CN211685392U - Three-wheel wall-climbing robot - Google Patents
Three-wheel wall-climbing robot Download PDFInfo
- Publication number
- CN211685392U CN211685392U CN202020142938.8U CN202020142938U CN211685392U CN 211685392 U CN211685392 U CN 211685392U CN 202020142938 U CN202020142938 U CN 202020142938U CN 211685392 U CN211685392 U CN 211685392U
- Authority
- CN
- China
- Prior art keywords
- wheel
- permanent magnet
- axle
- frame
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 230000009467 reduction Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 10
- 239000010959 steel Substances 0.000 abstract description 10
- 238000007689 inspection Methods 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 description 12
- 238000001179 sorption measurement Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a three-wheel wall-climbing robot, which comprises a front frame, a rear frame, two speed-reducing servo motors, three permanent magnet wheels, a power transmission mechanism, a platform and a camera, wherein the front frame is connected with the rear frame through a connecting rod; the front frame is provided with a left permanent magnetic wheel and a right permanent magnetic wheel, the rear frame is provided with a rear permanent magnetic wheel, and the front permanent magnetic wheel and the rear permanent magnetic wheel are respectively arranged below the platform through the front frame and the rear frame; the speed-reducing servo motors are arranged in the middle of the lower portion of the platform, the two speed-reducing servo motors drive the two front permanent magnet wheels through the power transmission mechanism and the tensioning mechanism respectively, the rear permanent magnet wheels are universal permanent magnet wheels, and the platform is provided with a camera. The three-wheel wall-climbing robot is adsorbed on the steel wall surface by the three permanent magnetic wheels, has certain curved surface adaptability, and can finish the surface inspection operation on the steel wall surface by the carried camera.
Description
Technical Field
The invention relates to the technical field of robot design, in particular to a three-wheel wall-climbing robot.
Background
At present, manual operation is mainly adopted in the fields of ship rust removal, tank body surface detection and the like in China. The manual operation has the defects of low efficiency, high danger, poor operability and the like. Therefore, the wall-climbing robot has high application value.
The wall-climbing robot is mainly divided into three categories, namely a wheel type robot, a foot type robot and a crawler type robot. The wheel type wall-climbing robot is flexible in movement and simple in control, but the contact area of the wheel type wall-climbing robot and the wall surface is small, and the load capacity is poor. The foot type wall climbing robot has strong obstacle crossing capability but is more complex to control. The crawler-type wall climbing robot has large contact area with the wall surface, but has poor steering capacity.
Most wall climbing robots can only work on flat wall surfaces, and few wall climbing robots can run on curved surfaces. It was found that chinese patent No. 201910364511.4 proposes a wall-climbing robot in which a permanent magnet is attached to a chassis, and the robot is attracted to a curved surface by the magnetic force of the permanent magnet, but the generated magnetic force is unstable due to the distance between the permanent magnet and the wall surface. The chinese patent with application number 201210540925 proposes a "magnetic wheel type wall-climbing robot with curved surface self-adaptive adsorption", which realizes curved surface self-adaptive adsorption by the common deformation of the elastic permanent magnetic adsorption layer in the magnetic driving wheel and the hinge in the frame, but the robot has large mass and weak load carrying capacity.
To the problem that most wall climbing robots can only climb on the smooth wall, this patent has designed a tricycle formula wall climbing robot, and this robot relies on three permanent magnetism wheel to adsorb on the steel wall, has certain curved surface adaptability to the camera through carrying can accomplish the operation of patrolling and examining to the surface of steel wall.
Disclosure of Invention
The invention aims to provide a wall-climbing robot which can be adsorbed on a steel wall surface and has curved surface adsorption capacity.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a three-wheel wall-climbing robot comprises a front frame, a rear frame, two speed-reducing servo motors, three permanent magnet wheels, a power transmission mechanism, a platform and a camera; the front frame is provided with a left permanent magnetic wheel and a right permanent magnetic wheel, the rear frame is provided with a rear permanent magnetic wheel, and the front permanent magnetic wheel and the rear permanent magnetic wheel are respectively arranged below the platform through the front frame and the rear frame; the two speed-reducing servo motors respectively drive two front permanent magnet wheels through a power transmission mechanism and a tensioning mechanism, the rear permanent magnet wheel is a universal permanent magnet wheel, and the platform is provided with a camera;
the power transmission mechanism is arranged between the two front permanent magnet wheels and the speed reduction servo motor and comprises a driving wheel, a driven wheel, a tensioning mechanism and a synchronous belt, the driving wheel and the driven wheel are connected through the synchronous belt, and the tensioning mechanism is used for tensioning the synchronous belt; an output shaft of the speed reduction servo motor is matched with a driving wheel through a second flat key, the driving wheel is meshed with one end of a synchronous belt, the other end of the synchronous belt is meshed with a driven wheel, the front permanent magnet wheel is fixedly arranged on a wheel shaft, and the driven wheel is matched with a wheel shaft of the front permanent magnet wheel vehicle through a first flat key.
