CN208376907U - A kind of magnetic adsorption wall climbing robot - Google Patents
A kind of magnetic adsorption wall climbing robot Download PDFInfo
- Publication number
- CN208376907U CN208376907U CN201820974570.4U CN201820974570U CN208376907U CN 208376907 U CN208376907 U CN 208376907U CN 201820974570 U CN201820974570 U CN 201820974570U CN 208376907 U CN208376907 U CN 208376907U
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- Prior art keywords
- getting over
- chassis
- electromagnet
- barrier getting
- over mechanism
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- 230000009194 climbing Effects 0.000 title claims abstract description 27
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 54
- 230000004888 barrier function Effects 0.000 claims abstract description 39
- 229910052742 iron Inorganic materials 0.000 claims abstract description 27
- 238000001816 cooling Methods 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 21
- 238000001514 detection method Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 206010020651 Hyperkinesia Diseases 0.000 description 1
- 208000000269 Hyperkinesis Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Abstract
A kind of magnetic adsorption wall climbing robot, including two walking units, it is connected between two walking units by vertical barrier getting over mechanism, each walking unit includes rack, movement mechanism, adsorbing mechanism and left and right barrier getting over mechanism, the rack includes chassis and top cover, and the dome is buckled on the chassis, and the movement mechanism includes two tires and wheel drive motors, two tires are separately mounted to the left and right sides on the chassis, and pass through a wheel drive motors driving respectively；An adsorbing mechanism is respectively set on the front and rear sides of each tire, the adsorbing mechanism includes electromagnet and iron block, the electromagnet is fixedly mounted on chassis, and the top surface of the iron block is fixedly connected with electromagnet, and the bottom surface of the iron block is the arcwall face being bonded with wall-cooling surface.The utility model provides a kind of magnetic adsorption wall climbing machine, makes the detection of thermal power plant and safeguards that the efficiency of water screen tube is remarkably enhanced, while ensureing the personal safety of employee.
Description
Technical field
The robotic technology field for cleaning or detecting the utility model relates to high-altitude, more particularly, to a kind of magnetic adsorption wall climbing
Robot.
Background technique
Thermal power plant's burner hearth fuel combustion in power generation process generates a large amount of dust/dust, these solid particles are in furnace
Lasting/CONTACT WITH FRICTION of washing away is carried out to water screen tube surface along with gaseous exchange in thorax, water screen tube outer surface is exposed to
It is gradually worn in high temp/high pressure/strong convection adverse circumstances.Power plant needs carry out shutdown detection to boiler every half a year, checks
The abrasion loss of water screen tube outer surface, and corresponding mending option is formulated according to abrasion condition.Power plant mainly relies on people at present
Work maintenance, however there are many disadvantages for artificial detection: one, time-consuming, i.e., (entire detection cycle is not less than 12 to downtime length
It), direct economic loss is brought to power plant's operation；Two, investment manpower is more, great in constructing amount, needs largely to apply in whole process
Worker person builds and removes scaffold, it is also desirable to which multiple groups testing staff operation simultaneously simultaneously completes corresponding data preparation work；Three,
Employee's high altitude operation danger coefficient is high.Climbing robot is a kind of robot that can be creeped in vertical walls, it can be carried
A large amount of detection device (thickness that such as ultrasonic detector-is used to detect wall surface), can also carry cleaning device to wall surface into
Row is swept.It is greatly improved along with cost of labor in recent years, the need of the robot for can efficiently automate cleaning and detection
Ask increasing.
