CN100540238C - Platform of microminiature three pair robotic - Google Patents
Platform of microminiature three pair robotic Download PDFInfo
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- CN100540238C CN100540238C CNB2007103036081A CN200710303608A CN100540238C CN 100540238 C CN100540238 C CN 100540238C CN B2007103036081 A CNB2007103036081 A CN B2007103036081A CN 200710303608 A CN200710303608 A CN 200710303608A CN 100540238 C CN100540238 C CN 100540238C
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Abstract
The invention provides a kind of platform of microminiature three pair robotic, particularly a kind of three joint structure robots of wireless remote control operation belong to the robot engineering technical field.It comprises that mainly robot moves body and remote controller.Robot moves this body profile and is worm shape, is made up of middle joint assembly and former and later two ends joint assembly.Front end joint and rear end joint are auxiliary action single-unit, can appoint to adorn one and save or do not install, and middle joint is an autonomous system, can become a kind of robot of single-unit structure separately.Remote controller is to be held in the operator on hand, and the operator can pass through the radio long-distance remote control, the control robot finish advance, retreat, actions such as turning, front and back end joint pitching.Of the present inventionly adopted modularized design, each of robot taken turns can independent operating, can have a little robot of one's own.
Description
Technical field
The invention provides a kind of platform of microminiature three pair robotic, particularly a kind of three joint structure robots of wireless remote control operation.Belong to the robot engineering technical field.
Background technology
At present, at home and abroad the robot of Chu Xianing has a lot, but the micro robot with three joint structures does not also have, the front and back end joint of three joint structure robots can make robot finish the pitching action, effectively the ability of hoisting machine people's obstacle climbing ability and stair activity can be used at environment such as stair and narrow tunnels.
Summary of the invention
The object of the present invention is to provide a kind of micro robot with three joint structures.This robot volume is little, structure is flexible, one-tenth three joint structures capable of being combined, two joint structures, morphosis robots such as single-unit structure use, can be in this robot according to the equipped needed annex of user of purposes, therefore, this invention provides a kind of platform of microminiature three pair robotic for exploitation and utilization for the user.This robot volume is little, and maneuverability has certain obstacle climbing ability, can use at environment such as stair and narrow tunnels.
The objective of the invention is to be achieved through the following technical solutions:
A kind of platform of microminiature three pair robotic comprises robot moving platform and remote controller.The robot moving platform profile is worm shape, is made up of middle joint assembly and former and later two ends joint assembly, and middle joint assembly and two end joint assemblies adopt flexible connection respectively, and two end joint assemblies can be done the pitching action.Robot moving platform can be used as the working region that carrier is transported to additional functional module on it appointment.Mainly be some control buttons on the telecontrol panel, the action message of these buttons by the wireless launcher on the remote controller, is transmitted in the robot control cabinet in the robot moving platform, thus the motion of control robot moving platform.Remote controller is to be held in the operator on hand, the operator can finish by radio long-distance remote control robot advance, retreat, actions such as turning, front and back end joint pitching.
In the casing in the middle joint assembly of robot moving platform robot control cabinet, battery are housed, an independent running mechanism respectively is equipped with on the casing both sides, and illuminating lamp, camera are housed on the case lid of casing.An independent running mechanism also respectively is equipped with on the casing both sides of two end joint assemblies, and luffing mechanism and pitching motor driver are housed in the casing.In the motor driver of independent running mechanism of the independent running mechanism, luffing mechanism of joint and end joint be electrically connected with the robot control cabinet respectively, battery provides power supply for robot control cabinet, motor driver and entire machine people mobile platform.The robot control cabinet is accepted the remote information of remote controller, controls each functional module respectively or distribute instruction to each motor driver after information processing, makes corresponding motor rotation, forms the driving force of robot moving platform.By the camera situation at observer robot mobile platform the place ahead and rear clearly.Middle joint assembly and two end joint assemblies all are equipped with independent running mechanism, make each end joint all have the independent ambulation ability, and middle joint assembly is an autonomous system, can become a kind of robot of single-unit walking structure separately.
Independent running mechanism comprises crawler belt, driven pulley, crawler belt back-up ring, support wheel, motor reducer group, driving wheel, regulating wheel, motor driver etc.The motor reducer group is the combination of a brshless DC motor and decelerator group, dc brushless motor is fixed on the interior plate by screw, be fixed with pinion on the output shaft of dc brushless motor, pinion and gears engaged, gear meshes with gear wheel again, on the inner surface of decelerator assembly housing internal tooth is arranged, gear wheel can with the tooth engagement on the inner surface of decelerator assembly housing, finally slowing down by tertiary gear drives the decelerator shell and rotates.Also be with bearing on the shell of dc brushless motor, the outer back-up ring and the decelerator housing contacts of bearing play the role of positioning, to guarantee that beat does not take place the decelerator shell when relatively rotating with dc brushless motor, the shell of motor reducer group can be rotated around dc brushless motor.The motor reducer group is embedded in the inside of driving wheel, driving wheel is fixedly connected on the shell of motor reducer group by screw, driving wheel turns round with the shell of motor reducer group, driving wheel and driven pulley are in transmission connection by crawler belt, support wheel plays support, can not be stuck when platform is walked on ups and downs road surface.Regulating wheel plays a part to regulate the crawler belt degree of tightness, and crawler belt is difficult for dropping out when making the platform walking.All be screwed the crawler belt back-up ring on two end faces of driving wheel and driven pulley, can have prevented effectively that crawler belt from departing from driving wheel and driven pulley in running.Motor driver is screwed on interior plate, combine with independent running mechanism as a whole, the rotation of motor driver control dc brushless motor.After receiving the order of sending when motor driver, drive the brshless DC motor running immediately, make the shell running of motor reducer group, rotate thereby drive driving wheel from the robot control cabinet.The running of driving wheel passes to driven pulley by crawler belt again, makes whole independent running mechanism running, forms robot and moves drive bulk power.
The operation logic of end joint independent running mechanism is the same with the independent running mechanism of middle joint with the method for operation.After receiving the order of sending when motor driver from the robot control cabinet, drive the brshless DC motor running immediately, transmission by the decelerator group, make the driving wheel running, the running of driving wheel passes to driven pulley by crawler belt again, make the running of whole end joint independent running mechanism, form robot and move drive bulk power.Differentiatedly slightly with middle joint independent running mechanism be: the support wheel of end joint independent running mechanism is three, adopt the method for tiltedly putting to be inserted in the end joint walking mechanism, and the driving wheel of end joint independent running mechanism is bigger than driven pulley.
End joint box part comprises end cap, end joint casing, luffing mechanism and pitching motor driver.Connecting plate is fixed on the two ends of luffing mechanism, and whole end joint assembly is to link to each other with middle joint assembly by connecting plate.Luffing mechanism can control end the joint assembly finish and lift and two actions of landing.The constituted mode and the operation principle of luffing mechanism are as follows: dc brushless motor is installed in the upper end of worm gear case, the lower end of worm gear case is fixed in the end joint casing, worm set is on the output shaft of dc brushless motor, worm gear is contained in the worm gear case, its position is corresponding with the position of worm screw, major axis interts in the centre of worm gear, the photoelectricity baffle plate is contained on the major axis, the position is on the right side of worm gear, optoelectronic switch is housed on the backing plate, the photoelectricity baffle plate just in time can pass through optoelectronic switch when rotating, have a breach on the photoelectricity baffle plate, bearing block is housed at the two ends of major axis, deep groove ball bearing is contained in the bearing block, and the inner ring of bearing is enclosed within on the major axis, outer end at bearing also is with gland, can be with bearing fixing in bearing block with it.After motor driver is received operating instruction, drive the dc brushless motor running, pass to worm gear by worm screw, the running of worm gear drives major axis, the driving force of formation luffing mechanism.Photoelectricity baffle plate on the major axis is when rotating, the breach of photoelectricity baffle plate and catch can be decontroled and the shading light electric switch, cause the optoelectronic switch variation of output signals, this signal is transferred to motor driver by circuit, so that motor driver is judged the extreme position of luffing mechanism and determined whether it continues operation.Because connecting plate is fixed on the major axis of luffing mechanism, the drive by connecting plate just can make an end joint assembly finish pitching and move.
Robot control system divides remote control control end part and robot body end parts, and each several part has all adopted modularized design.The remote control control end partly has data transmit-receive module and audio frequency and video receiver module.The robot body end parts has data transmit-receive module, the audio frequency and video transmitter module, and each motor module, the The Cloud Terrace module, the main control module, illuminating lamp, it is first-class to make a video recording.Each motor module has prosthomere revolver module, prosthomere pitching module, the right wheel of prosthomere module, middle joint revolver module, the right wheel of middle joint module, deutomerite revolver module, deutomerite pitching module, the right wheel of deutomerite module.Adopt the advantage of modularized design to be that design is convenient, be convenient to change, each module advantage such as be independent of each other.
Beneficial effect of the present invention
Platform of microminiature three pair robotic of the present invention has adopted modularized design, and front end joint and rear end joint are auxiliary action single-unit, can appoint to adorn one and save or do not install, and middle joint is an autonomous system, can become a kind of robot of single-unit structure separately.Each of robot taken turns can independent operating, can have a little robot of one's own, for the user provides a kind of platform of microminiature three pair robotic for exploitation and utilization, this robot volume is little, maneuverability has certain obstacle climbing ability, can use at environment such as stair and narrow tunnels.
Description of drawings
Fig. 1 is an overall schematic of the present invention;
Fig. 2 is the middle joint assembly schematic diagram of robot components among the present invention;
Fig. 3 is the middle joint walking mechanism structural representation among the present invention;
Fig. 4 is the motor reducer group structural representation among the present invention;
Fig. 5 is the end joint assembly schematic diagram of robot components among the present invention;
Fig. 6 is the joint of the end among the present invention walking mechanism structural representation;
Fig. 7 is the end joint box part structural representation of end joint assembly of the present invention;
Fig. 8 is the luffing mechanism structural representation of robot components among the present invention;
Fig. 9 is robot control system schematic diagram among the present invention,
Among the figure: the 1-robot moving platform, the 2-remote controller, save assembly among the 3-, two end joints of 4-assembly, the 5-case lid, the 6-independent running mechanism, the 7-illuminating lamp, the 8-camera, the 9-interior plate, the 10-crawler belt, the 11-driven pulley, 12-crawler belt back-up ring, the 13-support wheel, the 14-outer panel, 15-motor reducer group, the 16-driving wheel, 17-end joint independent running mechanism, 18-single-unit box part, the 19-regulating wheel, 20-decelerator shell, the 21-dc brushless motor, the 22-pinion, the 23-gear, the 24-gear wheel, the 25-bearing, the 26-output shaft, the 27-casing, the 28-luffing mechanism, 29-wins in succession, the 30-worm gear case, the 31-worm screw, 32-photoelectricity baffle plate, the 33-backing plate, the 34-worm gear, the 35-bearing block, the 36-gland, the 37-deep groove ball bearing, the 38-major axis, the 39-battery, the 40-control cabinet, joint movable motor driver among the 41-, 42-pitching motor driver, 43-end joint movable motor driver, 44-end joint driven pulley, the 45-dc brushless motor, the 46-optoelectronic switch.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of platform of microminiature three pair robotic comprises robot moving platform 1 and remote controller 2.Robot moving platform 1 is made up of middle joint assembly 3 and two end joint assemblies 4, and middle joint assembly 3 and two end joint assemblies 4 adopt flexible connection respectively, and two end joint assemblies 4 can be done the pitching action.Robot moving platform 1 can be used as the working region that carrier is transported to additional functional module on it appointment.Mainly be some control buttons on remote controller 2 panels, the action message of these buttons by the wireless launcher on the remote controller 2, is transmitted in the robot control cabinet 40 of 1 li of robot moving platform, thus the motion of control robot moving platform 1.Remote controller 2 is to be held in the operator on hand, the operator can finish by radio long-distance remote control robot advance, retreat, actions such as turning, front and back end joint pitching.
As Fig. 2, Fig. 5, Fig. 6 and shown in Figure 7, in the casing in the middle joint assembly 3 of robot moving platform 1 robot control cabinet 40, battery 39 are housed, an independent running mechanism 6 respectively is equipped with on the casing both sides, and illuminating lamp 7 and camera 8 are housed on the case lid 5 of casing.An end joint independent running mechanism 17 also respectively is equipped with on casing 27 both sides of two end joint assemblies 4, and casing is equipped with luffing mechanism 28 and pitching motor driver 42 for 27 li.End joint movable motor driver 43 in middle joint movable motor driver 41 in the independent running mechanism 6, the end joint independent running mechanism 17 and the pitching motor driver 42 in the luffing mechanism 28 are electrically connected with robot control cabinet 40 respectively, and battery 39 provides power supply for robot control cabinet 40, middle joint movable motor driver 41, pitching motor driver 42, end joint movable motor driver 43 and entire machine people mobile platform 1.Robot control cabinet 40 is accepted the remote information of remote controller 2, through control each functional module after the information processing respectively or in each joint movable motor driver 41, pitching motor driver 42, end joint movable motor driver 43 distribute instruction, make corresponding motor rotation, form the driving force of robot moving platform 1.By camera 8 clearly the place ahead of observer robot mobile platform 1 and the situation at rear.Middle joint assembly 3 and two end joint assemblies 4 all are equipped with independent running mechanism 6 respectively and hold joint independent running mechanism 17, make each end joint all have the independent ambulation ability.Middle joint assembly 3 is autonomous systems, can become a kind of robot moving platform of single-unit structure separately.
Shown in Fig. 3, accompanying drawing 4, the independent running mechanism 6 of middle joint comprises interior plate 9, crawler belt 10, driven pulley 11, crawler belt back-up ring 12, support wheel 13, outer panel 14, motor reducer group 15, driving wheel 16, regulating wheel 19, middle joint movable motor driver 41 and annex thereof.Motor reducer group 15 is combinations of a brshless DC motor 21 and decelerator group, dc brushless motor 21 is fixed on the interior plate 9 by screw, be fixed with pinion 22 on the output shaft 26 of dc brushless motor 21, pinion 22 and gear 23 engagements, gear 23 meshes with gear wheel 24 again, on the inner surface of decelerator assembly housing 20 internal tooth is arranged, gear wheel 23 can with the tooth engagement on the inner surface of decelerator assembly housing 20, finally slowing down by tertiary gear drives decelerator shell 20 and rotates.Also be with bearing 25 on the shell of dc brushless motor 21, the outer back-up ring of bearing 25 contacts with decelerator shell 20 and plays the role of positioning, to guarantee that decelerator shell 20 when relatively rotating with dc brushless motor 21 beat does not take place, the shell of motor reducer group 15 can be rotated around dc brushless motor 21.Motor reducer group 15 is embedded in the inside of driving wheel 16, driving wheel 16 is fixedly connected on the shell of motor reducer group 15 by screw, driving wheel 16 turns round with the shell of motor reducer group 15, and driving wheel 16 is in transmission connection by crawler belt 10 with driven pulley 11.Regulating wheel 19, support wheel 13 all are a tight fit in the bearing groove on interior plate 9 and the outer panel 14 by being contained in bearing above it, and support wheel 13 has five, plays a part to support, and can not be stuck when platform is walked on ups and downs road surface.Regulating wheel 19 has one, plays a part to regulate crawler belt 10 degrees of tightness, and crawler belt 10 is difficult for dropping out when making the platform walking.All be screwed crawler belt back-up ring 12 on two end faces of driving wheel 16 and driven pulley 11, can have prevented effectively that crawler belt 10 from departing from driving wheel 16 and driven pulley 11 in running.In joint movable motor driver 41 be screwed on interior plate 9, combine with independent running mechanism as a whole, the rotation of middle joint movable motor driver 41 control dc brushless motors 21.In the middle of after joint movable motor driver 41 receives the order of sending from robot control cabinet 40, drive brshless DC motor 21 runnings immediately, make decelerator shell 20 runnings of motor reducer group 15, rotate thereby drive driving wheel 16.The running of driving wheel 16 passes to driven pulley 11 by crawler belt 10 again, makes whole independent running mechanism 6 runnings, forms robot and moves drive bulk power.
As shown in Figure 6, be the structure chart of end joint independent running mechanism 17, its operation logic is the same with the independent running mechanism 6 of middle joint with the method for operation.After end joint movable motor driver 43 is received the order of sending from robot control cabinet 40, drive the brshless DC motor running immediately, make the shell running of motor reducer group 15, thereby driving driving wheel rotates, the running of driving wheel passes to driven pulley 44 by crawler belt again, make 17 runnings of whole end joint independent running mechanism, form robot and move drive bulk power.Differentiatedly slightly with independent running mechanism 6 be: its middle-end joint support wheel 13 is three, adopt the method for tiltedly putting to be inserted in the end joint independent running mechanism 17, and the driving wheel of end joint independent running mechanism 17 is bigger than driven pulley.
As shown in Figure 7, box part 18 comprises end joint casing 27, luffing mechanism 28, connecting plate 29 and pitching motor driver 42.Connecting plate 29 is fixed on the two ends of luffing mechanism 28, and whole end joint assembly 4 is to link to each other with middle joint assembly 3 by connecting plate 29.This luffing mechanism 28 can control end joint assembly 4 finish and lift and two actions of landing.
As shown in Figure 8, structure chart for luffing mechanism 28, dc brushless motor 45 is installed in the upper end of worm gear case 30, the lower end of worm gear case 30 is fixed in the end joint casing 27, worm screw 31 is enclosed within on the output shaft of dc brushless motor 45, worm gear 34 is contained in 30 li of worm gear cases, its position is corresponding with the position of worm screw 31, major axis 38 interts in the centre of worm gear 34, photoelectricity baffle plate 32 is contained on the major axis 38, and optoelectronic switch 46 is equipped with on the right side of worm gear 34 in the position on the backing plate 33, photoelectricity baffle plate 32 just in time can pass through optoelectronic switch 46 when rotating, have a breach on the photoelectricity baffle plate 32, bearing block 35 is housed at the two ends of major axis 38, deep groove ball bearing 37 is contained in 35 li of bearing blocks, and the inner ring of bearing 37 is enclosed within on the major axis 38, outer end at bearing 37 also is with gland 36, bearing 37 can be fixed on 35 li of bearing blocks with it.After pitching motor driver 42 is received operating instruction, drive dc brushless motor 45 runnings, pass to worm gear 34 by worm screw 31, worm gear 34 drives major axis 38 runnings, forms the driving force of luffing mechanism 28.Photoelectricity baffle plate 32 on the major axis 38 is when rotating, breach on the photoelectricity baffle plate 32 can be decontroled and shading light electric switch 46, cause optoelectronic switch 46 variation of output signals, this signal is transferred to pitching motor driver 42 by circuit, so that pitching motor driver 42 is judged the extreme position of luffing mechanism 28 and determined whether it continues operation.Because connecting plate 29 is fixed on the major axis 38 of luffing mechanism 28,, just can make an end joint assembly 4 finish the pitching action by the drive of connecting plate 29.
As shown in Figure 9, robot control system divides remote control control end part and robot body end parts, and each several part has all adopted modularized design.The remote control control end partly has data transmit-receive module and audio frequency and video receiver module.The robot body end parts has data transmit-receive module, the audio frequency and video transmitter module, and each motor module, the The Cloud Terrace module, the main control module, illuminating lamp, it is first-class to make a video recording.Each motor module has prosthomere revolver module, prosthomere pitching module, the right wheel of prosthomere module, middle joint revolver module, the right wheel of middle joint module, deutomerite revolver module, deutomerite pitching module, the right wheel of deutomerite module.Adopt the advantage of modularized design to be that design is convenient, be convenient to change, each module advantage such as be independent of each other.
Claims (3)
1, platform of microminiature three pair robotic, it comprises robot moving platform (1) and remote controller (2), it is characterized in that: robot moving platform (1) is made up of middle joint assembly (3) and two end joint assemblies (4), and middle joint assembly (3) adopts flexible connection respectively with two end joint assemblies (4); In middle joint assembly (3) casing of robot moving platform (1), robot control cabinet (40), battery (39) are housed, middle joint assembly (3) casing both sides respectively are equipped with and are saved independent running mechanism (6) in one, and illuminating lamp (7), camera (8) are housed on the case lid (5) of middle joint assembly (3) casing; An end joint independent running mechanism (17) also respectively is equipped with on end joint assembly casing (27) both sides of two end joint assemblies (4), and luffing mechanism (28) and pitching motor driver (42) are equipped with in end joint assembly casing (27) lining; End joint movable motor driver (43) in middle joint movable motor driver (41) in the middle joint independent running mechanism (6), the end joint independent running mechanism (17) and the pitching motor driver (42) in the luffing mechanism (28) are electrically connected with robot control cabinet (40) respectively, and battery (39) provides power supply to robot control cabinet (40), middle joint movable motor driver (41), pitching motor driver (42), end joint movable motor driver (43) and entire machine people mobile platform (1); Robot control cabinet (40) is accepted the remote information of remote controller (2), through control each functional module after the information processing respectively or in each joint movable motor driver (41), pitching motor driver (42), end joint movable motor driver (43) distribute instruction, make corresponding motor rotation, form the driving force of robot moving platform (1); Situation by camera (8) observer robot mobile platform (1) the place ahead and rear; On remote controller (2) panel mainly is some control buttons, the action message of these buttons, by the wireless launcher on the remote controller (2), be transmitted in the robot control cabinet (40) of robot moving platform (1) lining, thus the motion of control robot moving platform (1); Remote controller (2) is to be held in the operator on hand, the operator finish by radio long-distance remote control robot advance, retreat, actions such as turning, front and back end joint pitching.
2, platform of microminiature three pair robotic according to claim 1, it is characterized in that: a luffing mechanism (28) and pitching motor driver (42) are equipped with in end joint assembly casing (27) lining at two end joint assemblies (4), and this luffing mechanism (28) control end joint assembly (4) is finished and lifted and two actions of landing; Luffing mechanism (28) comprises worm gear case (30), worm screw (31), photoelectricity baffle plate (32), backing plate (33), worm gear (34), bearing block (35), deep groove ball bearing bearing (37), major axis (38), dc brushless motor (45) and annex thereof; Dc brushless motor (45) is installed in the upper end of worm gear case (30), the lower end of worm gear case (30) is fixed in the end joint assembly casing (27), worm screw (31) is enclosed within on the output shaft of dc brushless motor (45), worm gear (34) is contained in worm gear case (30) lining, its position is corresponding with the position of worm screw (31), major axis (38) interts in the centre of worm gear (34), photoelectricity baffle plate (32) is contained on the major axis (38), the position is on the right side of worm gear (34), optoelectronic switch (46) is housed on the backing plate (33), photoelectricity baffle plate (32) just in time can pass through optoelectronic switch (46) when rotating, have a breach on the photoelectricity baffle plate (32), at the two ends of major axis (38) bearing block (35) is housed, deep groove ball bearing (37) is contained in bearing block (35) lining, and the inner ring of deep groove ball bearing (37) is enclosed within on the major axis (38), also be with gland (36) in the outer end of deep groove ball bearing (37), deep groove ball bearing (37) be fixed on bearing block (35) lining with it; After pitching motor driver (42) is received operating instruction, drive dc brushless motor (45) running, pass to worm gear (34) by worm screw (31), worm gear (34) drives major axis (38) running, forms the driving force of luffing mechanism (28); Photoelectricity baffle plate (32) on the major axis (38) is when rotating, the breach of photoelectricity baffle plate (32) can be decontroled and shading light electric switch (46), cause optoelectronic switch (46) variation of output signals, this signal is transferred to pitching motor driver (42) by circuit, so that pitching motor driver (42) is judged the extreme position of luffing mechanism (28), and makes the judgement that whether continues to move.
3, platform of microminiature three pair robotic according to claim 1, it is characterized in that: robot control cabinet (40), battery (39) are housed in middle joint assembly (3) casing, joint independent running mechanism (6) during be equipped with respectively on middle joint assembly (3) the casing both sides of middle joint assembly (3), above the middle joint assembly casing illuminating lamp (7), camera (8) are housed, so, middle joint assembly (3) is an autonomous system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007103036081A CN100540238C (en) | 2007-12-20 | 2007-12-20 | Platform of microminiature three pair robotic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007103036081A CN100540238C (en) | 2007-12-20 | 2007-12-20 | Platform of microminiature three pair robotic |
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| CN101200067A CN101200067A (en) | 2008-06-18 |
| CN100540238C true CN100540238C (en) | 2009-09-16 |
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| CNB2007103036081A Expired - Fee Related CN100540238C (en) | 2007-12-20 | 2007-12-20 | Platform of microminiature three pair robotic |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267953A (en) * | 2020-02-06 | 2020-06-12 | 北京中安吉泰科技有限公司 | Steering device of flexible wall-climbing robot |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863430B (en) * | 2012-12-12 | 2018-01-09 | 西安邮电大学 | More piece swing arm crawler type mine disaster sniffing robot |
| CN103552056B (en) * | 2013-10-30 | 2016-04-20 | 重庆科技学院 | Explosive-removal robot |
| CN104881027B (en) * | 2015-05-04 | 2018-05-29 | 国家电网公司 | Wheel-track combined Intelligent Mobile Robot active obstacle system and control method |
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2007
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267953A (en) * | 2020-02-06 | 2020-06-12 | 北京中安吉泰科技有限公司 | Steering device of flexible wall-climbing robot |
| CN111267953B (en) * | 2020-02-06 | 2021-03-16 | 北京中安吉泰科技有限公司 | Steering device of flexible wall-climbing robot |
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| CN101200067A (en) | 2008-06-18 |
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