CN111021736B - Roller device and ground floating robot - Google Patents
Roller device and ground floating robot Download PDFInfo
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- CN111021736B CN111021736B CN201911347433.3A CN201911347433A CN111021736B CN 111021736 B CN111021736 B CN 111021736B CN 201911347433 A CN201911347433 A CN 201911347433A CN 111021736 B CN111021736 B CN 111021736B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a roller device and a ground floating robot. The roller device of the present invention comprises: the device comprises a cylinder body, a first fixing shaft and a second fixing shaft are respectively arranged at two axial ends of the cylinder body; the driving piece is arranged in the cylinder body; and the gear transmission assembly is arranged in the barrel and comprises a driving gear, an idler gear and an inner gear ring, the inner gear ring is fixedly connected with the barrel, the idler gear is respectively meshed with the driving gear and the inner gear ring, the driving gear is fixedly connected to an output shaft of the driving part, and the driving part can drive the barrel to rotate around the second fixed shaft and the first fixed shaft under the transmission of the gear transmission assembly. According to the roller device, the driving piece and the gear transmission assembly are arranged in the roller body, so that the whole structure is more compact, the occupied space is reduced, the influence of the driving piece and the gear transmission assembly on the external severe environment can be effectively reduced, and the service life is prolonged; the roller body effective width ratio of the roller body is increased by using the built-in gear transmission structure, and the improvement of the working efficiency is facilitated.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a roller device and a ground floating robot.
Background
The cylinder that current drum-type ground trowelling machine adopted is external chain sprocket drive, and its shortcoming lies in: firstly, the effective width of the roller body is smaller due to the arrangement of the chain wheel of the transmission part; secondly, the external transmission components such as a motor, a speed reducer and the like occupy the space of the machine body; and thirdly, the external transmission mode is open transmission, is easily influenced by severe environments such as dust, gravel, rainwater and the like, and has short service life.
Disclosure of Invention
An object of the present invention is to provide a drum device which can reduce an occupied space and improve working efficiency, and can extend a service life.
Another object of the present invention is to propose a floor-levelling robot comprising the above-mentioned roller device.
To achieve the purpose, on one hand, the invention adopts the following technical scheme:
a drum device, comprising:
the device comprises a cylinder body, a first fixing shaft and a second fixing shaft are arranged at two axial ends of the cylinder body respectively;
a driving member disposed within the barrel; and the number of the first and second groups,
the gear transmission assembly is arranged in the barrel and comprises a driving gear, an idler gear and an inner gear ring, the inner gear ring is fixedly connected with the barrel, the idler gear is respectively meshed with the driving gear and the inner gear ring, the driving gear is fixedly connected to an output shaft of the driving piece, and the driving piece can drive the barrel to rotate around the second fixed shaft and the first fixed shaft under the transmission of the gear transmission assembly.
In some embodiments, a second connecting piece is arranged on the inner wall of the barrel, and the second connecting piece is fixedly connected with the inner gear ring and the driving piece respectively.
In some embodiments, the drum device further comprises a connecting sleeve and a connecting shaft, the connecting shaft being connected with the idler pulley by a bearing; the connecting sleeve is sleeved on the connecting shaft, and one end of the connecting sleeve is fixedly connected with the first fixing shaft.
In some embodiments, the drum device further includes a second inner shaft sleeve and a second bearing, the second bearing is sleeved on the second inner shaft sleeve, an outer ring of the second bearing supports the second connecting member, and the second inner shaft sleeve is fixedly connected with the other end of the connecting sleeve.
In some embodiments, the drum device further includes a speed reducer disposed in the drum body, the speed reducer is fixedly connected to the output shaft of the driving member, and the driving gear is fixedly connected to the output shaft of the speed reducer.
In some embodiments, the drum device further comprises a first connecting member, and the drum body is rotatably connected with the first fixed shaft through the first connecting member.
In some embodiments, the drum device further includes a first inner sleeve and a first bearing, an inner ring of the first bearing is connected with an outer ring of the first inner sleeve in a matching manner, and an outer ring of the first bearing is connected with the first connecting piece in a matching manner.
In some embodiments, the drum arrangement further comprises a first seal ring, a second seal ring, a first inner ring, a second inner ring, and an outer ring;
the first inner ring is sleeved on the first fixed shaft, and the first sealing ring is arranged between the first connecting piece and the first inner ring and is respectively abutted against the first connecting piece and the first inner ring;
the second inner ring is sleeved on the second fixed shaft, and the second sealing ring is arranged between the second inner ring and the outer ring and is respectively abutted against the second inner ring and the outer ring.