Further, straining device include support frame, axle, second axle end retainer ring and second deep groove ball bearing, the support frame locate before on the frame, be equipped with in the frame before with axle complex spout, the one end of axle press from both sides tightly in the spout, the spout top is the top panel of support frame, is equipped with the bolt and the nut that run through on the support frame top panel, the screw rod bottom surface of bolt passes the nut top on the surface of axle, the elasticity through adjusting bolt makes the axle slide from top to bottom in the spout, the other end of axle cooperatees with the hole of second deep groove ball bearing, the outer lane pressure of second deep groove ball bearing is on the synchronous belt, the outside of axle is second axle end retainer ring.
Furthermore, the permanent magnet wheel is arranged outside the wheel axle and the expansion sleeve, an inner hole of an inner bushing of the expansion sleeve is matched with the wheel axle, the outer wall of an outer bushing of the expansion sleeve is matched with an inner hole of the permanent magnet wheel, and the inner bushing and the outer bushing are mutually extruded by screwing a mounting screw on the expansion sleeve, so that the permanent magnet wheel, the expansion sleeve and the wheel axle are fixed into a whole.
Furthermore, two ends of a wheel shaft of the front permanent magnet wheel are respectively installed in a sleeve cup through bearings, the sleeve cup is fixed on the front frame, and the position of the bearing is limited outside the bearing through a clamp spring, so that the axial movement of the front permanent magnet wheel is prevented.
Furthermore, the driven wheel is matched with the wheel shaft through a first flat key, and the tail end of the wheel shaft in the driven wheel is fixed through a first shaft end retainer ring, so that the driven wheel is prevented from axially moving.
Furthermore, the differential steering action of the robot is realized by respectively adjusting the rotating speeds of the left and right speed reduction servo motors.
Furthermore, two ends of the rear permanent magnetic wheel are mounted on the rear frame, and the platform, the thrust ball bearing and the rear frame are mounted together through the bolts and nuts for the hinged holes, so that the rear frame can freely rotate around the axis of the bolts for the hinged holes.
Has the advantages that:
the three-wheel wall-climbing robot is adsorbed on the steel wall surface by the three permanent magnetic wheels, has certain curved surface adaptability, and can finish the surface inspection operation on the steel wall surface by the carried camera. The wall climbing robot is stable in adsorption, flexible in steering and has certain curved surface adaptability. The robot adopts a three-wheel type walking mode, the structure is more stable, and the loading capacity and the running reliability of the robot are improved.
Drawings
FIG. 1: the invention discloses a structural schematic diagram of a wall climbing machine.
FIG. 2: the structure of the front permanent magnet wheel is schematically shown.
FIG. 3: the structure of the power transmission mechanism is shown schematically.
FIG. 4: the structure of the tensioning mechanism is shown schematically.
FIG. 5: the structure of the rear permanent magnet wheel is schematically shown.
FIG. 6: and (5) a curved surface crawling schematic diagram.
In the figure: 1-platform, 2-rear frame, 3-universal permanent magnet wheel, 4-speed-reducing servo motor, 5-front frame, 6-first screw, 7-front permanent magnet wheel, 8-power transmission mechanism, 9-tensioning mechanism, 10-support, 11-camera, 12-bolt for reaming hole, 13-first nut, 14-second screw, 15-sleeve cup, 16-first deep groove ball bearing, 17-wheel shaft, 18-snap spring, 19-inner bushing, 20-inner hexagon screw, 21-outer bushing, 22-first shaft end retainer ring, 23-third screw, 24-first flat key, 25-driven wheel, 26-fourth screw, 27-second flat key, 28-driving wheel, 29-synchronous belt, 30-second deep groove ball bearing, 31-second shaft end retainer, 32-fifth screw, 33-shaft, 34-sixth screw, 35-support frame, 36-second nut, 37-bolt, 38-thrust ball bearing and 39-third nut 39.
Detailed Description
The present invention will be further described with reference to the following specific examples.
