CN107176224A - A kind of specialized robot mobile platform - Google Patents
A kind of specialized robot mobile platform Download PDFInfo
- Publication number
- CN107176224A CN107176224A CN201710380882.2A CN201710380882A CN107176224A CN 107176224 A CN107176224 A CN 107176224A CN 201710380882 A CN201710380882 A CN 201710380882A CN 107176224 A CN107176224 A CN 107176224A
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- Prior art keywords
- supporting construction
- rod
- upper arm
- push
- connector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Supporting construction part is connected with below a kind of specialized robot mobile platform, including vehicle body frame, vehicle body frame, supporting construction part is also associated with crawler belt undercarriage, vehicle body frame being also associated with remote monitoring part.The supporting construction being made up of upper arm in lateral push rod, supporting construction upper push-rod, supporting construction lower push-rod, supporting construction and supporting construction underarm, which cooperates, controls supporting construction adjusting device posture.Lightweighting materials are fully used, equipment self-weight is only had tens kilograms, but meet or exceed the ability to work of hundreds of kilograms of traditional robot equipment, while equipment center of gravity can be reduced fully, can ensure that equipment is stable when advancing at a high speed；Using deformable structure, an equipment multiple types of floors adaptability is realized by four-footed, power wheel, the progress motion of crawler belt compound motion system, and four-footed uses electric pushrod, and energy consumption is reduced with traditional hydraulic system four-footed mode operation.
Description
Technical field
The invention belongs to specialized robot technical field, it is related to a kind of specialized robot mobile platform.
Background technology
The robot device early army of having been used for, alert job that requires special skills environment, by robot device be used for it is explosive, search for, hit, rescue
The link such as help.For related application, especially explosive and search occurs numerous products on Vehicles Collected from Market, and crawler belt is taken product more
Or wheeled domain, mechanical arm is installed on top and detecting devices is realized.Device therefor own wt is heavier, is needed during mechanical arm operation
Balance is kept by chassis deadweight, because own wt is larger, and to ensure largely to use crawler belt domain by property, causes to advance
The problems such as speed is low, high energy consumption, ground adaptability are poor.Because own wt is heavier, explosive-removal robot is usually up to hundreds of public affairs
Jin is, it is necessary to which special vehicle is delivered.And its selling at exorbitant prices, it is difficult to extensive use.
There are the robot device that four-footed is advanced in foreign countries, but itself energy consumption of these equipment is too high, and practical equipment needs interior
Combustion engine supports that its noise and thermal signal make it be difficult to put into practical application.
The content of the invention
It is an object of the invention to provide a kind of specialized robot mobile platform, solve ground present in prior art and fit
The problem of answering ability.
The technical solution adopted in the present invention is, a kind of specialized robot mobile platform, including vehicle body frame, vehicle body frame
Be parallel to each other two frames upper edge respectively symmetrically provided with a pair lateral push rods, be connected with supporting construction below vehicle body frame
Part, supporting construction part is also associated with crawler belt undercarriage,
Supporting construction part, including supporting construction connector, one end of supporting construction connector and one end of lateral push rod
It is flexibly connected, the two other of vehicle body frame is parallel to each other and the frame side vertical with lateral push rod is respectively fixed with a pair
Supporting construction connector hinge arrangement, one end of supporting construction connector hinge arrangement is passed across in supporting construction connector
Between, and protrude from supporting construction connector, the one of the remote supporting construction connector of each supporting construction connector hinge arrangement
One end with supporting construction upper push-rod is held to be hinged, the other end and the supporting construction upper arm of each supporting construction upper push-rod are hinged, often
The one end of one end of individual supporting construction upper arm also with the remote lateral push rod of supporting construction connector is flexibly connected, each support knot
The middle part of structure upper arm is flexibly connected with one end of supporting construction lower push-rod, and each supporting construction upper arm is away from supporting construction
One end of push rod and one end of supporting construction underarm are hinged, supporting construction lower push-rod one end and support away from supporting construction upper arm
Structure underarm is linked；The each one end of supporting construction underarm away from supporting construction upper arm is installed with driving wheel；
Crawler belt undercarriage includes track rail assembly, and track rail assembly is arranged on each supporting construction underarm away under supporting construction
The side of push rod, each driving wheel is connected to track rail assembly driving wheel close to the side of vehicle body frame by axle, and track rail assembly drives
Driving wheel is through supporting construction underarm close to one end of driving wheel, and it is driven that track rail assembly driving wheel is connected to track rail assembly by belt
Wheel.
