CN108583727A - A kind of full landform rescue Disaster Relief Robot - Google Patents
A kind of full landform rescue Disaster Relief Robot Download PDFInfo
- Publication number
- CN108583727A CN108583727A CN201810497952.7A CN201810497952A CN108583727A CN 108583727 A CN108583727 A CN 108583727A CN 201810497952 A CN201810497952 A CN 201810497952A CN 108583727 A CN108583727 A CN 108583727A
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- fuselage
- robot
- disaster relief
- full landform
- rescues
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- 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.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000031872 Body Remains Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
- B60K17/165—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing provided between independent half axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology field, especially a kind of full landform rescues Disaster Relief Robot, including fuselage main body, walking mechanism, switching mechanism and mechanical arm, the fuselage main body include fuselage upper body and fuselage chassis；The walking mechanism includes two trident star vehicle frames, two trident star vehicle frames are mounted on the both sides of fuselage upper body by two connection semiaxis, differential mechanism is installed, three wooden fork branch ends of the trident star vehicle frame are separately installed with independent drive hub between described two connection semiaxis；The switching mechanism includes lifting motor, two hydraulic legs and transmission shaft, the lifting motor is mounted in fuselage chassis, first transmission gear is installed on the output shaft of the lifting motor, the annular gear wheel engaged with first transmission gear is installed on the transmission shaft, two hydraulic legs are symmetrically mounted on the both ends of transmission shaft, the present invention can solve the problems, such as existing Disaster Relief Robot to climb obstacle climbing ability is weak, narrow zone turn to it is difficult, complicated landform environment can not be adapted to.
Description
Technical field
The present invention relates to robotic technology field, specific field is a kind of full landform rescue Disaster Relief Robot.
Background technology
All over the world, due to natural calamity, terrorist activity and various burst accidents etc., disaster frequent occurrence,
In disaster relief, rescue personnel needs the looking for survivors in the ruins collapsed as early as possible, currently, in most cases or by rescuing
Shield personnel carry out a line rescue, but are destroying serious disaster scene, and conventional large-scale rescue machinery is difficult in disaster the first
Between rescue is unfolded, and due to a varied topography and catastrophic destruction, disaster relief scene also results in the life security of rescue personnel huge
Big threat, at this point, Disaster Relief Robot can be to provide help for rescue personnel.
Existing Disaster Relief Robot, generally have bear a heavy burden it is larger when low running speed, encounter muddy terrain be easy skid and
The problems such as difficulty of standing up after overturning, is easy to delay the prime time of the disaster relief, influences disaster relief efficiency.
Invention content
The purpose of the present invention is to provide a kind of full landform to rescue Disaster Relief Robot, is climbed obstacle detouring with solving Disaster Relief Robot
Ability is weak, narrow zone turns to difficulty, can not adapt to the problem of complicated landform environment.
To achieve the above object, the present invention provides the following technical solutions：A kind of full landform rescue Disaster Relief Robot, including machine
Body main body, walking mechanism, switching mechanism and mechanical arm, the fuselage main body include fuselage upper body and fuselage chassis；The row
It includes two trident star vehicle frames to walk mechanism, and two trident star vehicle frames are mounted on the both sides of fuselage upper body by two connection semiaxis,
Differential mechanism is installed, three wooden fork branch ends of the trident star vehicle frame are separately installed with independent drive between described two connection semiaxis
Runner hub；The switching mechanism includes lifting motor, two hydraulic legs and transmission shaft, and the lifting motor is mounted on fuselage bottom
In disk, the first transmission gear is installed on the output shaft of the lifting motor, is equipped on the transmission shaft and is passed with described first
The annular gear wheel of moving gear engagement, two hydraulic legs are symmetrically mounted on the both ends of transmission shaft.
Preferably, further include swing mechanism, the swing mechanism includes turning motor, rotary teeth wheel disc, the revolution electricity
Machine is installed on fuselage chassis, and the output shaft of the turning motor upward and is equipped with the second transmission gear, second turning gear
Wheel is engaged with rotary teeth wheel disc, and the rotary teeth wheel disc is fixedly connected with the shell of the differential mechanism.
Preferably, the differential mechanism is made of four bevel gears, left and right two bevel gears respectively with connect semiaxis phase
Even, other two bevel gear is then clipped among the bevel gear of left and right two and is fixedly connected with the shell of differential mechanism, four umbrellas
Shape gear joint is buckled together.
Preferably, further include be mounted on inside fuselage main body for detecting the high-precision of car body stationarity and inclination angle size
Spend gyroscope apparatus.
Preferably, the mechanical arm is mounted on the shell of robot, and the mechanical arm is that can be transported along X, Y, Z-direction
The hydraulic manipulator with 6 degree of freedom that is dynamic, and being rotated around X, Y, Z.
Preferably, returning apparatus has high-definition camera, life-detection instrument, infrared sensor, GPS positioning and telecommunication dress
It sets.
Compared with prior art, the beneficial effects of the invention are as follows：1. robot is cross-country good by performance.Trident star structure adds
Upper wheel hub motor can allow robot that there is stronger driving capability, the hydraulic pressure support structure of bottom robot can be allowed easily to turn over
Obstacle-overpass object；2. can be with pivot stud, speed is fast, can be by pivot stud work(when robot is stuck in a narrow corners
It can allow and oneself change direction, avoid car body inconvenient walking；3. mechanical arm can help the wounded, crawl thing, move it is broken
Stone, it includes water, first-aid article etc. to help the wounded delivering article；4. robot device has high-definition camera, life to visit
Instrument, infrared sensor, GPS positioning and telecommunications functions are surveyed, convenient for expansion rescue action, telecommunications functions can instruct to hinder
Person implements to save oneself, convenient for finding indicator of trapped personnel faster.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the part-structure schematic diagram of the present invention.
In figure：1 trident star vehicle frame, 2 mechanical arms, 3 hydraulic legs, 4 connection semiaxis, 5 differential mechanisms, 6 lifting motors, 7 pass
Moving axis, 8 annular gear wheels, 9 turning motors, 10 toothed discs.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of full landform rescue Disaster Relief Robot, including fuselage
Main body, walking mechanism, switching mechanism and mechanical arm 2, robot architecture is lightly simple, and vehicle body overall dimensions are 2.2*3*
1.5m, light and handy structure design can allow robot to have faster speed, the rescue wounded to race against time, and fuselage main body is using high
Intensity aviation aluminum alloy material, including fuselage upper body and fuselage chassis；Walking mechanism include two trident star vehicle frames 1, two three
The both sides that star vehicle frame 1 is mounted on fuselage upper body by two connection semiaxis 4 are pitched, differential mechanism is installed between two connection semiaxis 4
5, three wooden fork branch ends of trident star vehicle frame 1 are separately installed with independent drive hub, and the motor in each wheel hub carries out wheel hub
Independent driving, eliminates transmission system, alleviates the overall weight of robot, in addition wheel hub motor independence drive mode, can be with
The bearing capacity of robot is improved, the maximum power of single wheel hub motor can reach 7.5kw so that robot bears a heavy burden in maximum
Under state, the travel speed not less than 60km/h is realized, in addition each wheel has the ability independently driven, can also solve
Robot is the problem of muddy terrain is easy to skid；Switching mechanism includes 6, two hydraulic legs 3 of lifting motor and transmission shaft 7,
Lifting motor 6 is mounted in fuselage chassis, and the first transmission gear is equipped on the output shaft of lifting motor 6, is installed on transmission shaft 7
There are the annular gear wheel 8 engaged with the first transmission gear, two hydraulic legs 3 to be symmetrically mounted on the both ends of transmission shaft 7, in order to solve
The problem of robot overturning is stood up, six wheel hubs are distributed in robot both sides and are triangularly arranged, and can ensure that robot exists
Any direction when falling down can four-wheel land support, when climb very steep slopes, two stretchings of hydraulic legs 3 can lift robot,
So that robot is toppled overturning, is moved on as main drive wheel using hanging driving wheel.
Specifically, when robot needs throwing over barrier, start lifting motor 6, the first drive gears move cogged
Rotation, annular gear wheel 8 are fixedly connected with transmission shaft 7, and transmission shaft 7 rotates the angle for the hydraulic leg 3 that can adjust both ends, works as liquid
When the angle of pressure supporting leg 3 is adjusted to suitable position, hydraulic leg 3 extend out to ground, props robot, is turned over auxiliary robot
Turn.
Further, a kind of full landform rescue Disaster Relief Robot provided by the invention further includes swing mechanism, swing mechanism
Including turning motor 9, rotary teeth wheel disc 10, turning motor 9 is installed on fuselage chassis, and the output shaft of turning motor 9 upward and is pacified
Equipped with the second transmission gear, the second rotate gear is engaged with rotary teeth wheel disc 10, and rotary teeth wheel disc 10 and the shell of differential mechanism 5 are solid
Fixed connection, specifically, differential mechanism 5 is made of four bevel gears, two bevel gears in left and right respectively with connect semiaxis 4 connected,
Other two bevel gear is then clipped among the bevel gear of left and right two and is fixedly connected with the shell of differential mechanism 5, four umbrella shapes
Gear joint is buckled together, and the setting of swing mechanism is walked in tang for the ease of robot, when robot rotates in place,
Start turning motor 9, the second transmission gear drives swiveling gear disk 10 to rotate, and rotary teeth wheel disc 10 is with mobile robot entirety original place
Rotation, greatly reduces the radius of turn of robot.
Further, since complicated disaster environment can limit the movement of robot, to robot platform
Stability have very high requirement, in order to solve this problem, high accuracy gyroscope instrument equipment is installed in robot interior, with inspection
Measuring car body stationarity and inclination angle size in movement and were climbed since trident prong frame 1 is rotatably coupled with semiaxis 4 is connect
Cheng Zhong, fuselage main body is as no wheel lands and rotates, during rescue robot is mobile and climbs, by judging back
The size of electric current in rotating motor 9, power compensation is carried out by control algolithm, is applied reverse actuating force to turning motor 9, is overcome machine
Body whereabouts gravity, enables fuselage main body remain at plateau.
In addition the differential mechanism 5 that 4 junction of semiaxis is connected at two, when there is whereabouts trend in robot unstability, in-built electrical
Driving is connect the bevel type gear that semiaxis 4 connects with two and rotated by machine, is forced other two bevel type gear to generate rotation, is made
Side connects semiaxis faster rotational speed, and the other side connects semiaxis spin down, prevents robot fuselage from falling using reaction force, real
The function of existing robot balance.
Preferably, mechanical arm 2 be mounted on robot shell on, mechanical arm 2 be can be moved along X, Y, Z-direction, and
The hydraulic manipulator with 6 degree of freedom that can be rotated around X, Y, Z, when encountering the wounded, the machinery of device in robot
Arm can help the wounded, and crawl thing moves rubble, and it includes water, first-aid object to help the wounded delivering article
Product etc., the mechanical arm 2 of 6 degree of freedom, convenient for putting operation to good use in narrow space.
Preferably, a kind of full landform rescue Disaster Relief Robot returning apparatus provided by the invention has high-definition camera, life to visit
Instrument, infrared sensor, GPS positioning and remote communication devices are surveyed, convenient for expansion rescue action, telecommunications functions can instruct to hinder
Person implements to save oneself, convenient for finding indicator of trapped personnel faster；This robot can also put into battlefield, carrying arms, remove explosive,
Give treatment to the wounded.
Further, fuselage interior be also equipped with accumulator etc. control parts, for drive control mechanical arm 2,
Turning motor 9 and lifting motor 6 etc., the setting and connection of accumulator belong to the prior art, and details are not described herein again.
A kind of full landform provided by the invention rescues Disaster Relief Robot, is independently driven using trident star structure and wheel hub motor
Dynamic, the hydraulic leg of bottom can allow the light throwing over barrier of robot, and robot is made to have good cross-country ability, in addition this
The robot that invention provides can be with pivot stud, and speed is fast, can pass through original when robot is stuck in a narrow corners
Ground turning function changes direction by oneself, avoids car body inconvenient walking.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of full landform rescues Disaster Relief Robot, including fuselage main body, walking mechanism, switching mechanism and mechanical arm (2),
It is characterized in that：The fuselage main body includes fuselage upper body and fuselage chassis；The walking mechanism includes two trident star vehicle frames
(1), two trident star vehicle frames (1) are mounted on the both sides of fuselage upper body, described two connection semiaxis by two connection semiaxis (4)
(4) differential mechanism (5) is installed, three wooden fork branch ends of the trident star vehicle frame (1) are separately installed with independent drive hub between；
The switching mechanism includes lifting motor (6), two hydraulic legs (3) and transmission shaft (7), and the lifting motor (6) is mounted on
In fuselage chassis, the first transmission gear is installed on the output shaft of the lifting motor (6), is equipped on the transmission shaft (7)
The annular gear wheel (8) engaged with first transmission gear, two hydraulic legs (3) are symmetrically mounted on the both ends of transmission shaft (7).
2. a kind of full landform according to claim 1 rescues Disaster Relief Robot, it is characterised in that：Further include swing mechanism,
The swing mechanism includes turning motor (9), rotary teeth wheel disc (10), and the turning motor (9) is installed on fuselage chassis, described
The output shaft of turning motor (9) upward and is equipped with the second transmission gear, second rotate gear and rotary teeth wheel disc (10)
Engagement, the rotary teeth wheel disc (10) are fixedly connected with the shell of the differential mechanism (5).
3. a kind of full landform according to claim 2 rescues Disaster Relief Robot, it is characterised in that：The differential mechanism (5) by
Four bevel gears composition, two bevel gears in left and right respectively with connect semiaxis (4) connected, other two bevel gear is then clipped in
It is fixedly connected among the bevel gear of left and right two and with the shell of differential mechanism (5), four bevel gear conjunctions are buckled together.
4. a kind of full landform according to claim 1 rescues Disaster Relief Robot, it is characterised in that：Further include being mounted on fuselage
The high accuracy gyroscope instrument equipment for detecting car body stationarity and inclination angle size of body interior.
5. a kind of full landform according to claim 1 rescues Disaster Relief Robot, it is characterised in that：The mechanical arm (2)
On the shell of robot, the mechanical arm (2) is that can be moved along X, Y, Z-direction, and can have around what X, Y, Z rotated
The hydraulic manipulator of 6 degree of freedom.
6. a kind of full landform according to claim 1 rescues Disaster Relief Robot, it is characterised in that：Returning apparatus has high-definition camera
Machine, life-detection instrument, infrared sensor, GPS positioning and remote communication devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497952.7A CN108583727A (en) | 2018-05-23 | 2018-05-23 | A kind of full landform rescue Disaster Relief Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497952.7A CN108583727A (en) | 2018-05-23 | 2018-05-23 | A kind of full landform rescue Disaster Relief Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583727A true CN108583727A (en) | 2018-09-28 |
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ID=63632650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810497952.7A Pending CN108583727A (en) | 2018-05-23 | 2018-05-23 | A kind of full landform rescue Disaster Relief Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583727A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109509320A (en) * | 2018-12-25 | 2019-03-22 | 国网河南省电力公司平顶山供电公司 | A kind of substation's fire alarm crusing robot |
| CN112850541A (en) * | 2021-02-03 | 2021-05-28 | 陈火平 | Mechanical equipment hoisting device |
| GB2592405A (en) * | 2020-02-27 | 2021-09-01 | Dyson Technology Ltd | Robotic device with tri-star wheels and actuated arm |
| US20230322072A1 (en) * | 2019-10-30 | 2023-10-12 | Oshkosh Corporation | Systems and methods for vehicle suspensions |
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| CN105905178A (en) * | 2016-05-06 | 2016-08-31 | 吉林大学 | Multifunctional obstacle crossing robot |
| CN206317908U (en) * | 2016-08-30 | 2017-07-11 | 梅州市鑫荣达挂车制造有限公司 | A kind of Multifunctional container transports framework semi-trailer |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN208248337U (en) * | 2018-05-23 | 2018-12-18 | 江苏集萃智能制造技术研究所有限公司 | A kind of full landform rescue Disaster Relief Robot |
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2018
- 2018-05-23 CN CN201810497952.7A patent/CN108583727A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905178A (en) * | 2016-05-06 | 2016-08-31 | 吉林大学 | Multifunctional obstacle crossing robot |
| CN206317908U (en) * | 2016-08-30 | 2017-07-11 | 梅州市鑫荣达挂车制造有限公司 | A kind of Multifunctional container transports framework semi-trailer |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN208248337U (en) * | 2018-05-23 | 2018-12-18 | 江苏集萃智能制造技术研究所有限公司 | A kind of full landform rescue Disaster Relief Robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109509320A (en) * | 2018-12-25 | 2019-03-22 | 国网河南省电力公司平顶山供电公司 | A kind of substation's fire alarm crusing robot |
| US20230322072A1 (en) * | 2019-10-30 | 2023-10-12 | Oshkosh Corporation | Systems and methods for vehicle suspensions |
| US12005777B2 (en) * | 2019-10-30 | 2024-06-11 | Oshkosh Corporation | Systems and methods for vehicle suspensions |
| GB2592405A (en) * | 2020-02-27 | 2021-09-01 | Dyson Technology Ltd | Robotic device with tri-star wheels and actuated arm |
| WO2021170979A1 (en) * | 2020-02-27 | 2021-09-02 | Dyson Technology Limited | Robotic device with tri-star wheels and actuated arm and method of navigating a surface with a robotic device |
| GB2592405B (en) * | 2020-02-27 | 2022-08-31 | Dyson Technology Ltd | Robotic device with tri-star wheels and actuated arm |
| CN115151175A (en) * | 2020-02-27 | 2022-10-04 | 戴森技术有限公司 | Robotic device with tri-star wheel and actuator arm and method of navigating a surface with a robotic device |
| CN112850541A (en) * | 2021-02-03 | 2021-05-28 | 陈火平 | Mechanical equipment hoisting device |
| CN112850541B (en) * | 2021-02-03 | 2022-10-25 | 陈火平 | Mechanical equipment hoisting device |
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Application publication date: 20180928 |