A three-wheel wall-climbing robot comprises a front frame 5, a rear frame 2, two speed-reducing servo motors 4, three permanent magnet wheels, a power transmission mechanism 8, a platform 1 and a camera 11; the front frame 5 is provided with a left front permanent magnetic wheel 7 and a right front permanent magnetic wheel 7, the rear frame 2 is provided with a rear permanent magnetic wheel, and the front permanent magnetic wheel 7 and the rear permanent magnetic wheel are respectively arranged below the platform 1 through the front frame 5 and the rear frame 2; the front frame 5 is mounted below the platform 1 through a first screw 6, and the rear frame 2 is mounted below the platform 1 through a bolt 12 for a hinge hole.
The speed-reducing servo motor 4 is arranged in the middle of the lower part of the platform 1, the speed-reducing servo motor 4 is fixed on the front frame 5 through four fourth screws 26, the two speed-reducing servo motors 4 respectively drive two front permanent magnetic wheels 7 through a power transmission mechanism 8 and a tensioning mechanism 9, the rear permanent magnetic wheel is a universal permanent magnetic wheel 3, and the platform 1 is provided with a camera 11;
the power transmission mechanism 8 is arranged between the two front permanent magnet wheels 7 and the speed reduction servo motor 4 and comprises a driving wheel 28, a driven wheel 25, a tensioning mechanism 9 and a synchronous belt 29, the driving wheel 28 is connected with the driven wheel 25 through the synchronous belt 29, and the tensioning mechanism 9 is used for tensioning the synchronous belt 29; the output shaft of the speed reducing servo motor 4 is matched with a driving wheel 28 through a second flat key 27, the driving wheel 28 is meshed with one end of a synchronous belt 29, the other end of the synchronous belt 29 is meshed with a driven wheel 25, the front permanent magnet wheel 7 is fixedly arranged on a wheel shaft 17, and the driven wheel 25 is matched with the wheel shaft 17 through a first flat key 24.
Straining device 9 include support frame 35, axle 33, second axle end retainer ring 31 and second deep groove ball bearing 30, support frame 35 locate preceding frame 5 on, be equipped with on preceding frame 5 with axle 33 complex spout, the one end of axle 33 press from both sides tightly in the spout, the spout top is the top panel of support frame 35, be equipped with bolt 37 and the second nut 36 that runs through in the top panel of support frame 35, the second nut 36 top is passed on the axle 33 surface to the screw bottom surface of bolt 37, the elasticity through adjusting bolt 37 makes axle 33 slide from top to bottom in the spout, the other end of axle 33 and the hole of second deep groove ball bearing 30 cooperate, the outer lane pressure of second deep groove ball bearing 30 is on hold-in range 29, the outside of axle 33 is second axle end retainer ring 31, second axle end retainer ring 31 is fixed in on the terminal surface of axle 33 through fifth screw 32.
The permanent magnet wheel is arranged outside the wheel shaft 17 and the expansion sleeve, an inner hole of an inner bushing 19 of the expansion sleeve is matched with the wheel shaft 17, the outer wall of an outer bushing 21 of the expansion sleeve is matched with an inner hole of the permanent magnet wheel, the inner bushing 19 and the outer bushing 21 are extruded mutually by screwing a mounting screw on the expansion sleeve, and therefore the permanent magnet wheel, the expansion sleeve and the wheel shaft 17 are fixed into a whole.
Two ends of a wheel shaft 17 of the front permanent magnet wheel 7 are respectively installed in a sleeve cup 15 through a first deep groove ball bearing 16, the sleeve cup 15 is fixed on the front frame 5, and the position of the bearing is limited on the outer side of the first deep groove ball bearing 16 through a clamp spring 18, so that the axial movement of the front permanent magnet wheel 7 is prevented. The sleeve cup 15 is fixedly mounted by a first nut 13 and a second screw 14.
The driven wheel 25 is matched with the wheel shaft 17 through a first flat key 24, the tail end of the wheel shaft 17 in the driven wheel 25 is fixed through a first shaft end retaining ring 22, and the third screw 23 is fixed on the wheel shaft 17 through the first shaft end retaining ring 22, so that axial movement of the driven wheel 25 is prevented.
The differential steering action of the robot is realized by respectively adjusting the rotating speeds of the left and right speed-reducing servo motors 4.
Two ends of the rear permanent magnetic wheel are arranged on the rear frame 2, and the platform 1, the thrust ball bearing 38 and the rear frame 2 are arranged together through the bolt 12 for reaming and the third nut 39, so that the rear frame 2 can freely rotate around the axis of the bolt 12 for reaming.
As shown in fig. 1. The robot is provided with three permanent magnet wheels, so that the wall-climbing robot can be reliably adsorbed on a steel wall surface. Two speed-reducing servo motors 4 are fixed below the platform 1 and respectively provide power for the two front permanent magnetic wheels 7 through synchronous belt transmission. The tension mechanism 9 performs a tension operation on the timing belt 29. The camera 11 is installed on the platform 1 and used for detecting whether hidden dangers such as corrosion and cracks exist on the wall surface of the steel. The wall climbing robot can perform wall climbing operation on a curved surface.
The working principle of the front permanent magnet wheel adsorption mechanism is as follows: the driven wheel 25 drives the shaft 17 to rotate, and the shaft 17 and the front permanent magnet wheel 7 are fixed together, so that the front permanent magnet wheel 7 is driven to rotate, and the wall climbing robot can perform climbing operation on a metal wall surface.
The principle of the structure of the power transmission mechanism is as follows: when the speed reducing servo motor 4 works, the motor output shaft drives the driving wheel 28 to rotate, and the driving wheel 28 drives the synchronous belt 29 to do rotary motion, so that the driven wheel 25 is forced to rotate. Because the wheel shaft 17 is fixed with the front permanent magnet wheel 7 and is matched with the driven wheel 25, the front permanent magnet wheel 7 rotates, and the wall-climbing robot can perform linear crawling operation. The differential steering action of the robot can be realized by adjusting the rotating speeds of the left and right speed-reducing servo motors 4.
The working principle of the tensioning mechanism 9 is as follows: the tightening work is completed by tightening the bolt 37 to make the shaft 33 slowly slide down along the chute until the second deep groove ball bearing 30 tightens the timing belt 29 to a certain extent, and then tightening the nut at one end of the shaft 33 to fix the shaft 33 with the front frame 5.
The overall working principle of the wall-climbing robot is as follows:
when the wall-climbing robot works on a plane or a curved surface, the three permanent magnet wheels provide magnetic adsorption force for the robot. The speed-reducing servo motor 4 provides power for the front permanent magnet wheels 7, so that the robot can run on the wall surface, and the universal permanent magnet wheels 3 roll on the wall surface along with the two front permanent magnet wheels 7. By adjusting the rotation speed of the left and right deceleration servo motors 4, the robot can realize the differential steering action. In the driving process, the camera 11 shoots the surface condition of the wall surface in real time and transmits the image to the worker, so that the worker can find whether the wall surface has cracks, corrosion and other phenomena in time, and the surface inspection operation of the steel wall surface is completed.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention in any way, and any person skilled in the art can make any simple modification, equivalent replacement, and improvement on the above embodiment without departing from the technical spirit of the present invention, and still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. A three-wheel wall-climbing robot is characterized in that: the device comprises a front frame, a rear frame, two speed-reducing servo motors, three permanent magnet wheels, a power transmission mechanism, a platform and a camera; the front permanent magnetic wheel is arranged below the platform through the front frame, and the rear permanent magnetic wheel is arranged below the platform through the rear frame; the two speed-reducing servo motors respectively drive two front permanent magnet wheels through a power transmission mechanism and a tensioning mechanism, the rear permanent magnet wheel is a universal permanent magnet wheel, and the platform is provided with a camera;
the power transmission mechanism is arranged between the two front permanent magnet wheels and the speed reduction servo motor and comprises a driving wheel, a driven wheel, a tensioning mechanism and a synchronous belt, the driving wheel and the driven wheel are connected through the synchronous belt, and the tensioning mechanism is used for tensioning the synchronous belt; an output shaft of the speed reduction servo motor is matched with a driving wheel through a second flat key, the driving wheel is meshed with one end of a synchronous belt, the other end of the synchronous belt is meshed with a driven wheel, the front permanent magnet wheel is fixedly arranged on a wheel shaft, and the driven wheel is matched with a wheel shaft of the front permanent magnet wheel vehicle through a first flat key.
2. The three-wheeled wall-climbing robot of claim 1, wherein: straining device include support frame, axle, second axle end retainer ring and second deep groove ball bearing, the support frame locate before on the frame, be equipped with in the front on the frame with axle complex spout, the one end of axle press from both sides tightly in the spout, the spout top is the top panel of support frame, be equipped with the bolt and the nut that run through in the top panel of support frame, the screw rod bottom surface of bolt passes the nut and pushes up on the axle on the surface, the elasticity through adjusting bolt makes the axle slide from top to bottom in the spout, the other end of axle cooperatees with second deep groove ball bearing's hole, second deep groove ball bearing's outer lane is pressed on the synchronous belt, the outside of axle is second axle end retainer ring.
3. The three-wheeled wall-climbing robot of claim 1, wherein: the permanent magnet wheel is arranged outside the wheel axle and the expansion sleeve, the inner hole of the inner bushing of the expansion sleeve is matched with the wheel axle, the outer wall of the outer bushing of the expansion sleeve is matched with the inner hole of the permanent magnet wheel, and the inner bushing and the outer bushing are mutually extruded by screwing the mounting screw on the expansion sleeve, so that the permanent magnet wheel, the expansion sleeve and the wheel axle are fixed into a whole.
4. The three-wheeled wall-climbing robot of claim 1, wherein: two ends of a wheel shaft of the front permanent magnet wheel are respectively installed in a sleeve cup through bearings, the sleeve cup is fixed on the front frame, and the position of the bearing is limited outside the bearing through a clamp spring so as to prevent the front permanent magnet wheel from axially moving.
5. The three-wheeled wall-climbing robot of claim 1, wherein: the driven wheel is matched with the wheel shaft through the first flat key, and the tail end of the wheel shaft in the driven wheel is fixed through the first shaft end retainer ring, so that the driven wheel is prevented from axially moving.
6. The three-wheeled wall-climbing robot of claim 1, wherein: the differential steering action of the robot is realized by respectively adjusting the rotating speeds of the left and right speed-reducing servo motors.
7. The three-wheeled wall-climbing robot of claim 1, wherein: the two ends of the rear permanent magnetic wheel are mounted on the rear frame, and the platform, the thrust ball bearing and the rear frame are mounted together through the bolts and the nuts for the hinge holes, so that the rear frame can freely rotate around the axis of the bolts for the hinge holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020142938.8U CN211685392U (en) | 2020-01-22 | 2020-01-22 | Three-wheel wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020142938.8U CN211685392U (en) | 2020-01-22 | 2020-01-22 | Three-wheel wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211685392U true CN211685392U (en) | 2020-10-16 |
Family
ID=72774327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020142938.8U Expired - Fee Related CN211685392U (en) | 2020-01-22 | 2020-01-22 | Three-wheel wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211685392U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7048136B1 (en) | 2021-11-01 | 2022-04-05 | 啓太 遠藤 | Transportation system and transportation trolley |
| CN115027589A (en) * | 2022-06-22 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
-
2020
- 2020-01-22 CN CN202020142938.8U patent/CN211685392U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7048136B1 (en) | 2021-11-01 | 2022-04-05 | 啓太 遠藤 | Transportation system and transportation trolley |
| JP2023067327A (en) * | 2021-11-01 | 2023-05-16 | 啓太 遠藤 | Transport system and transport cart |
| CN115027589A (en) * | 2022-06-22 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109969282B (en) | Four-wheel wall climbing robot with curved surface adsorption function and use method thereof | |
| CN211685392U (en) | Three-wheel wall-climbing robot | |
| EP3750769B1 (en) | Driving axle of rail vehicle, rail vehicle, and rail transport system | |
| CN102673671B (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN202622792U (en) | Novel differential drive composite adsorption type wall-climbing robot | |
| CN107585271B (en) | Big seam rust cleaning of hull wall climbing robot | |
| CN101138994A (en) | Wheeled type permanent magnetism adsorption pipeline creeping robot | |
| CN102689296A (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN102673672B (en) | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot | |
| CN100396451C (en) | Means for driving active turning-up crawler robot to walk | |
| CN102673670A (en) | Novel full driving composite adsorption climbing robot | |
| CN109109989A (en) | A kind of full landform chassis based on crawler belt and Mecanum wheel | |
| CN211892751U (en) | All-wheel-drive omnidirectional damping intelligent vehicle chassis | |
| CN111776100B (en) | Outer pipeline crawling robot with six-link mechanism | |
| CN112249152B (en) | Electric power steering system of large commercial vehicle and control method thereof | |
| CN106608306A (en) | Wall-climbing robot | |
| CN212099126U (en) | Three-wheel magnetic adsorption type wall-climbing robot | |
| CN1130372A (en) | Traversing gear arrangement for crane moving on rubber-tyred wheels or the like | |
| CN202686557U (en) | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot | |
| CN2933748Y (en) | Walking driving device of self-inverting track-mounted robot | |
| CN1375437A (en) | Crawler for magnetically adsorbed wall-climbing robot | |
| CN110789331A (en) | Servo steering wheel of robot | |
| CN208993797U (en) | A kind of full landform chassis based on crawler belt and Mecanum wheel | |
| CN214450319U (en) | Motion chassis of inspection robot | |
| CN202622793U (en) | Novel all-wheel-drive composite adsorption type wall-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201016 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |