two second sucking discs 334, the second sucking discs are square sucking discs 334, two independent second sucking cavities 3341 are formed in the bottoms of the second sucking discs 334, the second sucking discs 334 are fixedly connected to the bottoms of the second connecting rods 333, the second connecting rods 333 penetrate through the second mounting substrate 332, second springs 335 are sleeved on the second connecting rods 333, and the second springs 335 are located between the second mounting substrate 332 and the second sucking discs 334.
In order to ensure the suction effect of the suction cup parts, each suction cup part is composed of two vacuum suction cups. The spring is arranged between the sucker and the connecting rod, the sucker can be adjusted on the uneven surface, and the adsorption effect of the sucker on the uneven walking surface is ensured.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. A vacuum chuck type traveling device for a vertical crawling robot, comprising:
A base frame (1);
The first travelling mechanism (2) comprises two symmetrically arranged first travelling assemblies (21), each first travelling assembly (21) comprises a first linear slide rail (22), a first sucker component (23) and a first driving component (24), the first linear slide rails (22) are fixedly arranged on the base frame (1), the first sucker components (23) are slidably connected to the first linear slide rails (22), and the first sucker components (23) are simultaneously connected with the first driving components (24) and driven by the first driving components (24) to slide back and forth on the first linear slide rails (22);
The second walking mechanism (3) comprises two second walking components (31) which are symmetrically arranged, the two second walking components (31) are respectively positioned on two opposite sides of the first walking mechanism (2), the second walking components (31) comprise second linear sliding rails (32), second sucking disc components (33) and second driving components (34), the second linear sliding rails (32) are fixedly arranged on the base frame (1), the second linear sliding rails (32) are parallel to the first linear sliding rails (22), the second sucking disc components (33) are connected to the second linear sliding rails (32) in a sliding mode, and the second sucking disc components (33) are simultaneously connected with the second driving components (34) and are driven by the second driving components (34) to slide back and forth on the second linear sliding rails (32);
The first linear sliding rail (22) is a sliding groove, two first arc grooves are respectively formed in two opposite groove walls of the first linear sliding rail (22), the first arc grooves are arranged along the length direction of the first linear sliding rail, a first side guide round rod is fixedly arranged in the first arc grooves, a first sliding block is arranged at the bottom of the first sucker component (23), the first sliding block is slidably connected to the first linear sliding rail (22), two first arc concave surfaces are respectively formed in two opposite sides of the first sliding block, and the first arc concave surfaces are slidably connected to the first side guide round rod;
The second linear sliding rail is a sliding groove, two second arc-shaped grooves are respectively formed in two opposite groove walls of the second linear sliding rail, the second arc-shaped grooves are arranged along the length direction of the second linear sliding rail, a second side guide round rod is fixedly arranged in the second arc-shaped grooves, a second sliding block is arranged at the bottom of the second sucker component and is in sliding connection with the second linear sliding rail, two second arc-shaped concave surfaces are respectively formed in two opposite sides of the second sliding block, and the second arc-shaped concave surfaces are in sliding connection with the second side guide round rod;
The first sucking disc component (23) comprises a first mounting substrate (232), a first connecting rod and at least two first sucking discs (234), wherein the first sucking discs (234) are square sucking discs, two independent first sucking cavities (2341) are formed in the bottoms of the first sucking discs, the first sucking discs (234) are fixedly connected to the bottoms of the first connecting rod, the first connecting rod penetrates through the first mounting substrate (232), a first spring is sleeved on the first connecting rod, and the first spring is located between the first mounting substrate (232) and the first sucking discs (234);
The second sucking disc part includes second mounting substrate, second connecting rod and two at least second sucking discs, the second sucking disc is square sucking disc, and its bottom is provided with two independent second absorption chambeies, second sucking disc fixed connection in the bottom of second connecting rod, the second connecting rod wears to locate in the second mounting substrate, just the cover is equipped with the second spring on the second connecting rod, the second spring is located the second mounting substrate with between the second sucking disc.
2. Vacuum chuck running gear for a vertical crawling robot according to claim 1, characterized in that the working positions of the first chuck member (23) and the second chuck member (33) are offset from each other.
3. Vacuum chuck running gear for a vertical crawling robot according to claim 1 or 2, characterized in that the working positions of two of said first chuck members (23) and two of said second chuck members (33) are arranged in a "convex" like structure.
4. The vacuum chuck type walking device for a vertical crawling robot according to claim 1, wherein a first groove is arranged on the bottom surface of the groove of the first linear slide rail (22), the first groove is arranged along the length direction of the first linear slide rail (22), and the bottom of the first slide block is slidingly connected in the first groove.
5. The vacuum chuck type walking device for a vertical crawling robot as claimed in claim 4, wherein a first conical groove is formed on the bottom surface of the first groove, and the first conical groove is arranged along the length direction of the first linear sliding rail (22).
6. The vacuum chuck type walking device for the vertical crawling robot according to claim 1, wherein a second groove (323) is arranged on the groove bottom surface of the second linear slide rail (32), the second groove is arranged along the length direction of the second linear slide rail (32), and the bottom of the second slide block (331) is slidingly connected in the second groove (323).
7. The vacuum chuck type walking device for the vertical crawling robot according to claim 6, wherein a second conical groove (324) is formed on the bottom surface of the second groove (323), and the second conical groove is arranged along the length direction of the second linear slide rail (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910617429.8A CN110316272B (en) | 2019-07-09 | 2019-07-09 | Vacuum chuck type walking device for vertical crawling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910617429.8A CN110316272B (en) | 2019-07-09 | 2019-07-09 | Vacuum chuck type walking device for vertical crawling robot |
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| Publication Number | Publication Date |
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| CN110316272A CN110316272A (en) | 2019-10-11 |
| CN110316272B true CN110316272B (en) | 2024-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910617429.8A Active CN110316272B (en) | 2019-07-09 | 2019-07-09 | Vacuum chuck type walking device for vertical crawling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114458047B (en) * | 2022-03-10 | 2023-12-15 | 深圳合续科技开发有限公司 | Automatic sealant dispenser based on wall climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210912660U (en) * | 2019-07-09 | 2020-07-03 | 苏州康鸿智能装备股份有限公司 | Vacuum sucker type walking device for vertical crawling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006326712A (en) * | 2005-05-24 | 2006-12-07 | Stella Giken Kk | Endless track system wall traveling robot having crossing-over mechanism |
| CN205963958U (en) * | 2016-05-03 | 2017-02-22 | 厦门华蔚物联网科技有限公司 | Multi -functional high altitude curtain cleaning robot |
| CN106184454B (en) * | 2016-08-31 | 2018-11-13 | 厦门华蔚物联网科技有限公司 | A kind of intelligent travel in high sky robot |
| CN206586879U (en) * | 2016-10-14 | 2017-10-27 | 蔡淳 | A kind of cladding glass cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210912660U (en) * | 2019-07-09 | 2020-07-03 | 苏州康鸿智能装备股份有限公司 | Vacuum sucker type walking device for vertical crawling robot |
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