CN115180039B - Wall climbing robot anti-falling device with energy supply function - Google Patents
Wall climbing robot anti-falling device with energy supply function Download PDFInfo
- Publication number
- CN115180039B CN115180039B CN202210799456.3A CN202210799456A CN115180039B CN 115180039 B CN115180039 B CN 115180039B CN 202210799456 A CN202210799456 A CN 202210799456A CN 115180039 B CN115180039 B CN 115180039B
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- Prior art keywords
- locking
- climbing robot
- winding roll
- shell
- locking claw
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- 230000009194 climbing Effects 0.000 title claims abstract description 50
- 238000004804 winding Methods 0.000 claims abstract description 61
- 210000000078 claw Anatomy 0.000 claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000003014 reinforcing effect Effects 0.000 claims description 8
- 230000002787 reinforcement Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 3
- 230000001012 protector Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/48—Automatic re-storing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a wall climbing robot anti-falling device with an energy supply function, which comprises a shell, a winding mechanism, a locking mechanism and a conductive slip ring, wherein the shell is provided with a first end and a second end; the winding mechanism comprises a coil spring, a winding roll and a reinforced cable, wherein the coil spring is fixedly arranged, the winding roll is rotatably arranged and connected with the coil spring, and the reinforced cable is wound on the winding roll; the locking mechanism comprises a locking claw and a locking groove, one end of the locking claw is rotatably connected with the winding roll, and the other end of the locking claw is fixed through a tension spring, so that the locking claw can rotate along with the winding roll, and the locking claw is thrown out and can be clamped by the locking groove when the winding roll rotates at an accelerated speed; the conductive slip ring is rotatably arranged on the winding roll, one end of the conductive slip ring is connected with the reinforced cable, and the other end of the conductive slip ring penetrates out of the shell. The application has the beneficial effects that: the locking mechanism is quickly locked when the wall climbing robot falls, so that accidental falling is prevented; the electric energy supply to the wall climbing robot is continuously carried out, the continuous working time of the wall climbing robot is prolonged, and the working environment of the wall climbing robot is expanded.
Description
Technical Field
The application relates to the technical field of falling protectors for overhead work, in particular to a wall climbing robot falling protector with an energy supply function.
Background
The wall climbing robot has the advantages of high motion flexibility, strong environmental adaptability, cooperative operation and the like, can be applied to the fields of workpiece processing, environment reconstruction, environment exploration and the like in a vertical space, and has wide application prospect. The traditional anti-falling device can only provide an anti-falling function, is mainly suitable for hoisting cargoes, protects life safety of ground operators and prevents damage of objects to be hoisted. However, the wall climbing robot is in a wall surface working environment, and is quite different from the working modes and environments such as cargo hoisting, and the traditional falling protector cannot supply energy for the wall climbing robot, so that the wall climbing robot is required to be connected with a power line or load a battery with high quality independently, the movement capacity of the wall climbing robot is greatly restricted, and more cables are quite chaotic.
Disclosure of Invention
In view of the above, embodiments of the present application provide a wall climbing robot fall arrester with an energy supply function, aiming at the fall protection and power supply problems of the wall climbing robot.
The embodiment of the application provides a wall climbing robot anti-falling device with an energy supply function, which comprises a shell, a coiling mechanism, a locking mechanism and a conductive slip ring, wherein the coiling mechanism, the locking mechanism and the conductive slip ring are arranged in the shell;
the winding mechanism comprises a coil spring, a winding roll and a reinforced cable, wherein the coil spring is fixedly arranged, the winding roll is rotatably arranged and connected with the coil spring, the reinforced cable is wound on the winding roll, and one end of the reinforced cable penetrates out of the shell to be connected with the wall climbing robot;
the locking mechanism comprises a locking claw and a locking groove, one end of the locking claw is rotatably connected with the winding roll, and the other end of the locking claw is fixed through a tension spring, so that the locking claw can rotate along with the winding roll, and the locking claw is thrown out and can be clamped by the locking groove when the winding roll rotates in an accelerating way;
the conductive slip ring is rotatably arranged on the winding roll, one end of the conductive slip ring is connected with the reinforced cable, and the other end of the conductive slip ring penetrates out of the shell.
Further, the number of the locking claws is set to be multiple, each locking claw is distributed around the axis of the winding roll, the locking grooves are provided with a plurality of clamping grooves, the clamping grooves are in one-to-one correspondence with the locking claws, and each clamping groove is located on the outer side of the corresponding movement path of the locking claw.
Further, the locking claws are sector blocks, and the outer walls of the locking claws are positioned on the same circumference.
Further, each locking claw is located on a circumference, and the clamping groove is formed by a notch extending outwards on the circumference.
Further, the clamping groove comprises an arc-shaped guide surface and a stop surface which is connected with the guide surface and extends inwards.
