CN110171502A - A kind of Zu Lv robot - Google Patents
A kind of Zu Lv robot Download PDFInfo
- Publication number
- CN110171502A CN110171502A CN201910455500.7A CN201910455500A CN110171502A CN 110171502 A CN110171502 A CN 110171502A CN 201910455500 A CN201910455500 A CN 201910455500A CN 110171502 A CN110171502 A CN 110171502A
- Authority
- CN
- China
- Prior art keywords
- driving motor
- wheel
- robot
- toes
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Zu Lv robots, belong to walking robot technical field comprising fuselage, Information Control Service reason device, Athey wheel, the first driving motor, the second driving motor, running gear, camera and level meter；Camera and level meter are electrically connected with Information Control Service reason device；Running gear and Athey wheel are arranged at the two sides of fuselage, and crawler belt is arranged on Athey wheel, first driving motor and running gear are sequentially connected, and the second driving motor and Athey wheel are sequentially connected, and the first driving motor and the second driving motor are electrically connected with Information Control Service reason device.The Zu Lv robot can convert the mode of its walking according to surface conditions, such as: the mode that crawler travel can be transformed on level road is advanced, the mode that running gear walking can be transformed on uneven hill path or the road for having barrier is advanced, to effectively improve the obstacle detouring and walking ability of the Zu Lv robot, keep the scope of application of the Zu Lv robot more extensive.
Description
Technical field
The present invention relates to walking robot technical fields, in particular to a kind of Zu Lv robot.
Background technique
With the development of mechanical technology, more and more seasonable Dai Ersheng of robot；But the driving side of existing robot
Formula is mostly wheeled, crawler type, sufficient formula, takes turns and carries out convolution, and the research that sufficient formula is combined with crawler type is still less, and sufficient formula machine
People walking it is unhappy, caterpillar robot obstacle-overpass ability again it is not all right, make the walking of robot will receive road constraint and can not be just
Often carry out；Therefore it provides a kind of robot that can change walking manner according to road conditions, be those skilled in the art urgently
The technical issues of solution.
Summary of the invention
The present invention provides a kind of Zu Lv robots, it is intended to improve existing robot when walking and will receive the feelings of road
The influence of condition and the technical issues of cause it can not work normally.
The present invention is implemented as follows:
A kind of Zu Lv robot, including fuselage, Information Control Service reason device, Athey wheel, the first driving motor, the second driving electricity
Machine, running gear, camera and level meter；Wherein,
The camera, the level meter and Information Control Service reason device are arranged on the fuselage, and described are taken the photograph
As head and the level meter are electrically connected with Information Control Service reason device；The running gear and the Athey wheel are arranged at
The two sides of the fuselage, and crawler belt is arranged on the Athey wheel, first driving motor and running gear transmission connect
It connects, second driving motor and the Athey wheel are sequentially connected, and first driving motor and the second driving motor are and institute
State Information Control Service reason device electrical connection.
In order to preferably realize the present invention, make further optimization in said structure, the running gear includes machinery
Leg and transmission shaft, first driving motor are sequentially connected by the transmission shaft and the pedipulator.
In order to preferably realize the present invention, make further optimization in said structure, the pedipulator includes thigh, small
One end of leg and the first telescopic rod, the thigh is arranged on the transmission shaft, and the other end of the thigh and the shank are cut with scissors
It connects, the both ends of first telescopic rod are hinged with the thigh and the shank respectively.
In order to preferably realize the present invention, make further optimization in said structure, the pedipulator further includes toes
With the second telescopic rod, the toes are hinged on the one end of the shank far from the thigh, and the both ends of second telescopic rod
It is hinged with the toes and the shank respectively.
In order to preferably realize the present invention, make further optimization in said structure, the toes are two groups, and two groups
The toes are separately positioned on the two sides in the direction that moves forward and backward of the shank end.
In order to preferably realize the present invention, make further optimization in said structure, the quantity of toes described in every group is
Angle between two, and same group two toes is greater than 0 °, and less than 90 °.
In order to preferably realize the present invention, make further optimization in said structure, the bottom of the toes is provided with
For detecting the sufficient end sensor of pavement behavior, the foot end sensor is electrically connected with Information Control Service reason device.
In order to preferably realize the present invention, make further optimization in said structure, the Athey wheel include driving wheel,
Inducer and bogie wheel, the driving wheel and second driving motor are sequentially connected, and the crawler belt is wound around the driving wheel
On the bogie wheel, the medial surface of the inducer and the crawler belt is tangent.
In order to preferably realize the present invention, make further optimization, the driving wheel, the inducer in said structure
The setting rotated with the bogie wheel is on the transmission shaft.
In order to preferably realize the present invention, makees further optimization in said structure, rotated on the side wall of the fuselage
Several back-up roller wheels are provided with, medial surface of the back-up roller wheel with the crawler belt close to ground side is tangent.