Summary of the invention
There is detection in existing water screen tube and maintenance efficiency is lower, the lower defect of safety in order to overcome, this is practical new
Type provides a kind of magnetic adsorption wall climbing machine, to solve the problems, such as that above-mentioned artificial detection exists, makes the detection and maintenance of thermal power plant
The efficiency of water screen tube is remarkably enhanced, while ensureing the personal safety of employee.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of magnetic adsorption wall climbing robot, including two walking units pass through vertical obstacle detouring machine between two walking units
Structure connection, each walking unit includes rack, movement mechanism, adsorbing mechanism and left and right barrier getting over mechanism, and the rack includes chassis
And top cover, the dome are buckled on the chassis, the movement mechanism includes two tires and wheel drive motors, two wheels
Tire is separately mounted to the left and right sides on the chassis, and passes through a wheel drive motors driving respectively；The front and back of each tire
An adsorbing mechanism is respectively set on two sides, the adsorbing mechanism includes electromagnet and iron block, and the electromagnet is fixedly mounted on
On chassis, the top surface of the iron block is fixedly connected with electromagnet, and the bottom surface of the iron block is the arcwall face being bonded with wall-cooling surface；
The left and right barrier getting over mechanism includes direct current generator, gear, rack gear, left and right translating rails, heavily loaded linear guide and gets over
Hinder mechanism platform, the left and right translating rails and rack gear are fixed on the top cover each along left and right directions, the left and right translation
Guide rail is located at side of the rack gear far from vertical barrier getting over mechanism, and the gear is fixed on the motor shaft of the direct current generator, described
Gear is engaged with the rack gear, and the direct current generator is mounted in direct current rack, and the bottom of the direct current rack is equipped with the
One sliding block, first sliding block is mounted on the translating rails of left and right and forms the pair that horizontally slips with left and right translating rails, described heavy
It carries linear guide and is mounted on top cover towards on the side of vertical barrier getting over mechanism side along left and right directions, the barrier getting over mechanism platform
For inverted L shape, the upper end is fixed on the direct current generator, and lower end is equipped with the second sliding block, and second sliding block is mounted on weight
It carries in linear guide and forms the pair that horizontally slips with heavily loaded linear guide, while being set respectively in the left and right ends of heavily loaded linear guide
There is the block of limit.
Further, the vertical barrier getting over mechanism includes two connecting rods and two electric pushrods, and two connecting rods are arranged up and down, and two
The rear and front end of a connecting rod is hinged at the barrier getting over mechanism platforms of two walking units respectively, and two electric pushrods are left respectively
The right side is arranged symmetrically on the left and right sides of two connecting rods, the obstacle detouring machine of the lower end of two electric pushrods and one of walking unit
Structure platform is hinged, and the upper end of two electric pushrods is hinged with hinged block simultaneously, and the hinged block is capable of sliding back and forth to be mounted on
On the connecting rod of side.
Further, the wheel drive motors are the DC brushless motor with retarder.
Further, the electromagnet is mounted on the chassis by fixed frame.
Further, the tire is agv trolley tire.
The beneficial effects of the utility model are mainly manifested in: working efficiency is higher, has ensured the personal safety of employee.
Detailed description of the invention
Fig. 1 is the main view of the general assembly drawing of the utility model.
Fig. 2 is the left view of the general assembly drawing of the utility model.
Fig. 3 is the top view of the general assembly drawing of the utility model.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
Referring to Fig.1~Fig. 3, a kind of magnetic adsorption wall climbing robot, including two walking units are led between two walking units
Cross the connection of vertical barrier getting over mechanism, each walking unit includes rack, movement mechanism, adsorbing mechanism and left and right barrier getting over mechanism, described
Rack includes chassis and top cover 4, and the cover of top cover 4 is buckled on the chassis, and the movement mechanism includes two tires and wheel
Driving motor, two tires are separately mounted to the left and right sides on the chassis, and pass through a wheel drive motors driving respectively；
It is respectively set an adsorbing mechanism on the front and rear sides of each tire, the adsorbing mechanism includes electromagnet 31 and iron block 1, described
Electromagnet 31 is fixedly mounted on chassis, and the top surface of the iron block 1 is fixedly connected with electromagnet 31, and the bottom surface of the iron block 1 is
The arcwall face being bonded with wall-cooling surface；
The left and right barrier getting over mechanism includes that direct current generator 5, gear 22, rack gear 25, left and right translating rails 24, heavily loaded straight line are led
Rail 34 and barrier getting over mechanism platform 19, the left and right translating rails 24 and rack gear are fixed on the top cover 4 each along left and right directions,
The left and right translating rails 24 are located at side of the rack gear far from vertical barrier getting over mechanism, and the gear 22 is fixed on the direct current generator
On 5 motor shaft, the gear 22 is engaged with the rack gear 25, and the direct current generator 5 is mounted in direct current rack 26, described
The bottom of direct current rack 26 be equipped with the first sliding block 23, first sliding block 23 be mounted on left and right translating rails 24 and with left and right
Translating rails 24 form the pair that horizontally slips, and the heavy duty linear guide 34 is mounted on top cover towards vertical obstacle detouring along left and right directions
On the side of mechanism side, the barrier getting over mechanism platform 19 is inverted L shape, and the upper end is fixed on the direct current generator 5, lower end
It is equipped with the second sliding block 13, second sliding block 13 is mounted in heavily loaded linear guide 34 and forms a left side with heavily loaded linear guide 34
Right sliding pair, while the block 33 of limit is respectively equipped in the left and right ends of heavily loaded linear guide 34.
Further, the vertical barrier getting over mechanism includes two connecting rods 14 and two electric pushrods 15, two about 14 connecting rods
Arrangement, the rear and front end of two connecting rods 14 are hinged at the barrier getting over mechanism platform of two walking units respectively, and two electronic
The symmetrical left and right sides for being arranged in two connecting rods respectively of push rod 15, the lower end of two electric pushrods 15 and one of row
The barrier getting over mechanism platform for walking unit is hinged, and the upper end of two electric pushrods 15 is hinged with hinged block 17 simultaneously, the hinged block 17
On the connecting rod 14 capable of sliding back and forth for being mounted on upside.The upper end of electric pushrod 15 is hinged by hinge 16 and hinged block 17.
Further, the wheel drive motors are the DC brushless motor 28 with retarder.
Further, the electromagnet 31 is mounted on the chassis by fixed frame.
Further, the tire is agv trolley tire 3.
In the present embodiment, in magnetic adsorption wall climbing robot, the main task of adsorbing mechanism is to make the suction of robot steadily
Water cooling wall surface is invested, so the design of adsorbing mechanism mainly consists of two parts, be respectively as follows: (1) electromagnet 31: electromagnet is mentioned
For suction, guarantee that robot can be adsorbed on wall surface；(2) 1 structure of iron block designs: iron block is used to be bonded water cooling wall surface, shape
It is very crucial.Robot tyre slip in order to prevent, electromagnet should be distributed in around tire, provide enough positive pressures for tire
Power, so two wheels in robot respectively have an electromagnet up and down, entire robot is made of two identical robots,
So sharing eight electromagnet.When robot is in obstacle detouring state, only there are four magnet to provide suction.In view of robot is whole
Body structure is compact, and the electromagnet volume of selection should be smaller, so selection sucked type electromagnet.Water screen tube surface is special
Different is arc-shaped, and electromagnetism iron surface is flat, so electromagnet can not be directly bonded with wall surface.In order to be preferably bonded wall surface
An arc-shaped iron block is needed to carry out transition, the material of iron block is 45 steel.Iron block be designed as on one side it is arc-shaped, be used to and wall surface patch
It closes；It is designed to plane on one side, is used to and electromagnet is bonded；There are four the threaded holes of M6 around flat one side, for fixing iron block.
In magnetic adsorption wall climbing robot, the main task of movement mechanism is to enable robot with certain speed stable
It creeps, that is, the driving force generated can overcome the frictional force and the gravity of itself of iron block and wall surface, therefore the design of movement mechanism
Mainly consist of two parts, be respectively as follows: (1) tire: tire size is related with the driving force of robot speed, offer；(2) wheel
Driving motor: motor determines the driving force and speed of robot.In view of creep speed and load capacity, magnetic adsorption wall climbing machine
Device person has selected in-wheel driving.Water screen tube surface is made of carbon steel, and in order to increase friction, tire selects rubber material.Tire
It needs to be in close contact with water screen tube, iron block and wall surface are also required to contact, so needing to determine diameter of tyres according to iron block thickness.
Tire mainly with arc-shaped water pipe highest point contact, measures the distance of iron block arc-shaped highest point and motor axis center, final to select
Select agv trolley tire 3.The driving force of tire is provided by motor, it is contemplated that the small volume of robot and entire machine are artificial
Direct current supply, therefore be connected directly with by the way of retarder one with tire using brshless DC motor, this mode reduces centre
Transmission link, effectively save space.
In magnetic adsorption wall climbing robot, the main task of barrier getting over mechanism is the barrier for making robot cross water screen tube surface
Hinder object.Water cooling wall surface is primarily present two class barriers, and the first kind is flow-disturbing crossbeam, mainly regular to be distributed in Vertical Square
To, it is therefore desirable to the barrier getting over mechanism for designing vertical direction is named as vertical barrier getting over mechanism；Second class is by the circular water pipe of wall surface
Caused barrier, the regular distribution of left and right directions, it is therefore desirable to which the barrier getting over mechanism for designing left and right directions is named as left and right and gets over
Hinder mechanism.Vertical barrier getting over mechanism is made of link mechanism and brush holder type electric pushrod, and electric pushrod one end is hinged on walking unit
On, the other end is hinged on connecting rod.The connection type of brush holder type electric pushrod and connecting rod is that a upper aluminium is first welded on connecting rod
Alloy hinged block, brush holder type electric pushrod one end and aluminium alloy hinged block are bolted.When electric pushrod elongates or shortens,
Connecting rod rotation is driven, the angle of parallelogram generates variation, and the height of robot also changes therewith.Left and right barrier getting over mechanism is by electricity
Machine and rack-and-pinion composition are equipped with linear guide when moving in order to reduce friction and keep movement more stable in mechanism.
In magnetic adsorption wall climbing robot, the main task of bindiny mechanism is for connection to each mechanism of robot, master
It to include chassis, top cover 4, barrier getting over mechanism platform 19.Chassis is mainly used to place motor, electromagnetism in magnetic adsorption wall climbing robot
Iron and iron block, there are specific fixed frame on chassis, motor fixing frame is used to fix motor, and it is strong that both sides have rib to strengthen structure
Degree；Electromagnet and iron block fixed frame are used to fixed electromagnet and iron block；Column has M6 threaded hole, is used to connect with top cover.Top
It covers and is mainly used to place linear guide and rack-and-pinion in magnetic adsorption wall climbing robot, and the part on chassis is encased and is played
Protective effect, the fixation for linear guide, by top cover punching it is solid with screw bolt and nut.Barrier getting over mechanism platform 19 is in magnetic
It is mainly used to connect the sliding block of linear guide, electric machine support, the hinge of connecting rod in adsorption wall climbing robot and brush holder type is electronic pushes away
The hinge of bar.
As shown in fig. 1, for tire by the motor axis connection of key 2 and wheel drive motors, 6,7 be a pair of bolts and spiral shell
Mother, 8,9 be a pair of bolts and nut, and 10 be bolt, and 11,12 be a pair of bolts and nut, and connecting rod 14 is aluminum alloy connecting rod, and 18 are
Bolt, 20,21 be a pair of bolts and nut.
As shown in Fig. 2, 27,29 be bolt, 30 be the pedestal 30 for installing DC brushless motor.
As shown in figure 3,32 be bolt.
The utility model is made up of two identical walking units link mechanism, is needed during vertical obstacle detouring
Two walking units cooperate obstacle detouring, and obstacle detouring process is as follows:
(1) magnetic adsorption wall climbing robot drives agv trolley tire 3 to climb by the DC brushless motor 28 with retarder
Then row stops creeping until encountering obstacle, II electromagnet 31 of walking unit power-off, elongation brush holder type electric pushrod 15 lifts
Walking unit II.
(2) magnetic adsorption wall climbing robot, which continues up, after completion is lifted creeps, until walking unit II clears the jumps.
(3) shorten brush holder type electric pushrod 15 to put down walking unit II, stop brush holder type electric pushrod after encountering wall surface
15, the electromagnet 31 of walking unit II is powered, and is adsorbed in wall surface.
(4) the electromagnet power-off of walking unit I, shortens brush holder type electric pushrod 15, lifts walking unit I.
(5) magnetic adsorption wall climbing robot, which continues up, after completion is lifted creeps, until walking unit I clears the jumps.
(6) elongation brush holder type electric pushrod 15 puts down walking unit I, stops brush holder type electric pushrod after encountering wall surface
15, the electromagnet of walking unit I is powered, and is adsorbed in wall surface.
Vertical obstacle detouring is above six processes.
Entire robot needs to change to four additional water pipe when the obstacle detouring of left and right, also needs two walking units and cooperates
Obstacle detouring is completed, obstacle detouring process is as follows:
(1) II electromagnet 31 of walking unit powers off, and extends brush holder type electric pushrod 15, lifts walking unit II.
(2) do walking unit II in heavily loaded linear guide 34 directly using direct current generator 5 and 22 rack gear of gear, 25 mechanism
Line is moved until obstacle detouring, prevents hyperkinesia by block 33
(3) shorten brush holder type electric pushrod 15 to put down robot 2, stop electric pushrod, walking unit after encountering wall surface
II electromagnet 31 is powered, and is adsorbed in wall surface, and walking unit II translates two water pipes at this time.
(4) I electromagnet of walking unit powers off, and shortens brush holder type electric pushrod 15, lifts walking unit I.
(5) walking unit I being lifted is translated using identical left and right barrier getting over mechanism.
(6) elongation brush holder type electric pushrod puts down walking unit I, stops brush holder type electric pushrod, row after encountering wall surface
The electromagnet for walking unit I is powered, and is adsorbed in wall surface, and walking unit I translates two water pipes at this time.
Entire magnetic adsorption wall climbing robot is shifted the distance of two water pipes, walking unit after six steps more than completion
The distance for itself occupying four water pipes moves on to magnetic adsorption wall climbing robot on four new water pipes, needs to carry out again primary
Above 6 steps.
Specific embodiment of the utility model has embodied the utility model in essence feature, according to actual use
It needs, under the enlightenment of the utility model, the equivalent modifications of shape, structure etc. is carried out to it, in the protection of this programme
The column of range.
Claims (5)
1. a kind of magnetic adsorption wall climbing robot, it is characterised in that: including two walking units, pass through between two walking units and hang down
Straight barrier getting over mechanism connection, each walking unit includes rack, movement mechanism, adsorbing mechanism and left and right barrier getting over mechanism, the rack
Including chassis and top cover, the dome is buckled on the chassis, and the movement mechanism includes two tires and wheel driving electricity
Machine, two tires are separately mounted to the left and right sides on the chassis, and pass through a wheel drive motors driving respectively；Each wheel
An adsorbing mechanism is respectively set on the front and rear sides of tire, the adsorbing mechanism includes electromagnet and iron block, and the electromagnet is solid
On chassis, the top surface of the iron block is fixedly connected with electromagnet for Dingan County, and the bottom surface of the iron block is to be bonded with wall-cooling surface
Arcwall face；
The left and right barrier getting over mechanism includes direct current generator, gear, rack gear, left and right translating rails, heavily loaded linear guide and obstacle detouring machine
Structure platform, the left and right translating rails and rack gear are fixed on the top cover each along left and right directions, the left and right translating rails
Side positioned at rack gear far from vertical barrier getting over mechanism, the gear are fixed on the motor shaft of the direct current generator, the gear
It is engaged with the rack gear, the direct current generator is mounted in direct current rack, and it is sliding that the bottom of the direct current rack is equipped with first
Block, first sliding block are mounted on the translating rails of left and right and form the pair that horizontally slips with left and right translating rails, and the heavy duty is straight
Line guide rail is mounted on top cover towards on the side of vertical barrier getting over mechanism side along left and right directions, and the barrier getting over mechanism platform is to fall
L-type, the upper end are fixed on the direct current generator, and lower end is equipped with the second sliding block, and second sliding block is mounted on heavily loaded straight
The pair that horizontally slips is formed on line guide rail and with heavily loaded linear guide, while being respectively equipped with limit in the left and right ends of heavily loaded linear guide
The block of position.
2. a kind of magnetic adsorption wall climbing robot as described in claim 1, it is characterised in that: the vertical barrier getting over mechanism includes two
A connecting rod and two electric pushrods, two connecting rods arrange up and down, the rear and front end of two connecting rods respectively with two walking units
Barrier getting over mechanism platform is hinged at, two electric pushrods symmetrical left and right sides for being arranged in two connecting rods respectively, and two
The lower end of a electric pushrod and the barrier getting over mechanism platform of one of walking unit are hinged, the upper ends of two electric pushrods simultaneously with
Hinged block is hinged, on the hinged block connecting rod capable of sliding back and forth for being mounted on upside.
3. a kind of magnetic adsorption wall climbing robot as claimed in claim 1 or 2, it is characterised in that: the wheel drive motors are
DC brushless motor with retarder.
4. a kind of magnetic adsorption wall climbing robot as claimed in claim 1 or 2, it is characterised in that: the electromagnet passes through fixation
Frame is mounted on the chassis.
5. a kind of magnetic adsorption wall climbing robot as claimed in claim 1 or 2, it is characterised in that: the tire is agv trundle
Tire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820974570.4U CN208376907U (en) | 2018-06-25 | 2018-06-25 | A kind of magnetic adsorption wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820974570.4U CN208376907U (en) | 2018-06-25 | 2018-06-25 | A kind of magnetic adsorption wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208376907U true CN208376907U (en) | 2019-01-15 |
Family
ID=64964297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820974570.4U Expired - Fee Related CN208376907U (en) | 2018-06-25 | 2018-06-25 | A kind of magnetic adsorption wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208376907U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749943A (en) * | 2018-06-25 | 2018-11-06 | 浙江工业大学 | Magnetic adsorption wall-climbing robot |
| CN111252159A (en) * | 2020-03-09 | 2020-06-09 | 浙江大学 | Wall-climbing robot capable of climbing over inner right-angle wall surface |
-
2018
- 2018-06-25 CN CN201820974570.4U patent/CN208376907U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749943A (en) * | 2018-06-25 | 2018-11-06 | 浙江工业大学 | Magnetic adsorption wall-climbing robot |
| CN111252159A (en) * | 2020-03-09 | 2020-06-09 | 浙江大学 | Wall-climbing robot capable of climbing over inner right-angle wall surface |
| CN111252159B (en) * | 2020-03-09 | 2021-05-28 | 浙江大学 | Wall-climbing robot capable of climbing over inner right-angle wall surface |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20190115 Termination date: 20210625 |