Further, the winding mechanism further comprises a first bearing, the first bearing is mounted at one end of the shell, and one side of the winding roll is connected with the first bearing.
Further, the outside of the coil spring is mounted on the inner wall of the shell, and the disc shaft of the winding disc penetrates through the middle of the coil spring to be clamped and connected with the first bearing.
Further, a safety rope is also included, one end of which is connected to the upper portion of the housing.
Further, the cable connector further comprises a lower hook which is arranged at one end of the reinforcing cable penetrating out of the shell.
Further, the reinforcement cable includes a reinforcement cord, and a plurality of power cords surrounding the reinforcement cord.
The technical scheme provided by the embodiment of the application has the beneficial effects that: according to the wall climbing robot anti-falling device with the energy supply function, the winding mechanism is utilized to enable the reinforced cable of the wall climbing robot to be tightened in real time in the moving process, so that the reinforced cable is ensured to be neat, and the moving capability of the wall climbing robot is effectively improved; when the wall climbing robot falls, the locking mechanism is rapidly locked under the traction action of the reinforced cable, so that the wall climbing robot is prevented from falling accidentally; meanwhile, the electric energy supply can be continuously carried out on the wall climbing robot in the motion process of the wall climbing robot, the continuous working time of the wall climbing robot is prolonged, the power supply of the wall climbing robot by using cables is avoided, and the working environment of the wall climbing robot is expanded.
Drawings
FIG. 1 is an exploded view of a wall climbing robot fall arrester with energy supply function of the present application;
FIG. 2 is a perspective view of a wall climbing robot fall arrester with an energy supply function of the present application;
fig. 3 is a perspective view of the winding reel 5 of fig. 1;
fig. 4 is a second perspective view of the reel 5 of fig. 1;
fig. 5 is a schematic connection diagram of the locking claw 6 in fig. 4;
fig. 6 is a schematic view of the reinforced cable 4 of fig. 1.
In the figure: 1-shell, 2-first bearing, 3-coil spring, 4-reinforced cable, 5-winding reel, 6-locking claw, 7-extension spring, 8-conductive slip ring, 9-locking groove, 10-safety rope, 11-upper hook, 12-lower hook, 13-clamping groove, 14-guiding surface, 15-stopping surface, 16-power line, 17-reinforced steel rope, 18-second bearing, 19-restraining groove, 20-positioning column and 21-hinge shaft.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be further described with reference to the accompanying drawings. The following presents a preferred one of a number of possible embodiments of the application in order to provide a basic understanding of the application, but is not intended to identify key or critical elements of the application or to delineate the scope of the application.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 and 2, an embodiment of the present application provides a wall climbing robot safety hook with an energy supply function, which includes a housing 1, and a winding mechanism, a locking mechanism and a conductive slip ring 8 disposed in the housing 1.
As shown in fig. 1, the housing 1 is a cylinder with one end closed and the other end open. The upper part of the shell 1 is connected with a safety rope 10, the upper end of the safety rope 10 is provided with an upper hook 11, and the safety rope can be hung on a protective rope or a railing fixed at a high position through the upper hook 11.
As further shown in fig. 1 and 3, the winding mechanism includes a coil spring 3, a winding drum 5, and a reinforcing cable 4. The coil spring 3, the winding roll 5 and the shell 1 are coaxially arranged, and one end of the outer side of the coil spring 3 is fixedly connected with the inner wall of the shell 1. The winding roll 5 is rotatably installed through a first bearing 2, specifically, the first bearing 2 is a deep groove ball bearing, the deep groove ball bearing is installed on the end face of the closed end of the shell 1, a disc shaft is arranged at one end, close to the closed end of the shell 1, of the winding roll 5, and the disc shaft of the winding roll 5 penetrates through the middle of the coil spring 3 to be clamped and is spliced with the bearing 2.
The reinforced cable roll 4 is wound on the winding roll 5, a perforation is arranged at the bottom edge of the shell 1, and one end of the reinforced cable roll 4 penetrates out of the shell from the perforation to be connected with the wall climbing robot. As shown in fig. 6, the reinforcing cable 4 includes a reinforcing steel cord 16, and a plurality of power supply wires 17 wound around the reinforcing steel cord 16, and the tensile strength of the reinforcing cable 4 is increased by the reinforcing steel cord 17. And the lower end of the reinforced cable 4 is provided with a lower hook 12, the lower hook 12 is arranged at one end of the reinforced cable 4 penetrating out of the shell, and the lower hook 12 is used for hanging the wall climbing robot.
The locking mechanism comprises a locking claw 6 and a locking groove 9. The locking groove 9 is combined and fixedly connected with an end cover at the opening of the shell 1. The locking pawl 6 is mounted on the side of the winding reel 5 on the side close to the locking groove 9. One end of the locking claw 6 is rotatably connected with the winding roll 5, and the other end of the locking claw is fixed through a tension spring 7. The locking claw 6 is hinged to the winding reel 5 through a hinge shaft 21 as in the present embodiment, so that the locking claw 6 can rotate around the hinge shaft 21. The other end of the locking claw 6 is connected with one end of the tension spring 7, and the other end of the tension spring 7 extends towards the circle center of the winding roll 5 and is fixed with the side face of the winding roll 5, so that the locking claw 6 keeps a preset position under the constraint action of the tension spring 7.
In addition, as shown in fig. 5, in this embodiment, an arc-shaped constraint groove 19 is disposed at one end of the locking claw 6 near the tension spring 7, and a positioning column 20 penetrating through the constraint groove 19 is disposed on the winding reel 5, and is fixed on the winding reel 5. The locking claw 6 moves around the positioning column 20 when rotating around the hinge shaft 21, and the locking claw 6 can deflect outwards along a predetermined track when the centrifugal force exerted on the locking claw 6 is greater than the tension force of the tension spring 7.
Therefore, in the moving process of the wall climbing robot, the reinforcing cable 4 pulls the winding roll 5 to rotate, and the locking claw 6 is driven to rotate together. When the wall climbing robot works normally, the winding roll 5 rotates at a constant speed, the locking claw 6 is still kept at a preset position under the action of the tension spring 7, and the rotation of the winding roll 5 is not influenced, so that the movement of the wall climbing robot is not influenced; when the wall climbing robot falls, the winding roll 5 rotates in an accelerating way, and when the centrifugal force borne by the locking claw 6 is larger than the tension force of the tension spring 7, the locking claw 6 deviates outwards from a preset position, so that the locking claw 6 is thrown out and can be clamped by the locking groove 9.
As shown in fig. 4, preferably, the number of the locking claws 6 is plural, each locking claw 6 is uniformly distributed around the axis of the winding reel 5, the locking grooves 9 are provided with a plurality of clamping grooves 13, the clamping grooves 13 are in one-to-one correspondence with the locking claws 6, and each clamping groove 13 is positioned at the outer side of the corresponding movement path of the locking claw 6. Like this when wall climbing robot falls the take-up reel 5 rotates with higher speed, can throw out all locking jack catch 6 simultaneously, make each locking jack catch 6 by its corresponding draw-in groove 13 blocks, take-up reel 5 a plurality of positions are blocked simultaneously, can be more stable to take-up reel 5 locking.
The front end of the locking claw 6 is matched with the clamping groove 13 in shape, so that the locking claw 6 and the clamping groove 13 are better clamped with each other. As shown in fig. 4, in this embodiment, the locking claws 6 are segments, and the outer walls of the locking claws 6 are located on the same circumference. The clamping groove 13 is formed by a notch extending outwards on the circumference, and the notch can be just clamped with the top angle at the front end of the locking claw 6.
In addition, in order to ensure that the front end of the locking claw 6 can move exactly into the clamping groove 13, the clamping groove 13 comprises an arc-shaped guide surface 14 and a stop surface 15 which extends inwards and is connected with the guide surface 14. After the locking claw 6 is thrown out, the outer side surface is attached to the guide surface 14 and moves along the guide surface 14 until the front end is abutted by the stop surface 15.
The conductive slip ring 8 is rotatably installed on the winding roll 5, as shown in fig. 1, one end of the conductive slip ring 8 close to the inner side is installed in the winding roll 5 through a second bearing 18, and the other end of the conductive slip ring 8 is attached to and fastened to the inner side surface of the locking groove 9. The connector at one end of the conductive slip ring 8 is connected with the power line 16 of the reinforced cable 4, and the connector at the other end penetrates through the locking groove 9 to be connected with a power supply, so that the power supply of the wall climbing robot can be continuously supplied.
When the wall climbing robot anti-falling device with the energy supply function works, the winding mechanism is utilized to enable the reinforcing cable 4 of the wall climbing robot to be tightened in real time in the moving process, the uniformity of the reinforcing cable 4 is ensured, and the moving capability of the wall climbing robot is effectively improved; when the wall climbing robot falls, the locking mechanism is rapidly locked under the traction action of the reinforced cable, so that the wall climbing robot is prevented from falling accidentally; meanwhile, the electric energy supply can be continuously carried out on the wall climbing robot in the motion process of the wall climbing robot, the continuous working time of the wall climbing robot is prolonged, the power supply of the wall climbing robot by using cables is avoided, and the working environment of the wall climbing robot is expanded.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can be varied in many ways depending on the use and placement of the words, and that the use of the words should not limit the scope of the application as claimed.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (6)
1. Wall climbing robot safety hook with energy supply function, its characterized in that: comprises a shell, a coiling mechanism, a locking mechanism and a conductive slip ring, wherein the coiling mechanism, the locking mechanism and the conductive slip ring are arranged in the shell;
the winding mechanism comprises a coil spring, a winding roll and a reinforced cable, wherein the coil spring is fixedly arranged, the winding roll is rotatably arranged and connected with the coil spring, the reinforced cable is wound on the winding roll, and one end of the reinforced cable penetrates out of the shell to be connected with the wall climbing robot;
the locking mechanism comprises a locking claw and a locking groove, one end of the locking claw is rotatably connected with the winding roll, the other end of the locking claw is fixed through a tension spring, so that the locking claw can rotate along with the winding roll, and when the winding roll rotates in an accelerating way, the locking claw is thrown out and can be clamped by the locking groove, one end of the locking claw, which is close to the tension spring, is provided with an arc-shaped restraint groove, and a positioning column penetrating through the restraint groove is arranged on the winding roll;
the number of the locking claws is set to be multiple, the locking claws are distributed around the axis of the winding roll, the locking grooves are provided with a plurality of clamping grooves, the clamping grooves are in one-to-one correspondence with the locking claws, each clamping groove is positioned at the outer side of the corresponding movement path of the locking claw, the locking claws are sector blocks, the outer walls of the locking claws are positioned on the same circumference, the locking claws are positioned on a circumference, the clamping grooves are formed by a notch extending outwards on the circumference, and each clamping groove comprises an arc-shaped guide surface and a stop surface connected with the guide surface and extending inwards;
the conductive slip ring is rotatably arranged on the winding roll, one end of the conductive slip ring is connected with the reinforced cable, and the other end of the conductive slip ring penetrates out of the shell.
2. The wall-climbing robot safety hook with an energy supply function according to claim 1, wherein: the winding mechanism further comprises a first bearing, the first bearing is installed at one end of the shell, and one side of the winding roll is connected with the first bearing.
3. The wall-climbing robot safety hook with an energy supply function according to claim 2, wherein: the outside of the coil spring is arranged on the inner wall of the shell, and the disc shaft of the winding disc penetrates through the middle part of the coil spring to be clamped and connected with the first bearing.
4. The wall-climbing robot safety hook with an energy supply function according to claim 1, wherein: and the safety rope is connected with the upper part of the shell at one end.
5. The wall-climbing robot safety hook with an energy supply function according to claim 1, wherein: the cable winding device further comprises a lower hook, wherein the lower hook is arranged at one end of the reinforcing cable penetrating out of the shell.
6. The wall-climbing robot safety hook with an energy supply function according to claim 1, wherein: the reinforcement cable includes a reinforcement cord, and a plurality of power cords surrounding the reinforcement cord.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210799456.3A CN115180039B (en) | 2022-07-08 | 2022-07-08 | Wall climbing robot anti-falling device with energy supply function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210799456.3A CN115180039B (en) | 2022-07-08 | 2022-07-08 | Wall climbing robot anti-falling device with energy supply function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115180039A CN115180039A (en) | 2022-10-14 |
| CN115180039B true CN115180039B (en) | 2023-10-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210799456.3A Active CN115180039B (en) | 2022-07-08 | 2022-07-08 | Wall climbing robot anti-falling device with energy supply function |
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| Country | Link |
|---|---|
| CN (1) | CN115180039B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106390321A (en) * | 2015-08-06 | 2017-02-15 | 中际联合（北京）科技股份有限公司 | Safety equipment for preventing accidental fall during high-altitude operation |
| CN110203841A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Climbing robot hanging apparatus |
| CN209795648U (en) * | 2019-04-26 | 2019-12-17 | 上海酷酷机器人有限公司 | Anti-falling device of wall-climbing robot |
| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
| CN212509286U (en) * | 2020-06-18 | 2021-02-09 | 福建华电可门发电有限公司 | Automatically controlled anti-falling device of wall climbing robot |
| CN214001875U (en) * | 2020-12-24 | 2021-08-20 | 北京博清科技有限公司 | Anti-falling device of wall-climbing robot and wall-climbing robot system |
-
2022
- 2022-07-08 CN CN202210799456.3A patent/CN115180039B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106390321A (en) * | 2015-08-06 | 2017-02-15 | 中际联合（北京）科技股份有限公司 | Safety equipment for preventing accidental fall during high-altitude operation |
| CN209795648U (en) * | 2019-04-26 | 2019-12-17 | 上海酷酷机器人有限公司 | Anti-falling device of wall-climbing robot |
| CN110203841A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Climbing robot hanging apparatus |
| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
| CN212509286U (en) * | 2020-06-18 | 2021-02-09 | 福建华电可门发电有限公司 | Automatically controlled anti-falling device of wall climbing robot |
| CN214001875U (en) * | 2020-12-24 | 2021-08-20 | 北京博清科技有限公司 | Anti-falling device of wall-climbing robot and wall-climbing robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115180039A (en) | 2022-10-14 |
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