The present invention has following technical effect that
The Zu Lv robot can convert the mode of its walking according to surface conditions, such as: it can be transformed on level road
The mode of crawler travel is advanced, and the side of running gear walking can be transformed on uneven hill path or the road for having barrier
Formula is advanced, to effectively improve the obstacle detouring and walking ability of the Zu Lv robot, makes the scope of application of the Zu Lv robot more
What is added is extensive.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of Zu Lv robot of the present invention；
Fig. 2 is a kind of schematic diagram of internal structure of Zu Lv robot of the present invention；
Fig. 3 is the structural schematic diagram of pedipulator in a kind of Zu Lv robot of the present invention.
Icon: 101- fuselage；The first driving motor of 102a-；The second driving motor of 102b-；103- camera；104- is horizontal
Instrument；105- transmission shaft；106a- thigh；106b- shank；106c- toes；The first telescopic rod of 107a-；The second telescopic rod of 107b-；
108a- driving wheel；108b- inducer；108c- bogie wheel；109- crawler belt.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without making creative work, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment 1, referring to figs. 1 to shown in Fig. 3,
A kind of Zu Lv robot, including fuselage 101, Information Control Service reason device, Athey wheel, the first driving motor 102a, the
Two driving motor 102b, running gear, camera 103 and level meter 104；Wherein,
Camera 103, level meter 104 and Information Control Service reason device are arranged on fuselage 101, and camera 103 and water
Level 104 is electrically connected with Information Control Service reason device；
Running gear and Athey wheel are arranged at the two sides of fuselage 101, and crawler belt 109 is arranged on Athey wheel, and first drives
Dynamic motor 102a and running gear are sequentially connected, and the second driving motor 102b and Athey wheel are sequentially connected, the first driving motor
102a and the second driving motor 102b is electrically connected with Information Control Service reason device.
By a kind of Zu Lv robot of above structure, walking manner can be converted according to surface conditions, be somebody's turn to do with improving
The ability of Zu Lv robot obstacle-overpass；
At work, the Zu Lv robot can be used to transport substance in staff, and the Zu Lv robot is in road surface row
When walking, camera 103 and level meter 104 on fuselage 101 are able to detect that the situation on road surface, and are controlled by information
Processor judges mobile mode；When surface conditions are relatively flat, Information Control Service reason device will control the second driving electricity
Machine 102b rotation drives crawler belt 109 to act, to allow the Zu Lv robot on level road by the second driving motor 102b
It is mobile with faster speed；
When on fuselage 101 camera 103 and level meter 104 detect on road surface have barrier, make the foot shoe machine
When the mode that device people is not available crawler belt advance moves on, the first driving motor 102a will drive running gear, make to walk
Device band action spot is carried out robot throwing over barrier and is moved on, to improve the efficiency that the Zu Lv robot transports substance.
Optimization, which includes pedipulator and transmission shaft 105, and the first driving motor 102a passes through transmission shaft 105
It is sequentially connected with pedipulator；When the Zu Lv robot is advanced using crawler belt 109, first driving motor 102a passes through transmission shaft
105 control pedipulators make one end of pedipulator and ground face contact turn to the top of body, avoid pedipulator and ground face contact,
And the case where causing the Zu Lv robot not advance normally；When the Zu Lv robot needs to advance using running gear
When, the first driving motor 102a will drive pedipulator by transmission shaft 105, and manage device by Information Control Service and calculate every
The motion information of pedipulator, so that lifting or falling for pedipulator is controlled, to complete the walking of the Zu Lv robot.
Preferably, which includes thigh 106a, shank 106b and the first telescopic rod 107a；Wherein,
One end of thigh 106a is connect with transmission shaft 105, and the other end and shank 106b of thigh 106a is hinged, and first stretches
The both ends of contracting bar 107a are hinged with thigh 106a and shank 106b respectively, and flexible by the first telescopic rod 107a just can be realized
The variation of angle between thigh 106a and shank 106b, so that the pedipulator be enable to complete the walking of the Zu Lv robot.
It is furthermore preferred that the pedipulator further includes toes 106c and the second telescopic rod 107b, toes 106c is hinged on shank
The one end of 106b far from thigh 106a, the both ends of the second telescopic rod 107b are hinged with shank 106b and toes 106c respectively；Toes
The setting of 106c makes the Zu Lv robot can adapt to various road surfaces, more steady when walking, and toes 106c and shank
Angle between 106b can be changed by the second the flexible of telescopic rod 107b, to make the walking of the Zu Lv robot more
The convenience added.