In some embodiments, the drum device further comprises a first shaft seat and a second shaft seat, the second shaft seat is fixedly connected with the second fixed shaft, and the first shaft seat is fixedly connected with the first fixed shaft.
On the other hand, the invention adopts the following technical scheme:
a ground floating robot comprises an installation platform and the roller device, wherein a first fixed shaft and a second fixed shaft of the roller device are respectively connected with the installation platform.
The invention has at least the following beneficial effects:
according to the roller device, the driving piece and the gear transmission assembly are arranged in the roller body, so that the whole structure is more compact, the occupied space of a machine body is reduced, the influence of dust, gravel, rainwater and other severe environments on the driving piece and the gear transmission assembly can be effectively reduced, and the service life is prolonged; meanwhile, the effective width ratio of the roller body is increased by using a built-in gear transmission structure, and the improvement of the working efficiency is facilitated.
The ground floating robot improves the ground floating working efficiency and prolongs the service life through the roller device.
Drawings
Fig. 1 is a schematic structural diagram of a roller device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of the roller assembly of FIG. 1 taken along line A-A;
FIG. 3 is a partial sectional view of the drum assembly shown in FIG. 2;
FIG. 4 is a sectional view showing another partial structure of the drum assembly shown in FIG. 2;
FIG. 5 is a cross-sectional perspective view of the roller assembly shown in FIG. 2;
FIG. 6 is a partial sectional view of the drum assembly shown in FIG. 5;
FIG. 7 is a sectional view showing another partial structure of the drum assembly shown in FIG. 5;
FIG. 8 is an exploded view of a drum assembly provided by an embodiment of the present invention;
FIG. 9 is a partial schematic view of the drum assembly shown in FIG. 8;
the reference numbers illustrate:
the device comprises a cylinder body 100, a first connecting piece 101, a first sealing ring 102, a first inner ring 103, a first fixed shaft 104, a first inner shaft sleeve 105, a first bearing 106, a driving piece 107, a speed reducer 108, a second connecting piece 109, a second bearing 110, an inner gear ring 111, a second sealing ring 112, a second inner ring 113, a second fixed shaft 114, a second inner shaft sleeve 115, an outer ring 116, a connecting sleeve 117, a driving gear 118, an idler gear 119, a connecting shaft 120, a bearing 121, a first shaft seat 200 and a second shaft seat 300.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
The embodiment discloses a roller device and a ground floating robot comprising the same. The ground floating robot can be used for floating concrete ground, and the ground floating robot further comprises a mounting platform, and the roller device is mounted on the mounting platform and can roll, so that the effect of compacting and lifting the floating ground is achieved.
As shown in fig. 1 to 9, the roller device includes a roller body 100, a driving member 107 and a gear transmission assembly, wherein a first fixed shaft 104 and a second fixed shaft 114 are respectively disposed at two axial ends of the roller body 100, and the first fixed shaft 104 and the second fixed shaft 114 can be respectively connected to a mounting platform of the floor-levelling robot; the driving member 107 is disposed in the cylinder 100; the gear transmission assembly is arranged in the barrel 100, the gear transmission assembly comprises a driving gear 118, an idler gear 119 and an inner gear ring 111, the inner gear ring 111 is fixedly connected with the barrel 100, the idler gear 119 is respectively meshed with the driving gear 118 and the inner gear ring 111, the driving gear 118 is fixedly connected to an output shaft of the driving part 107, and the driving part 107 can drive the barrel 100 to rotate around the second fixed shaft 114 and the first fixed shaft 104 under the transmission of the gear transmission assembly.
According to the roller device, the driving part 107 and the gear transmission assembly are arranged in the barrel 100, so that the whole structure is more compact, the occupied space of a machine body is reduced, the integrity of the roller is good, the influence of dust, gravel, rainwater and other severe environments on the driving part 107 and the gear transmission assembly can be effectively reduced, and the service life is prolonged; meanwhile, the effective width ratio of the roller body of the cylinder body 100 is increased by using a built-in gear transmission structure, and the improvement of the working efficiency is facilitated. Wherein, the effective width ratio of the roller body refers to the ratio of the effective working width of the cylinder body 100 to the total length of the cylinder body 100.
It can be understood that the effective working width of the cylinder 100 is increased by increasing the effective width ratio of the roller body of the cylinder 100, so that when the roller device of the present invention is used for leveling the ground to be leveled, the working efficiency can be greatly improved, i.e. the roller device of the present invention can finish the leveling operation faster than the roller device of the prior art for the ground to be leveled with the same area.
Alternatively, the driving member 107 may be a driving structure such as a motor, a cylinder or a hydraulic cylinder, which can directly or indirectly drive the drum 100 to rotate, and is preferably a servo motor, which has smooth operation, good speed regulation performance and small torque fluctuation of a multi-stage structure, and brings reliable accuracy and high torque to the drum device.
In some embodiments, the roller device further includes a first shaft seat 200 and a second shaft seat 300, the second shaft seat 300 is fixedly connected with the second fixed shaft 114, the first shaft seat 200 is fixedly connected with the first fixed shaft 104, so that the roller device can be conveniently mounted on an external device, such as a mounting platform of a floor-levelling robot, through the first shaft seat 200 and the second shaft seat 300; the cylinder 100 can rotate relative to the first fixed shaft 104, the second fixed shaft 114, the first shaft seat 200 and the second shaft seat 300, and the cylinder 100 can roll and level the ground.
As shown in fig. 3, in some embodiments, the drum device further includes a first connecting member 101, and the drum body 100 is rotatably connected to the first fixed shaft 104 by the first connecting member 101. Specifically, the first connector 101 and the second connector 109 are respectively located at two ends of the cylinder 100, and are respectively supported by outer rings of the first bearing 106 and the second bearing 110 for rotational movement. Optionally, the first connecting element 101 may be a shaft sleeve, which is sleeved on the periphery of the first fixed shaft 104, and a bearing may be disposed between the first connecting element 101 and the first fixed shaft 104, so that the rotation of the first connecting element 101 and the cylinder 100 is smoother.
Further, in some embodiments, the drum device further includes a first inner sleeve 105 and a first bearing 106, an inner ring of the first bearing 106 is coupled with an outer ring of the first inner sleeve 105, and an outer ring of the first bearing 106 is coupled with the first connector 101. Specifically, the outer ring of the first inner shaft sleeve 105 is connected with the inner ring of the first bearing 106 in a matching manner, the first fixed shaft 104 is fixedly connected with the first inner shaft sleeve 105, and the outer end of the first fixed shaft 104 is fixedly connected with the first shaft seat 200. By providing the first bearing 106, the rotation of the first connector 101 and the cylinder 100 can be made smoother.
In some embodiments, the drum device further comprises a first sealing ring 102, a second sealing ring 112, a first inner ring 103, a second inner ring 113, and an outer ring 116, wherein the first inner ring 103 is sleeved on the first fixed shaft 104, and the second inner ring 113 is sleeved on the second fixed shaft 114; the first sealing ring 102 is used as a protection device for one end of the cylinder 100, the first sealing ring 102 is arranged between the first connecting piece 101 and the first inner ring 103, and is respectively abutted against the first connecting piece 101 and the first inner ring 103 so as to prevent foreign matters from entering the cylinder 100; the second gasket 112 serves as a protector for the other end of the cylinder 100, and the second gasket 112 is disposed between the second inner ring 113 and the outer ring 116, and abuts against the second inner ring 113 and the outer ring 116, respectively, to prevent foreign matter from entering the cylinder 100. Above-mentioned structure can keep apart the influence of adverse circumstances such as dust, grit, rainwater effectively to driving piece 107 and gear drive assembly, improves life.
In some embodiments, the drum device further includes a speed reducer 108 (as shown in fig. 2, 4, 5 and 7), the speed reducer 108 is disposed in the drum 100, the speed reducer 108 is fixedly connected to the output shaft of the driving member 107, and the driving gear 118 is fixedly connected to the output shaft of the speed reducer 108. It can be understood that the integral structure of the roller device is more compact and has good integrity by adopting the built-in driving piece 107, the speed reducer 108 and the gear transmission assembly, and the additional occupied space of the machine body is not needed.
It can be understood that the driving member 107, the speed reducer 108, the gear transmission assembly and other components are arranged in the barrel 100, so that the floating weight of the barrel 100 can be increased to a certain extent, that is, when the barrel 100 is used for floating the ground, the weight of the barrel 100 exerted on the ground is at least equal to the sum of the weights of the barrel 100 and the components positioned in the barrel 100, so that the pressure of the barrel 100 on the ground to be floating can be increased, and the floating efficiency of the barrel 100 on the ground can be further improved.
As shown in fig. 4, in some embodiments, a second connecting member 109 is disposed on the inner wall of the barrel 100, the second connecting member 109 is fixedly connected to the inner gear ring 111 and the driving member 107, and the second connecting member 109 is driven by the driving gear 118, the idler gear 119 and the inner gear ring 111 to rotate under the driving of the driving member 107 and the speed reducer 108. Through setting up second connecting piece 109, couple together between driving piece 107, speed reducer 108 and the barrel 100, from this when barrel 100 rotates, driving piece 107 and speed reducer 108 can rotate along with barrel 100 is synchronous to driving piece 107 and speed reducer 108 produce when preventing that barrel 100 from rotating and rock, influence stability.
Alternatively, the second connecting member 109 may be a shaft sleeve, which is sleeved on the periphery of the speed reducer 108 (as shown in fig. 4), and a bearing may be disposed between the second connecting member 109 and the speed reducer 108, so that the rotation of the second connecting member 109 and the barrel 100 is smoother. In some embodiments, the roller device further comprises a connecting sleeve 117 and a connecting shaft 120, the connecting shaft 120 being connected to the idler pulley 119 by a bearing 121; the connecting sleeve 117 is sleeved on the connecting shaft 120, and one end of the connecting sleeve is fixedly connected with the first fixing shaft 104. By providing the bearing 121, the rotation of the idler gear 119 can be made smoother.
Specifically, as shown in fig. 7 and 9, the driving gear 118 is fixedly connected to an output shaft of the speed reducer 108, the idler gear 119 is in meshing transmission with the driving gear 118 and the ring gear 111, the idler gear 119 is connected to the connecting shaft 120 through the bearing 121, and the connecting shaft 120 is fixed inside the connecting sleeve 117, so that the driving gear 118 rotates and the ring gear 111 is driven to rotate through the idler gear 119 under the driving of the driving element 107 and the speed reducer 108, thereby driving the barrel 100 to rotate.
Further, in some embodiments, the roller device further includes a second inner shaft sleeve 115 and a second bearing 110 (as shown in fig. 4), the second bearing 110 is sleeved on the second inner shaft sleeve 115, an outer ring of the second bearing 110 supports the second connecting member 109, and the second inner shaft sleeve 115 is fixedly connected to the other end of the connecting sleeve 117. Specifically, the outer ring of the second inner shaft sleeve 115 is coupled to the inner ring of the second bearing 110, one end of the connecting sleeve 117 is fixedly coupled to one end of the second inner shaft sleeve 115, the other end of the connecting sleeve 117 is fixedly coupled to the second fixed shaft 114, and the outer end of the second fixed shaft 114 is fixedly coupled to the second shaft base 300. By providing the second bearing 110, the rotation of the second connector 109 and the cartridge 100 can be made smoother.
In summary, the roller device of the present invention has at least the following advantages: (1) the built-in gear transmission structure is adopted, so that the effective width ratio of the roller body of the cylinder body 100 is increased, and the working efficiency is higher; (2) the built-in driving mechanisms such as the driving piece 107 and the speed reducer 108 are adopted, so that the whole structure of the roller device is more compact, the integrity is good, and the additional space of a machine body is not occupied; (3) the closed driving and transmission structure is adopted, the influence of severe environments such as dust, sand, rainwater and the like on the driving mechanism and the transmission mechanism is effectively isolated, and the service life is prolonged.
The ground floating robot improves the ground floating work efficiency through the roller device with the structure, prolongs the service life and can realize large-scale operation.
It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A roller device, comprising:
the cylinder body (100), wherein a first fixed shaft (104) and a second fixed shaft (114) are respectively arranged at two axial ends of the cylinder body (100);
a drive member (107) disposed within the barrel (100); and the number of the first and second groups,
the gear transmission assembly is arranged in the barrel (100) and comprises a driving gear (118), an idler gear (119) and an inner gear ring (111), the inner gear ring (111) is fixedly connected with the barrel (100), the idler gear (119) is respectively meshed with the driving gear (118) and the inner gear ring (111), the driving gear (118) is fixedly connected to an output shaft of the driving part (107), and the driving part (107) can drive the barrel (100) to rotate around the second fixed shaft (114) and the first fixed shaft (104) under the transmission of the gear transmission assembly;
a second connecting piece (109) is arranged on the inner wall of the barrel (100), and the second connecting piece (109) is respectively fixedly connected with the inner gear ring (111) and the driving piece (107);
the roller device further comprises a first connecting piece (101), and the roller body (100) is rotatably connected with the first fixed shaft (104) through the first connecting piece (101);
the roller device also comprises a first sealing ring (102), a second sealing ring (112), a first inner ring (103), a second inner ring (113) and an outer ring (116);
the first inner ring (103) is sleeved on the first fixed shaft (104), and the first sealing ring (102) is arranged between the first connecting piece (101) and the first inner ring (103) and is respectively abutted against the first connecting piece (101) and the first inner ring (103);
the second inner ring (113) is sleeved on the second fixed shaft (114), and the second sealing ring (112) is arranged between the second inner ring (113) and the outer ring (116) and is respectively abutted against the second inner ring (113) and the outer ring (116).
2. The drum arrangement according to claim 1, characterized in that it further comprises a connecting sleeve (117) and a connecting shaft (120), said connecting shaft (120) being connected with said idler (119) by means of a bearing (121); the connecting sleeve (117) is sleeved on the connecting shaft (120), and one end of the connecting sleeve is fixedly connected with the first fixed shaft (104).
3. The drum device according to claim 2, characterized in that the drum device further comprises a second inner shaft sleeve (115) and a second bearing (110), the second bearing (110) is sleeved on the second inner shaft sleeve (115), the second connecting piece (109) is supported by the outer ring of the second bearing (110), and the second inner shaft sleeve (115) is fixedly connected with the other end of the connecting sleeve (117).
4. The drum device according to claim 1, characterized in that the drum device further comprises a first inner sleeve (105) and a first bearing (106), wherein an inner ring of the first bearing (106) is in fit connection with an outer ring of the first inner sleeve (105), and an outer ring of the first bearing (106) is in fit connection with the first connecting member (101).
5. The drum device according to any one of claims 1 to 4, further comprising a first shaft seat (200) and a second shaft seat (300), wherein the second shaft seat (300) is fixedly connected with the second fixed shaft (114), and wherein the first shaft seat (200) is fixedly connected with the first fixed shaft (104).
6. The drum device as claimed in any one of claims 1 to 4, further comprising a speed reducer (108), wherein the speed reducer (108) is disposed in the drum (100), and the speed reducer (108) is fixedly connected to an output shaft of the driving member (107), and the driving gear (118) is fixedly connected to an output shaft of the speed reducer (108).
7. A floor-levelling robot, characterized by comprising:
mounting a platform; and the number of the first and second groups,
the drum device according to any one of claims 1 to 6, wherein the first and second stationary shafts (104, 114) of the drum device are respectively connected to the mounting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911347433.3A CN111021736B (en) | 2019-12-24 | 2019-12-24 | Roller device and ground floating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911347433.3A CN111021736B (en) | 2019-12-24 | 2019-12-24 | Roller device and ground floating robot |
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| Publication Number | Publication Date |
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| CN111021736A CN111021736A (en) | 2020-04-17 |
| CN111021736B true CN111021736B (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911347433.3A Active CN111021736B (en) | 2019-12-24 | 2019-12-24 | Roller device and ground floating robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115045472A (en) * | 2021-03-08 | 2022-09-13 | 广东博智林机器人有限公司 | Brushing device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ272025A (en) * | 1995-05-01 | 1997-03-24 | John Murray Bowers | Roller for concrete has a barrel with an end caps, a handle and material strips on the outer barrel surface |
| CN2763226Y (en) * | 2005-01-28 | 2006-03-08 | 张国林 | Novel, oil-free and internal equipped type electric cylinder |
| DE202007005190U1 (en) * | 2007-04-05 | 2007-06-21 | Ardex Gmbh | Roller for distributing terrazzo mass containing binder, uniformly over floor, comprises circular casing equipped with ring-spacers defining finished terrazzo thickness |
| CN203450722U (en) * | 2013-07-30 | 2014-02-26 | 南宁市劲源电机有限责任公司 | Speed reduction rolling barrel |
| CN204096482U (en) * | 2014-09-17 | 2015-01-14 | 张锦民 | Motorized pulleys |
| CN106115182A (en) * | 2016-08-19 | 2016-11-16 | 江苏武运传动机械有限公司 | A kind of built-in type motorized pulleys |
| CN206032451U (en) * | 2016-08-19 | 2017-03-22 | 江苏武运传动机械有限公司 | Motorized pulley |
| CN106115181A (en) * | 2016-08-19 | 2016-11-16 | 江苏武运传动机械有限公司 | A kind of gear Outerboard electric rotary drum |
| CN110593573B (en) * | 2019-08-26 | 2021-09-07 | 广东博智林机器人有限公司 | Correction device and correction method of floating robot and floating robot |
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