CN111216815A - Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection - Google Patents
Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection Download PDFInfo
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- CN111216815A CN111216815A CN202010200759.XA CN202010200759A CN111216815A CN 111216815 A CN111216815 A CN 111216815A CN 202010200759 A CN202010200759 A CN 202010200759A CN 111216815 A CN111216815 A CN 111216815A
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 73
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 42
- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 238000001179 sorption measurement Methods 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000005389 magnetism Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 238000003466 welding Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention relates to a magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection. The crawler type traveling mechanism comprises a front traveling mechanism and a rear traveling mechanism, and a joint mechanism is arranged between the two traveling mechanisms, the joint mechanism comprises two-degree-of-freedom adjusting mechanisms which are mutually perpendicular and connected in series, two swing structures at the inner ends of the two-degree-of-freedom adjusting mechanisms are mutually perpendicular and connected in series, the traveling mechanism is a crawler type traveling mechanism and comprises an electromagnet arranged in the traveling mechanism and a crawler arranged outside, a plurality of crawler plate strong magnetic blocks are uniformly arranged on the inner surface of the crawler, and the current of the electromagnet can be adjusted to change the adsorption magnetic force of the strong crawler plate magnetic blocks. The robot can achieve stronger obstacle crossing capability for obstacles such as welding seams, round pipes and the like, and the operation quality and efficiency are improved.
Description
Technical Field
The invention relates to a magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection.
Background
The robot of permanent magnetism adsorption type is mainly adopted in present climbing robot field, generally at a tower section of thick bamboo, the boats and ships surface, steel construction surfaces such as jar body replace the manual work to carry out the maintenance operation that corresponds, permanent magnetism adsorbs climbing robot mainly uses the technique that track drive and track and strong magnetic block combination produced the magnetic adsorption power as the main, and decides permanent magnetism adsorbs climbing robot at the major factor of perpendicular surface operation performance for the size of magnetic adsorption power to and whether can possess the ability of hindering more to obstacles such as welding seam and pipe.
At present, the magnetic adsorption is realized by additionally arranging a strong magnetic block on the surface of a track, and the obstacle crossing is performed through the flexibility of the track. If the adsorption force needs to be increased, the sizes of the strong magnetic blocks on all the tracks need to be increased, the self weight of the equipment can be increased in multiples, the effect of improving the load performance of the whole equipment is not obvious, the strong magnetic blocks are easy to crack after long-term working, the obstacle crossing performance is poor, the manufacturing and maintenance cost of the equipment is high, and faults are easy to cause, so that the normal operation and maintenance operation is influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a magnetic climbing four-degree-of-freedom track robot for power grid iron tower detection, which can realize stronger obstacle crossing capability of the robot for obstacles such as welding seams, round pipes and the like, and improve the operation quality and efficiency.
The technical scheme adopted by the invention is as follows: a magnetic climbing four-degree-of-freedom track robot for power grid iron tower detection is characterized by comprising a front travelling mechanism and a rear travelling mechanism, and a joint mechanism arranged between the two travelling mechanisms, wherein the joint mechanism comprises two-degree-of-freedom adjusting mechanisms which are mutually perpendicular and connected in series, each two-degree-of-freedom adjusting mechanism comprises a rotary structure, one end of each rotary structure is connected with the travelling mechanism, the other end of each rotary structure is connected with a swinging structure, each rotary structure drives the travelling mechanism to do rotary motion, each swinging structure drives the travelling mechanism to turn or lift, the two swinging structures at the inner ends of the two-degree-of-freedom adjusting mechanisms are mutually perpendicular and connected in series, each travelling mechanism is a track type travelling mechanism and comprises an electromagnet arranged in the travelling mechanism and a track arranged outside, and the inner surface of the track is uniformly provided with a plurality of, the current of the electromagnet can be adjusted to change the adsorption magnetic force of the strong track shoe magnetic block.
The track is characterized in that a plurality of strong magnetic track shoes are connected in series to form a track chain, any two adjacent strong magnetic track shoes are rotatably connected through track shoe hinge pins, and a strong magnetic block is fixedly installed in each strong magnetic track shoe.
The strong magnet sets up at even interval on strong magnetism grip-pad and constitutes the internal tooth structure, crawler-type advancing mechanism in still set up the action wheel and follow the driving wheel, the action wheel with follow the outer wall of driving wheel all be equipped with the tooth and with the internal tooth structure match.
The crawler-type traveling mechanism is characterized in that the driving wheel and the driven wheel are distributed at two ends of the crawler-type traveling mechanism, a driving motor and a rechargeable battery are further arranged in the crawler-type traveling mechanism, and the driving motor is connected with the driving wheel through a transmission shaft and transmission teeth.
The magnetic poles of the strong magnetic block of the track shoe and the magnetic poles on the same side of the electromagnet have the same magnetism.
The driving motor is a stepping motor and can control the advancing or retreating of the crawler type advancing mechanism in a forward rotation or reverse rotation mode.
The rotary structure comprises a circular support and a rotary motor which are matched with each other, and the rotary motor acts to drive the circular support to rotate.
The swing structure comprises a steering engine support, a steering engine is arranged in the center of the steering engine support, and the steering engine acts to drive the steering engine support to swing.
And a fish-eye camera is arranged on the advancing mechanism at the front section.
The robot is loaded with the vibration measuring equipment, so that the vibration measurement of the iron tower can be realized.
The invention has the beneficial effects that:
1. the invention adopts a crawler structure, the electromagnet arranged in the crawler structure and the strong magnetic block on the crawler plate generate magnetic adsorption, and the crawler plate strong magnetic block in the chain is strengthened by the electromagnet, so that the magnetic circuit of the whole strong magnetic crawler chain is strengthened, and the adsorption force of the strong magnetic crawler chain on the power grid iron tower is improved. And through the magnetism of the size control electromagnet of control current, can adjust the size of adsorbing magnetic force according to the operation environment, select for use suitable adsorption magnetic force according to the minimum traction force in the safe band, prolong step motor's life.
According to the invention, only the electromagnet in the travelling mechanism is added, so that the larger adsorption force and the improved load effect are realized at the cost of smaller volume and weight, the strong magnetic block can be effectively protected, the direct contact between the strong magnetic block and an adsorption surface is avoided, and the service life of the strong magnetic block is prolonged.
2. According to the robot, two-degree-of-freedom adjusting mechanisms are connected in series, a rotary (roll) module is added, a four-degree-of-freedom joint mechanism is formed by combining a two-degree-of-freedom cross mechanism and two rotary modules, the four-degree-of-freedom joint mechanism is matched with a front section of advancing mechanism and a rear section of advancing mechanism which are independently controlled, the robot can realize the functions of jumping over obstacles, climbing, turning over and the like by mutual control of a plurality of motors, and the robot is suitable for complex detection requirements.
3. The front and rear advancing mechanisms are respectively controlled by two stepping motors, forward and reverse crawling can be realized, and meanwhile, the ground grabbing performance is stronger.
4. The robot of the invention adopts the built-in rechargeable battery as the power supply, avoids towing cables of the robot, lightens the weight of the robot and lightens the motion resistance of the robot. The carried functional device (fisheye camera) can observe the surrounding situation at 360 degrees at any time and store and transmit signals, and can observe and position the real-time state of the robot. And the vibration measurement equipment is loaded, so that the vibration measurement of the iron tower can be realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the internal structure of the travel mechanism of the present invention.
FIG. 3 is a schematic structural view of the ferromagnetic track shoe of the present invention.
FIG. 4 is a schematic structural diagram of a strong magnetic block and an electromagnet of a track shoe.
Fig. 5 is a schematic view of the joint mechanism of the present invention.
In the figure: 1. the device comprises a travelling mechanism, a driving wheel, a driven wheel, a 4-electromagnet, a 5-battery box, a 6-joint mechanism, a 7-steering engine, a 8-steering engine bracket, a 9-round bracket, a 10-rotary motor, a 11-strong magnetic block, a 12-strong magnetic track shoe, a 13-track shoe hinge pin, a 14-fisheye camera.
Detailed description of the invention
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection shown in fig. 1-5 comprises a front-section travelling mechanism 1 and a rear-section travelling mechanism, wherein a fisheye camera 14 is arranged on the front-section travelling mechanism, and a vibration measuring device can be additionally arranged, so that vibration measurement of an iron tower can be realized. The joint mechanism 6 is arranged between the two sections of advancing mechanisms, the joint mechanism comprises two-degree-of-freedom adjusting mechanisms which are mutually perpendicular and connected in series, each two-degree-of-freedom adjusting mechanism comprises a rotary structure, one end of each rotary structure is connected with the advancing mechanism, the other end of each rotary structure is connected with a swinging structure, each rotary structure drives the advancing mechanism to do rotary motion, each swinging structure drives the advancing mechanism to turn or raise the head, the two swinging structures at the inner ends of the two-degree-of-freedom adjusting mechanisms are mutually perpendicular and connected in series, each advancing mechanism is a crawler-type advancing mechanism,
the track is formed by connecting a plurality of strong magnetic track shoes 12 in series to form a track chain, any two adjacent strong magnetic track shoes are rotatably connected through a track shoe hinge pin 13, and a strong magnetic block 11 is fixedly installed in each strong magnetic track shoe. The track shoe strong magnetic block is fixedly bonded with the strong magnetic track shoe through glue, and can also be fixed through a through hole buckle or other modes,
the strong magnet sets up at even interval on strong magnetism grip-pad and constitutes the internal tooth structure, crawler-type advancing mechanism in still set up action wheel 2 and follow driving wheel 3, the action wheel with follow the outer wall of driving wheel all be equipped with the tooth and with the internal tooth structure match.
The crawler-type traveling mechanism is characterized in that the driving wheel and the driven wheel are distributed at two ends of the crawler-type traveling mechanism, a driving motor and a rechargeable battery are further arranged in the crawler-type traveling mechanism, and the driving motor is connected with the driving wheel through a transmission shaft and transmission teeth.
The magnetic poles of the strong magnetic block of the track shoe and the magnetic poles on the same side of the electromagnet have the same magnetism. The magnetic energy of the electromagnet 4 can penetrate to the outer side of the strong-magnetic track shoe 12 and the magnetizer of the adsorption surface through the contact between the bottom of the battery box 5 and the strong-magnetic track shoe 12 to generate external circulation of a magnetic field, so that the magnetic flux of the whole structure is increased. The current of the electromagnet can be adjusted to change the adsorption magnetic force of the strong track shoe magnetic block.
The driving motor is a stepping motor and can control the advancing or retreating of the crawler type advancing mechanism in a forward rotation or reverse rotation mode.
The rotary structure comprises a circular support 9 and a rotary motor 10 which are matched with each other, and the rotary motor acts to drive the circular support to rotate. The swing structure comprises a steering engine support 8, a steering engine 7 is arranged in the center of the steering engine support, and the steering engine acts to drive the steering engine support to swing.
When the walking mechanism is implemented specifically, the stepping motor drives the driving wheel to act, the driving wheel and the driven wheel are both connected with the track chain, the driving wheel and the driven wheel act to drive the track chain to move, and when the stepping motor rotates reversely, the driving wheel drives the whole body to move in the opposite direction.
And (3) autonomous turning over: the two rotary motors respectively control the overturning of the two sections of advancing mechanisms. When the patient turns over autonomously, in order to prevent the twisting state, the method is divided into four steps: the steering engine at the front part of the first step rotates a certain angle, the rotary motor at the front part of the second step rotates the front-section advancing mechanism to turn over the front-section advancing mechanism, the rotary motor at the rear part of the third step rotates the rear-section advancing mechanism, and the steering engine is adjusted at the fourth step to enable the whole steering engine to return to a straight line.
The foregoing is merely exemplary of the preferred embodiments of the present invention and is not intended to limit the invention thereto. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A magnetic climbing four-degree-of-freedom track robot for power grid iron tower detection is characterized by comprising a front travelling mechanism and a rear travelling mechanism, and a joint mechanism arranged between the two travelling mechanisms, wherein the joint mechanism comprises two-degree-of-freedom adjusting mechanisms which are mutually perpendicular and connected in series, each two-degree-of-freedom adjusting mechanism comprises a rotary structure, one end of each rotary structure is connected with the travelling mechanism, the other end of each rotary structure is connected with a swinging structure, each rotary structure drives the travelling mechanism to do rotary motion, each swinging structure drives the travelling mechanism to turn or lift, the two swinging structures at the inner ends of the two-degree-of-freedom adjusting mechanisms are mutually perpendicular and connected in series, each travelling mechanism is a track type travelling mechanism and comprises an electromagnet arranged in the travelling mechanism and a track arranged outside, and the inner surface of the track is uniformly provided with a plurality of, the current of the electromagnet can be adjusted to change the adsorption magnetic force of the strong track shoe magnetic block.
2. The magnetic climbing four-degree-of-freedom track robot for the power grid iron tower detection according to claim 1 is characterized in that a track chain is formed by connecting a plurality of strong magnetic track shoes in series, any two adjacent strong magnetic track shoes are rotatably connected through track shoe hinge pins, and a strong magnetic block is fixedly installed in each strong magnetic track shoe.
3. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 2 is characterized in that the strong magnetic blocks are uniformly arranged on the strong magnetic track plate at intervals to form an internal tooth structure, a driving wheel and a driven wheel are further arranged in the tracked travelling mechanism, and teeth are arranged on the outer walls of the driving wheel and the driven wheel and matched with the internal tooth structure.
4. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 3 is characterized in that the driving wheel and the driven wheel are distributed at two ends of a tracked travelling mechanism, a driving motor and a rechargeable battery are further arranged in the tracked travelling mechanism, and the driving motor is connected with the driving wheel through a transmission shaft and transmission teeth.
5. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 4, wherein the magnetic poles of the tracked shoe strong magnet and the electromagnet on the same side are the same in magnetism.
6. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 4, wherein the driving motor is a stepping motor and can control forward or backward movement of the tracked travelling mechanism in forward or reverse rotation.
7. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 1 is characterized in that the rotary structure comprises a circular support and a rotary motor which are matched with each other, and the rotary motor acts to drive the circular support to rotate.
8. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 1, wherein the swinging structure comprises a steering engine support, a steering engine is arranged in the center of the steering engine support, and the steering engine acts to drive the steering engine support to swing.
9. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 1 is characterized in that a fisheye camera is arranged on a front-section travelling mechanism.
10. The magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection according to claim 1, wherein the robot is loaded with vibration measurement equipment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010200759.XA CN111216815A (en) | 2020-03-20 | 2020-03-20 | Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010200759.XA CN111216815A (en) | 2020-03-20 | 2020-03-20 | Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112078681A (en) * | 2020-08-10 | 2020-12-15 | 浙江大学 | Magnetic force climbing robot for detecting breeze vibration of lead |
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| US20080167752A1 (en) * | 2006-11-13 | 2008-07-10 | Jacobsen Stephen C | Tracked robotic crawler having a moveable arm |
| US8393422B1 (en) * | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall climbing robot |
| CN109823424A (en) * | 2019-03-18 | 2019-05-31 | 大连理工大学 | A kind of caterpillar type robot with speeling stairway function |
| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN211869533U (en) * | 2020-03-20 | 2020-11-06 | 浙江大学 | Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection |
-
2020
- 2020-03-20 CN CN202010200759.XA patent/CN111216815A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080167752A1 (en) * | 2006-11-13 | 2008-07-10 | Jacobsen Stephen C | Tracked robotic crawler having a moveable arm |
| US8393422B1 (en) * | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall climbing robot |
| CN109823424A (en) * | 2019-03-18 | 2019-05-31 | 大连理工大学 | A kind of caterpillar type robot with speeling stairway function |
| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN211869533U (en) * | 2020-03-20 | 2020-11-06 | 浙江大学 | Magnetic climbing four-degree-of-freedom tracked robot for power grid iron tower detection |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112078681A (en) * | 2020-08-10 | 2020-12-15 | 浙江大学 | Magnetic force climbing robot for detecting breeze vibration of lead |
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