Optimization, above-mentioned the first telescopic rod 107a and the second telescopic rod 107b is hydraulic stem, in Zu Lv robot
It is provided with hydraulic device in fuselage 101, which stretches with Information Control Service reason device, the first telescopic rod 107a and second respectively
The 107b connection of contracting bar, Information Control Service reason device realize the first telescopic rod 107a's and the second telescopic rod 107b by hydraulic device
It is flexible, so that the variation of the angle between thigh 106a and shank 106b and shank 106b and toes 106c is realized, to make
The mobile enhanced convenience of the Zu Lv robot.
Optimization, above-mentioned toes 106c has two groups, and two groups of toes 106c are separately positioned on the front and rear sides of shank 106b,
The walking of Shi Zulv robot is more steady.
Preferably, the quantity of every group of toes 106c is two, and the angle between two toes 106c is greater than O °, is less than
90°；The setting of the structure can effectively increase the stability of Zu Lv robot when walking, make the walking of the Zu Lv robot
It is more steady.
Optimization, sufficient end sensor is arranged in the bottom of toes 106c, and the foot end sensor and above-mentioned Information Control Service are managed
Device electrical connection；The foot end sensor cooperates the judgement road surface shape that above-mentioned camera 103 and level meter 104 can be more accurate
State, to make the walking enhanced convenience of the Zu Lv robot.
Embodiment 2 referring to figs. 1 to shown in Fig. 3,
1 phase of technical effect and embodiment of Zu Lv robot provided by the embodiment of the present invention, realization principle and generation
Together, to briefly describe, the present embodiment does not refer to place, can refer to corresponding contents in embodiment 1.
The device obtained by above-mentioned design has been able to satisfy the use of the Zu Lv robot substantially, but in line with further perfect
The objective of its function, designer have carried out further improvement to the device.
Above-mentioned Athey wheel includes driving wheel 108a, inducer 108b and bogie wheel 108c, driving wheel 108a and second
Driving motor 102b transmission connection, above-mentioned crawler belt 109 surrounds on driving wheel 108a and bogie wheel 108c, and inducer 108b
It is then tangent with the medial surface of crawler belt 109；When the Zu Lv robot needs to advance by crawler belt 109, the second driving motor 102b
Driving wheel 108a rotation is driven, driving wheel 108a drives crawler belt 109 to rotate, to make the Zu Lv robot can be on level road
Walking.
Optimization, the setting that driving wheel 108a, inducer 108b and bogie wheel 108c are rotated on transmission shaft 105,
Keep the structure of the Zu Lv robot more compact.
Optimization, several back-up roller wheels are provided on the side wall of fuselage 101, the back-up roller wheel and crawler belt 109 are closely
The medial surface of the side in face is tangent；The support wheel can make crawler belt 109 and being bonded for ground more close, avoid crawler belt 109
With ground there is a situation where skidding, to keep the Zu Lv robot more stable when advancing.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Zu Lv robot, it is characterised in that: including fuselage, Information Control Service reason device, Athey wheel, the first driving motor,
Second driving motor, running gear, camera and level meter；Wherein,
The camera, the level meter and Information Control Service reason device are arranged on the fuselage, and the camera
It is electrically connected with Information Control Service reason device with the level meter；
The running gear and the Athey wheel are arranged at the two sides of the fuselage, and are arranged with crawler belt on the Athey wheel,
First driving motor and the running gear are sequentially connected, and second driving motor and the Athey wheel are sequentially connected,
First driving motor and the second driving motor are electrically connected with Information Control Service reason device.
2. Zu Lv robot according to claim 1, it is characterised in that: the running gear includes pedipulator and transmission
Axis, first driving motor are sequentially connected by the transmission shaft and the pedipulator.
3. Zu Lv robot according to claim 2, it is characterised in that: the pedipulator includes thigh, shank and first
Telescopic rod, one end of the thigh are arranged on the transmission shaft, and the other end of the thigh and the shank are hinged, and described the
The both ends of one telescopic rod are hinged with the thigh and the shank respectively.
4. Zu Lv robot according to claim 3, it is characterised in that: the pedipulator further includes that toes and second are flexible
Bar, the toes are hinged on the one end of the shank far from the thigh, and the both ends of second telescopic rod respectively with it is described
Toes and the shank are hinged.
5. Zu Lv robot according to claim 4, it is characterised in that: the toes are two groups, and toes described in two groups
It is separately positioned on the two sides in the direction that moves forward and backward of the shank end.
6. Zu Lv robot according to claim 5, it is characterised in that: the quantity of toes described in every group is two, and same
Angle between one group of two toes is greater than 0 °, and less than 90 °.
7. Zu Lv robot according to claim 6, it is characterised in that: the bottom of the toes is provided with for detecting road
The sufficient end sensor of planar condition, the foot end sensor are electrically connected with Information Control Service reason device.