In addition, the present invention is further characterized in that,
Remote monitoring part is wherein also associated with vehicle body frame, remote monitoring part includes white light and images assembly, white light
Assembly is imaged to be arranged on vehicle body frame and the perpendicular frame of lateral push rod, another of car body frame with lateral push rod phase
Feux rouges shooting assembly is symmetrically installed on vertical frame.
Wherein lateral push rod, supporting construction upper push-rod and supporting construction lower push-rod be by buttress shaft with addition
The Collapsible structure of one blank pipe nesting, lateral push rod can stretch along with the perpendicular direction of equipment direction of advance.
The direction that wherein supporting construction can stretch along lateral push rod is remote or close to vehicle body frame.
The two ends of wherein supporting construction connector are arranged with the first opposite U-shaped opening of opening direction and second and U-shaped opened
Mouthful, one end of lateral push rod through the first U-shaped opening and with the axle of lateral push rod vertical direction with supporting construction by being connected
One end of part is hinged, and supporting construction connector can come along the direction that lateral push rod stretches around supporting construction connector hinge arrangement
Backswing is moved.
Wherein supporting construction upper arm has in the 3rd U-shaped opening, supporting construction close to one end of supporting construction connector
Arm is hinged by crossing the axle and supporting construction connector of the openend of the 3rd U-shaped opening, and supporting construction upper arm can be with support
Structural connection swings and moved；Supporting construction upper arm is connected by crossing the axle and supporting construction of the openend of the 3rd U-shaped opening
Second U-shaped opening of fitting is hinged, and supporting construction upper arm can be lifted with the flexible of supporting construction upper push-rod；Supporting construction
The middle part of upper arm sets the hole of ellipse, and the both sides of the middle part in the hole of supporting construction upper arm are mutually symmetrical with provided with a pair
It is first raised, supporting construction lower push-rod is hinged by crossing a pair first raised axles with supporting construction upper arm, supporting construction
Lower push-rod can be swung with the lifting of supporting construction upper arm；One end of the remote supporting construction connector of supporting construction upper arm is set
There is the 4th U-shaped opening, supporting construction upper arm is hinged by crossing the axle of the 4th U-shaped opening with supporting construction underarm, supporting construction
Underarm can be with the lifting of supporting construction upper arm away from or close to ground.
Wherein the size of the 3rd U-shaped opening is more than the 4th U-shaped opening.
Wherein supporting construction underarm and positioned at symmetrical second raised provided with a pair between driving wheel and track rail assembly,
Supporting construction lower push-rod is hinged by crossing two second raised axles with supporting construction underarm, and supporting construction underarm can be with branch
Support structure lower push-rod flexible and away from or close to ground.
Wherein track rail assembly driving wheel is located at the side of the close supporting construction lower push-rod of driving wheel.
Wherein driving wheel is wheel hub motor.
The beneficial effects of the invention are as follows the problem of solving operation process balance of plant, power tool using the method for support
With synchronous adjustment equipment can be allow to operate the article for reaching own wt with chassis supporting structure, therefore equipment is free of counterweight,
Lightweighting materials are fully used, make equipment self-weight only have tens kilograms, but meet or exceed hundreds of kilograms of traditional robots to set
Standby ability to work, while equipment center of gravity can be reduced fully, can ensure that equipment is stable when advancing at a high speed；Using deformable knot
Structure, an equipment multiple types of floors adaptability is realized by four-footed, power wheel, the progress motion of crawler belt compound motion system, and
Four-footed uses electric pushrod, and energy consumption is reduced with traditional hydraulic system four-footed mode operation；Noise is low, is hidden under power tool, if
Standby structurally variable shape, possesses hidden entrance target location, the ability that adjusting device and tool height carry out investigations with other operations.
Brief description of the drawings
Fig. 1 is a kind of structure chart of specialized robot mobile platform of the invention；
Fig. 2 is a kind of structure chart of the supporting construction of specialized robot mobile platform of the invention；
Fig. 3 is a kind of structure chart of the four-footed motion morphology of specialized robot mobile platform of the invention；
Fig. 4 is a kind of structure chart of the dynamic wheel motion morphology of specialized robot mobile platform of the invention；
Fig. 5 is a kind of structure chart of the caterpillar drive form of specialized robot mobile platform of the invention.
In figure, 1. vehicle body frames, 2. lateral push rods, 3. supporting construction connectors, 31. first U-shaped openings, 32. second is U-shaped
Opening, 4. driving wheels, 5. supporting construction upper push-rods, 6. supporting construction upper arm, 61. the 3rd U-shaped openings, 62. the 4th U-shaped openings,
63. hole, 64. first is raised, 7. track rail assemblies, 8. infrared photography assemblies, and 9. crawler belts pay driven pulley, and 10. crawler belts pay driving wheel,
11. supporting construction lower push-rod, 12. white lights shooting assembly, 13. supporting construction underarms, 131. second is raised, and 14. supporting constructions connect
Fitting hinge arrangement.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
A kind of specialized robot mobile platform, structure such as Fig. 1, including vehicle body frame 1, vehicle body frame 1 are parallel to each other
The upper edge of two frames is respectively symmetrically provided with a pair of lateral push rods 2, and vehicle body frame 1 coupled underneath supporting construction part, supports
Structure division is also connected with being also connected with remote monitoring part on crawler belt undercarriage, vehicle body frame 1.Supporting construction has four
Set, including supporting construction connector 3, one end of supporting construction connector 3 are flexibly connected with one end of lateral push rod 2, car body frame
The two other of frame 1 is parallel to each other and frame side difference fixed a pair of the supporting construction vertical with lateral push rod 2 is connected
Part hinge arrangement 14, one end of supporting construction connector hinge arrangement 14 passes across the centre of supporting construction connector 3, and prominent
In supporting construction connector 3, one end of the remote supporting construction connector 3 of each supporting construction connector hinge arrangement 14 and branch
One end of support structure upper push-rod 5 is hinged, and the other end and the supporting construction upper arm 6 of each supporting construction upper push-rod 5 are hinged, Mei Gezhi
The one end of one end of support structure upper arm 6 also with the remote lateral push rod 2 of supporting construction connector 3 is flexibly connected, each support knot
The middle part of structure upper arm 6 is flexibly connected with one end of supporting construction lower push-rod 11, and each supporting construction upper arm 6 is tied away from support
One end of structure upper push-rod 5 and one end of supporting construction underarm 13 are hinged, and supporting construction lower push-rod 11 is away from supporting construction upper arm 6
One end is linked with supporting construction underarm 13；The each one end of supporting construction underarm 13 away from supporting construction upper arm 6 is installed with driving
Wheel 4, driving wheel 4 is wheel hub motor；Crawler belt undercarriage includes track rail assembly 7, and track rail assembly 7 is arranged under each supporting construction
Side of the arm 13 away from supporting construction lower push-rod 11, each driving wheel 4 is connected to crawler belt close to the side of vehicle body frame 1 by axle
Assembly driving wheel 10, track rail assembly driving wheel 10 is through supporting construction underarm 13 close to one end of driving wheel 4, track rail assembly driving
Wheel 10 is connected to track rail assembly driven pulley 9 by belt, and track rail assembly driving wheel 10 is located under the close supporting construction of driving wheel 4
The side of push rod 11.Remote monitoring part includes white light and images assembly 12, and white light shooting assembly 12 is arranged on vehicle body frame 1 and side
To on the perpendicular frame of push rod 2, it is symmetrically installed on another frame perpendicular with lateral push rod 2 of car body frame 1
Feux rouges shooting assembly 12.Lateral push rod 2, supporting construction upper push-rod 5 and supporting construction lower push-rod 11 are thin by one
The pillar Collapsible structure nested with another blank pipe, lateral push rod 2 can be along perpendicular with equipment direction of advance
Direction is stretched, and the direction that supporting construction can stretch along lateral push rod 2 is remote or close to vehicle body frame 1.
Such as Fig. 2, the two ends of supporting construction connector 3 are arranged with the first opposite U-shaped opening 31 of opening direction and the 2nd U
Type opening 32, one end of lateral push rod 2 by through the first U-shaped opening 31 and with the axle and branch of the lateral vertical direction of push rod 2
One end of support structure connector 3 is hinged, and supporting construction connector 3 can connect along the direction that lateral push rod 2 stretches around supporting construction
Fitting hinge arrangement 14 swings back and forth.Supporting construction upper arm 6 has the 3rd U-shaped to open close to one end of supporting construction connector 3
Mouthfuls 61, supporting construction upper arm 6 is by crossing openend and the axle parallel with lateral push rod 2 and the of the 3rd U-shaped opening 61
Two U-shaped openings 32 are hinged, and supporting construction upper arm 6 can swing and move with supporting construction connector 3；Supporting construction upper arm 6 leads to
The other end and the axle parallel with lateral push rod 2 crossed through the 3rd U-shaped opening 61 are hinged with supporting construction upper push-rod 5, branch
Support structure upper arm 6 can be lifted with the flexible of supporting construction upper push-rod 5；The middle part of supporting construction upper arm 6 sets ellipse
Circular hole 63, the both sides of the middle part in the hole 63 of supporting construction upper arm 6 are provided with a pair of the first mutually symmetrical with projections 64, branch
Support structure lower push-rod 11 is hinged by crossing the axle of a pair of first projections 64 with supporting construction upper arm 6, supporting construction lower push-rod 11
It can be swung with the lifting of supporting construction upper arm 6；One end of the remote supporting construction connector 3 of supporting construction upper arm 6 is provided with
4th U-shaped opening 62, supporting construction upper arm 6 is hinged by crossing the axle of the 4th U-shaped opening 62 with supporting construction underarm 13, support
Structure underarm 13 can be with the lifting of supporting construction upper arm 6 away from or close to ground.The size of 3rd U-shaped opening 61 is more than
4th U-shaped opening 62.Being located between driving wheel 4 and track rail assembly 7 for supporting construction underarm 13 is provided with a pair symmetrical second
Projection 131, supporting construction lower push-rod 11 is hinged by crossing the axle of two the second projections 131 with supporting construction underarm 13, support
Structure underarm 13 can be with the flexible of supporting construction lower push-rod 11 away from or close to ground.
A kind of use principle of specialized robot mobile platform of the present invention is：Equipment is in movement, such as Fig. 3, if run into
When crossing disconnected wall and irrigation canals and ditches, it can be deformed into four-footed mode and advance, supporting construction upper push-rod 5 extends, supporting construction upper arm 6 is leaned on
One end of nearly supporting construction connector 3 is moved to the direction away from ground, and supporting construction lower push-rod 11 extends, supporting construction underarm
13 is parallel to the ground, and track rail assembly 7 leaves ground, and driving wheel 4 is landed, and its upper side is integrally uprised, and is now moved by locked
Wheels 4, which contacts to earth, realizes support, can carry out gait traveling at a slow speed；
Such as Fig. 4, if run into paved road, power wheel 4 is unlocked, equipment is deformed into dynamic wheel traveling, four-footed with
The cooperation of dynamic wheel motion, equipment can realize compound motion pattern；
Such as Fig. 5, if run into sandstone, meadow, muddy road surface, equipment is deformed into caterpillar drive state, supporting construction
Push rod 5 is shunk, and one end of the close supporting construction connector 3 of supporting construction upper arm 6 is moved to the direction close to ground, support knot
Structure lower push-rod 11 shrinks, and supporting construction underarm 13 is parallel to the ground, and driving wheel 4 leaves ground, and track rail assembly 7 lands, in equipment
Portion is integrally forced down, and is landed driving by track rail assembly 7, and power wheel 4 drives track rail assembly driving wheel 10 by drive mechanism, realizes
Transmitted to the power of track rail assembly 7.
Embodiment of the present invention reserves expansion area, can install various functions module, such as multi-degree-of-freemechanical mechanical arm additional, for combination
Provided convenience as military robot and specialized robot.
By the way that with upper type, a kind of specialized robot mobile platform of the invention solves operation process using the method for support
The problem of balance of plant, power tool and chassis supporting structure synchronous adjustment, allow equipment to operate the thing for reaching own wt
Product, therefore equipment is free of counterweight, fully using lightweighting materials, equipment self-weight is only had tens kilograms, can be by two work
Personnel are delivered with draw-bar box, change the problem of currently marketed product weight is overweight to need special-purpose vehicle carrying, Er Qieneng
The ability to work of hundreds of kilograms of traditional robot equipment is met or exceeded, while equipment center of gravity can be reduced fully, is gone at a high speed
It can ensure that equipment is stable when entering；Using deformable structure, motion is carried out in fact by four-footed, power wheel, crawler belt compound motion system
Show an equipment multiple types of floors adaptability, operation function variation, and four-footed uses electric pushrod, with traditional hydraulic pressure system
Four-footed mode operation of uniting reduces energy consumption；Noise is low, is hidden under power tool, and device structure is deformable, possesses hidden entrance target position
Put, the ability that adjusting device and tool height carry out investigations with other operations.
Claims (10)
1. a kind of specialized robot mobile platform, it is characterised in that including vehicle body frame (1), the vehicle body frame (1) it is mutual
Respectively symmetrically provided with a pair of lateral push rods (2) on two parallel frames, the vehicle body frame (1) is connected with supporting construction below
Part, supporting construction part is also associated with crawler belt undercarriage,
Supporting construction part, including supporting construction connector (3), one end of the supporting construction connector (3) with it is described lateral
One end of push rod (2) is flexibly connected, and the frame side that the two other of the vehicle body frame (1) is parallel to each other is respectively fixed with one
To supporting construction connector hinge arrangement (14), one end of the supporting construction connector hinge arrangement (14) passes across the branch
On the centre of support structure connector (3), the other end and supporting construction of each supporting construction connector hinge arrangement (14)
One end of push rod (5) is hinged, and the other end of each supporting construction upper push-rod (5) is hinged with supporting construction upper arm (6), each
The one end of one end of the supporting construction upper arm (6) also with the remote lateral push rod (2) of the supporting construction connector (3)
It is flexibly connected, the middle part of each supporting construction upper arm (6) is flexibly connected with one end of supporting construction lower push-rod (11),
The one end of each supporting construction upper arm (6) away from the supporting construction upper push-rod (5) and the one of supporting construction underarm (13)
End is hinged, the one end of the supporting construction lower push-rod (11) away from the supporting construction upper arm (6) and the supporting construction underarm
(13) link, each one end of the supporting construction underarm (13) away from the supporting construction upper arm (6) is provided with driving wheel
(4),
The crawler belt undercarriage includes track rail assembly (7), and the track rail assembly (7) is arranged on each supporting construction underarm
(13) side away from the supporting construction lower push-rod (11), each driving wheel (4) is close to the one of the vehicle body frame (1)
Side is connected with track rail assembly driving wheel (10) by axle, and the track rail assembly driving wheel (10) passes through the supporting construction underarm
(13) close to one end of the driving wheel (4), it is driven that the track rail assembly driving wheel (10) is connected with track rail assembly by belt
Take turns (9).
2. a kind of specialized robot mobile platform as claimed in claim 1, it is characterised in that on the vehicle body frame (1) also
Remote monitoring part is connected with, the remote monitoring part includes white light shooting assembly (8) and feux rouges shooting assembly (12), described
White light shooting assembly (8) and feux rouges image assembly (12) be separately mounted to the vehicle body frame (1) and with the lateral push rod
(2) on two perpendicular frames.
3. a kind of specialized robot mobile platform as claimed in claim 1, it is characterised in that the lateral push rod (2), described
Supporting construction upper push-rod (5) and the supporting construction lower push-rod (11) are embedding with another blank pipe by buttress shaft
The Collapsible structure of set, the lateral push rod (2) can stretch along with the perpendicular direction of equipment direction of advance.
4. a kind of specialized robot mobile platform as described in claim 1 or 3, it is characterised in that the supporting construction can
The direction stretched along the lateral push rod (2) is remote or close to the vehicle body frame (1).
5. a kind of specialized robot mobile platform as described in claim 1 or 3, it is characterised in that the supporting construction connection
The two ends of part (3) are arranged with opposite the first U-shaped opening (31) and the second U-shaped opening (32) of opening direction, described laterally to push away
One end of bar (2) is hinged by the axle and one end of the supporting construction connector (3) for crossing first U-shaped opening (31),
The direction that the supporting construction connector (3) can stretch along the lateral push rod (2) is around the supporting construction connector hinge
Structure (14) swings back and forth.
6. a kind of specialized robot mobile platform as claimed in claim 5, it is characterised in that the supporting construction upper arm (6)
The 3rd U-shaped opening (61) is provided with close to one end of the supporting construction connector (3), the supporting construction upper arm (6) passes through horizontal stroke
Wear the axle of the openend of the 3rd U-shaped opening (61) and the second U-shaped opening (32) hinge of the supporting construction connector (3)
Connect, the supporting construction upper arm (6) can move with the swing of the supporting construction connector (3)；In the supporting construction
Arm (6) is hinged by crossing the axle of the other end of the 3rd U-shaped opening (61) with the supporting construction upper push-rod (5), described
Supporting construction upper arm (6) can be lifted with the flexible of the supporting construction upper push-rod (5)；The supporting construction upper arm (6)
Middle part is provided with the hole (63) of ellipse, and the middle part of hole (63) both sides of the supporting construction upper arm (6) is provided with one
To mutually symmetrical with first raised (64), the supporting construction lower push-rod (11) is by crossing first raised (64) described in a pair
Axle is hinged with the supporting construction upper arm (6), and the supporting construction lower push-rod (11) can be with the supporting construction upper arm (6)
Lift and swing；U-shaped opened provided with the 4th one end of the remote supporting construction connector (3) of the supporting construction upper arm (6)
Mouthful (62), the supporting construction upper arm (6) is by crossing the axle and the supporting construction underarm of the 4th U-shaped opening (62)
(13) be hinged, the supporting construction underarm (13) can with the lifting of the supporting construction upper arm (6) away from or closely
Face.
7. a kind of specialized robot mobile platform as claimed in claim 6, it is characterised in that the 3rd U-shaped opening (61)
Size be more than the 4th U-shaped opening (62).
8. a kind of specialized robot mobile platform as described in claim 1 or 3, it is characterised in that the supporting construction underarm
(13) on and positioned between the driving wheel (4) and the track rail assembly (7) provided with a pair of symmetrical second projections
(131), under axle and the supporting construction of the supporting construction lower push-rod (11) by crossing two described second raised (131)
Arm (13) is hinged, and the supporting construction underarm (13) can be remote with stretching for the supporting construction lower push-rod (11) or leaned on
It is near the ground.
9. a kind of specialized robot mobile platform as claimed in claim 1, it is characterised in that the track rail assembly driving wheel
(10) it is located on the driving wheel (4) and close to the side of the supporting construction lower push-rod (11).
10. a kind of specialized robot mobile platform as claimed in claim 1, it is characterised in that the driving wheel (4) is wheel hub
Motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710380882.2A CN107176224A (en) | 2017-05-25 | 2017-05-25 | A kind of specialized robot mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710380882.2A CN107176224A (en) | 2017-05-25 | 2017-05-25 | A kind of specialized robot mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107176224A true CN107176224A (en) | 2017-09-19 |
Family
ID=59831774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710380882.2A Withdrawn CN107176224A (en) | 2017-05-25 | 2017-05-25 | A kind of specialized robot mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107176224A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111688835A (en) * | 2020-06-12 | 2020-09-22 | 行星算力(深圳)科技有限公司 | Carrying robot |
-
2017
- 2017-05-25 CN CN201710380882.2A patent/CN107176224A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111688835A (en) * | 2020-06-12 | 2020-09-22 | 行星算力(深圳)科技有限公司 | Carrying robot |
| CN111688835B (en) * | 2020-06-12 | 2023-09-15 | 行星算力(深圳)科技有限公司 | Carrying robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ye Hong Inventor after: Long Lin Inventor after: Liu Yezhou Inventor before: Ye Hong |
|
| CB03 | Change of inventor or designer information | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170919 |
|
| WW01 | Invention patent application withdrawn after publication |