8. the Zu Lv robot according to any one of claim 2-7, it is characterised in that: the Athey wheel includes driving
Wheel, inducer and bogie wheel, the driving wheel and second driving motor are sequentially connected, and the crawler belt is wound around the driving
On wheel and the bogie wheel, the medial surface of the inducer and the crawler belt is tangent.
9. Zu Lv robot according to claim 8, it is characterised in that: the driving wheel, the inducer and described negative
The setting that roller rotates is on the transmission shaft.
10. Zu Lv robot according to claim 9, it is characterised in that: if rotation is provided on the side wall of the fuselage
Dry back-up roller wheel, medial surface of the back-up roller wheel with the crawler belt close to ground side are tangent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910455500.7A CN110171502B (en) | 2019-05-29 | 2019-05-29 | Foot-tracked robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910455500.7A CN110171502B (en) | 2019-05-29 | 2019-05-29 | Foot-tracked robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110171502A true CN110171502A (en) | 2019-08-27 |
| CN110171502B CN110171502B (en) | 2021-10-29 |
Family
ID=67696039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910455500.7A Active CN110171502B (en) | 2019-05-29 | 2019-05-29 | Foot-tracked robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110171502B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135148A1 (en) * | 2019-12-31 | 2021-07-08 | 浙江大学 | Multi-motion mode wheel-track-leg composite robot |
| CN114475831A (en) * | 2022-01-24 | 2022-05-13 | 北京理工大学 | Foot-type multi-mode bionic robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015081013A1 (en) * | 2013-11-26 | 2015-06-04 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
| CN104773224A (en) * | 2015-04-27 | 2015-07-15 | 长春理工大学 | All-around multifunctional climbing robot |
| CN105216903A (en) * | 2015-10-09 | 2016-01-06 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
| CN108725612A (en) * | 2018-07-18 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom multi-function robot |
| CN108974171A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of intelligence walking robot |
| CN208344376U (en) * | 2018-03-29 | 2019-01-08 | 哈尔滨理工大学 | A kind of legged type robot list leg device for mining area surface inspection |
-
2019
- 2019-05-29 CN CN201910455500.7A patent/CN110171502B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015081013A1 (en) * | 2013-11-26 | 2015-06-04 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
| CN104773224A (en) * | 2015-04-27 | 2015-07-15 | 长春理工大学 | All-around multifunctional climbing robot |
| CN105216903A (en) * | 2015-10-09 | 2016-01-06 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
| CN208344376U (en) * | 2018-03-29 | 2019-01-08 | 哈尔滨理工大学 | A kind of legged type robot list leg device for mining area surface inspection |
| CN108974171A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of intelligence walking robot |
| CN108725612A (en) * | 2018-07-18 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom multi-function robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135148A1 (en) * | 2019-12-31 | 2021-07-08 | 浙江大学 | Multi-motion mode wheel-track-leg composite robot |
| CN114475831A (en) * | 2022-01-24 | 2022-05-13 | 北京理工大学 | Foot-type multi-mode bionic robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110171502B (en) | 2021-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110171502A (en) | A kind of Zu Lv robot | |
| EP3508403A1 (en) | Multi-leg independent mobile carrier device | |
| CN102107685B (en) | Six-foot robot with eccentric wheel legs | |
| CN107003675B (en) | Method for autonomous robotic vehicle mapping treatment surface | |
| CN105501324B (en) | The simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven | |
| CN102107688B (en) | Dual-leg travelling mechanism with adjustable joint length | |
| CN105926419A (en) | Automatic detection robot system and detection method for road surface | |
| EP0247078A1 (en) | Unmanned articulated vehicle. | |
| WO2012091837A1 (en) | Worksite-management system | |
| CN107743389A (en) | Manufacture the manufacturing machine of sanitary absorbent article | |
| CN107685785A (en) | A kind of sufficient formula walking robot | |
| CN106149860B (en) | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot | |
| CN206968812U (en) | A kind of robot chassis | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN101758866A (en) | Composite wheel-tracked-bended leg obstacle crossing travelling system | |
| CN203003899U (en) | Master control system of transfer robot | |
| RU2007124193A (en) | ROTATING DEVICE FOR CLEANING ROADS AND URBAN SITES | |
| CN210310628U (en) | Wall-climbing robot | |
| CN103884351B (en) | Legged type robot movement parameter measurement method and application thereof | |
| CN201660033U (en) | Obstacle detouring walk system of one caterpillar and one bending leg of compound wheel | |
| CN114901908A (en) | Asphalt rolling and leveling machine | |
| CN106080816A (en) | A kind of high-clearance crawler travel equipment for farm work | |
| CN205769673U (en) | Crawler type chain type deep ploughing trench digging all-in-one derailing running gear | |
| CN104386154B (en) | One efficiently turns to crawler belt and platform thereof | |
| CN205624908U (en) | Take box of strong adaptability's athey wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |