CN206704338U - A kind of walking chassis device of Pa Bi magnetic sucks robot - Google Patents
A kind of walking chassis device of Pa Bi magnetic sucks robot Download PDFInfo
- Publication number
- CN206704338U CN206704338U CN201720292884.1U CN201720292884U CN206704338U CN 206704338 U CN206704338 U CN 206704338U CN 201720292884 U CN201720292884 U CN 201720292884U CN 206704338 U CN206704338 U CN 206704338U
- Authority
- CN
- China
- Prior art keywords
- fixed base
- base plate
- magnetic
- decelerator
- groups
- 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.)
- Expired - Fee Related
Links
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 74
- 230000001360 synchronised effect Effects 0.000 claims description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of walking chassis device of Pa Bi magnetic sucks robot, including two groups of magnetic drive wheel groups, image collecting device, vehicle frame and a universal wheel, both sides of two magnetic drive wheel groups with vehicle frame rear end are connected, and the front end connection universal wheel of vehicle frame, the upper end of vehicle frame is fixed with image collecting device, the walking chassis apparatus structure of this Pa Bi magnetic sucks robot is simple, its moving body is based on modular design method, moving body is laid out removable sub-module using tricycle structure, fast quick-detach of robot when by narrow and small limited working spaces such as noncontinuities and restructuring can be achieved；Absorbing unit is using the sandwich permanent magnetic suck that adsorption efficiency is higher compared with traditional suction type, weight is lighter, and its move mode is a universal wheel, in addition the motion mode of two-wheel drive, and two driving wheels provide stable driving force for climbing robot.
Description
Technical field
It the utility model is related to robotic technology field, the walking chassis dress of specially a kind of Pa Bi magnetic sucks robot
Put.
Background technology
Climbing robot can carrying operation instrument, assist or substitution the mankind various limit operations are completed on wall, its is wide
It is general to be used for industry, petroleum chemical enterprise, shipbuilding industry and other dangerous industries, with the continuous progress of human sciences's technology and labour
The increasingly increase of cost, robot replaces manually performing simply repetition, dangerous task high, that labor intensity is big is increasingly becoming one
Kind trend；Climbing robot accelerates process of industrialization, Large Area Steel with the features such as its high efficiency, low cost, steady quality
Setting for special climbing robot of the demand driving of matter surface preparation (such as marine surface derusting, large-scale storage tank surface paint removal)
Meter, as task difficulty complication and operating environment are hazardous, need a kind of multi-functional climbing robot walking chassis device badly
Operation is carried out for carrying difference in functionality module, it can not only realize that operating personnel can also in the case of away from operating environment
Ensure operation quality, moreover it is possible to be easy to the operating area by noncontinuity, fast quick-detach and assembling can be achieved；In the prior art,
The climbing robot volume is bigger, quality is heavier；Internal structure is difficult to dismantle, moreover, the conductive magnetic yoke of magnet-wheel absorbing unit
Iron directly contacts with magnetic conductivity wall, causes frictional force inadequate, skidding easily occurs, is probably smoothly creeped on magnetic conductivity wall
It is all difficult to realize, therefore, proposing a kind of walking chassis device of Pa Bi magnetic sucks robot.
The content of the invention
The purpose of this utility model is to provide a kind of walking chassis device of Pa Bi magnetic sucks robot, above-mentioned to solve
The problem of being proposed in background technology.
To achieve the above object, the utility model provides following technical scheme：
A kind of walking chassis device of Pa Bi magnetic sucks robot, including two groups of magnetic drive wheel groups, image collecting device,
Vehicle frame and a universal wheel, both sides of two magnetic drive wheel groups with vehicle frame rear end are connected, and the front end connection of vehicle frame
Universal wheel, the upper end of vehicle frame are fixed with image collecting device, and the magnetic drive wheel group includes inflation rubber tire, driving wheel wheel
Hub, water bar, timing belt driving wheel, decelerator, permanent magnetic suck unit connecting plate, permanent magnetic suck unit, permanent magnetic suck unit
Support, decelerator hold-down support, motor transitional flange, motor protecting cover, timing belt and driven synchronous pulley, the decelerator
Be connected by both sides output flange bolt hole with decelerator hold-down support, the mounting hole that the decelerator is provided with by bottom with
Permanent magnetic suck unit connecting plate is threadedly coupled, and passes through the permanent magnetic suck under the mounting hole on permanent magnetic suck unit connecting plate and its
Be threadedly coupled between unit rack screwed hole, the permanent magnetic suck unit is provided with two symmetrical through holes, and by through hole and
It is threadedly coupled between permanent magnetic suck unit rack；
Driving wheel hub is installed on the output shaft of the decelerator, passed through between driving wheel hub and timing belt driving wheel
Bolt connection, the outer ring of the driving wheel hub are provided with inflation rubber tire, one end of the motor transitional flange by bolt with
Motor connection, and the other end of motor transitional flange is fixedly connected by decelerator input seam, motor and the motor mistake
Cross and be socketed with motor protecting cover on flange jointly；
The driven synchronous pulley is arranged in the U-shaped hole opened up on decelerator hold-down support, described timing belt one end
It is enclosed on timing belt driving wheel, and the timing belt other end is enclosed on driven synchronous pulley.
Preferably, the vehicle frame includes positioning grasping firmly hoop, fixing axle, left fixed base plate side plate, fixed base plate, bumper
Fixed base plate connector, right fixed base plate side plate and fixing axle plug, the positioning grasping firmly hoop are consolidated by bolt and decelerator
Determine bearing threaded connection, magnetic drive wheel group described in two groups by multigroup positioning grasping firmly band tightener in the both sides of fixing axle, two
The water bar of the group magnetic drive wheel group both sides is arranged on positioning grasping firmly hoop by bolt, and the two of the fixing axle
End is provided with fixing axle plug by bolt respectively；
It is fixedly connected between the left fixed base plate side plate and right fixed base plate side plate by two groups of positioning grasping firmly hoops
In fixing axle, it is fixedly connected between the fixed base plate side plate and right fixed base plate side plate by fixed base plate, the fixed seat
Plate is connected by bumper with bumper fixed base plate connector.
Preferably, it is symmetrical arranged between the left fixed base plate side plate and right fixed base plate side plate.
Preferably, the inwall of the positioning grasping firmly hoop is provided with valve rubber.
Preferably, position of the driven synchronous pulley between the U-shaped hole of decelerator hold-down support, is unclamped by screw
With tighten adjusting position.
Preferably, it is connected with heat bulge on the motor protecting cover.
Compared with prior art, the beneficial effects of the utility model are：The walking chassis dress of this Pa Bi magnetic sucks robot
Put simple in construction, its moving body is based on modular design method, and moving body is laid out removable sub-module using tricycle structure, can
Realize fast quick-detach of robot when by narrow and small limited working spaces such as noncontinuities and restructuring；Absorbing unit uses and biography
Suction type unite compared to the sandwich permanent magnetic suck that adsorption efficiency is higher, weight is lighter；Its move mode is a universal wheel, in addition
The motion mode of two-wheel drive, two driving wheels provide stable driving force for climbing robot；Mechanical arm can be carried on its vehicle frame
With the mechanism required for other work；Its structure has simple and compact, and working space is big, and load is big, detachably, easy to maintenance etc.
Feature, several work requirement can be met.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is the front view of magnetic drive wheel group；
Fig. 3 is the top view of magnetic drive wheel group；
Fig. 4 is magnetic drive wheel group internal structure schematic diagram.
In figure：1 magnetic drive wheel group, 101 inflation rubber tires, 102 driving wheel hubs, 103 water bars, 104 timing belts drive
Driving wheel, 105 decelerators, 106 permanent magnetic suck unit connecting plates, 107 permanent magnetic suck units, 108 permanent magnetic suck unit racks, 109
Decelerator hold-down support, 110 motor transitional flanges, 111 motor protecting covers, 112 timing belts, 113 driven synchronous pulleys, 2 images
Harvester, 3 vehicle frames, 4 universal wheels.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment, based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1-4 are referred to, the utility model provides a kind of technical scheme：
A kind of walking chassis device of Pa Bi magnetic sucks robot, including two groups of magnetic drive wheel groups 1, image collecting devices
2nd, vehicle frame 3 and a universal wheel 4, both sides of two magnetic drive wheel groups 1 with the rear end of vehicle frame 3 are connected, and the front end of vehicle frame 3 connects
Universal wheel 4 is connect, the upper end of vehicle frame 3 is fixed with image collecting device 2, and magnetic drive wheel group 1 includes inflation rubber tire 101, driving
Wheel hub 102, water bar 103, timing belt driving wheel 104, decelerator 105, permanent magnetic suck unit connecting plate 106, permanent magnetism is taken turns to inhale
Coupon member 107, permanent magnetic suck unit rack 108, decelerator hold-down support 109, motor transitional flange 110, motor protecting cover
111st, timing belt 112 and driven synchronous pulley 113, decelerator 105 are consolidated by both sides output flange bolt hole with decelerator
Determine bearing 109 to connect, "the" shape shape, method of its one end through decelerator hold-down support 109 is presented in decelerator hold-down support 109
Flange aperture is fixed on decelerator 105, and decelerator 105 passes through the mounting hole that bottom is provided with and the spiral shell of permanent magnetic suck unit connecting plate 106
Line connects, and passes through the screwed hole of permanent magnetic suck unit rack 108 under the mounting hole on permanent magnetic suck unit connecting plate 106 and its
Between be threadedly coupled, permanent magnetic suck unit 107 is provided with two symmetrical through holes, and passes through through hole and permanent magnetic suck unit rack
It is threadedly coupled between 108.
Driving wheel hub 102, driving wheel hub 102 and timing belt driving wheel 104 are installed on the output shaft of decelerator 105
Between be bolted, the outer ring of driving wheel hub 102 is provided with inflation rubber tire 101, and one end of motor transitional flange 110 leads to
Bolt and motor connection are crossed, and the other end of motor transitional flange 110 is fixedly connected by the input seam of decelerator 105, electricity
Motor protecting cover 111 is socketed with machine and motor transitional flange 110 jointly, heat bulge is connected with motor protecting cover 111.
Driven synchronous pulley 113 is arranged in the U-shaped hole opened up on decelerator hold-down support 109, the one end of timing belt 112
It is enclosed on timing belt driving wheel 104, and the other end of timing belt 112 is enclosed on driven synchronous pulley 113, driven synchronous pulley 113
Position between the U-shaped hole of decelerator hold-down support 108, unclamped by screw and tighten adjusting position.
Vehicle frame 3 includes positioning grasping firmly hoop 301, fixing axle 302, left fixed base plate side plate 303, fixed base plate 304, insurance
Thick stick fixed base plate connector 305, right fixed base plate side plate 306 and fixing axle plug 307, positioning grasping firmly hoop 301 pass through bolt
It is threadedly coupled with decelerator hold-down support 109, two groups of magnetic drive wheel groups 1 are fastened on solid by multigroup positioning grasping firmly hoop 301
The both sides of dead axle 302, the water bar 103 of two groups of both sides of magnetic drive wheel group 1 are arranged on positioning grasping firmly hoop by bolt
On 301, the inwall of positioning grasping firmly hoop 301 is provided with valve rubber, and the both ends of fixing axle 302 are provided with fixing axle by bolt respectively
Plug 307.
Fixed and connected by two groups of positioning grasping firmly hoops 301 between left fixed base plate side plate 303 and right fixed base plate side plate 306
It is connected in fixing axle 302, is symmetrical arranged between left fixed base plate side plate 303 and right fixed base plate side plate 306, fixed base plate side plate
It is fixedly connected between 303 and right fixed base plate side plate 306 by fixed base plate 304, fixed base plate 304 passes through bumper and insurance
Thick stick fixed base plate connector 305 connects.
Operation principle：Timing belt driving wheel 104 is fixedly mounted in the equal one end of the both ends double output shaft of decelerator 105, while two drive
Driving wheel hub 102 is installed respectively on the outside of movable belt pulley, Pneumatic rubber wheel is cased with outside driving wheel hub 102, so as to form driving actively
Wheel；The "the" shape hold-down support other end is provided with U-shaped hole, installs driven synchronous pulley 113 thereon, and timing belt 112 is installed
In timing belt driving wheel 104 with forming transmission mechanism on driven synchronous pulley 113；Its bottom of decelerator 105 be provided with it is wheeled forever
The annular magnet of magnetic absorbing unit 107, magnet and magnet fixed mount are connected to form magnetic adsorption device.Timing belt driving wheel 104, from
Decelerator is wrapped in centre by dynamic synchronous pulley 113 with timing belt, and the power and torque of motor output are passed by decelerator 105
It is delivered on synchronous pulley, the two sides of timing belt 112 installation protection side panel is connected with "the" shape hold-down support, on magnetic conductivity wall
Ferromagnetism little particle when being attached on magnet, transmitted by drive coordination band, ferromagnetic little particle can nature fall, so as to not shadow
Magnetic force is rung, therefore magnetic conductivity wall will not also scratch, so as to realize that car body rotates at the same speed, realize that the two-wheeled of whole car body drives
It is dynamic；Climbed in drive device using rubber inflatable wheel in order to prevent driving wheel from occurring skidding in rotation process so as to realize
Flexible movement of the wall robot on magnetic conduction wall.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of walking chassis device of Pa Bi magnetic sucks robot, including two groups of magnetic drive wheel groups（1）, image collecting device
（2）, vehicle frame（3）With a universal wheel（4）, two magnetic drive wheel groups（1）And vehicle frame（3）The both sides connection of rear end,
And vehicle frame（3）Front end connection universal wheel（4）, vehicle frame（3）Upper end be fixed with image collecting device（2）, it is characterised in that：
The magnetic drive wheel group（1）Including inflating rubber tire（101）, driving wheel hub（102）, water bar（103）, timing belt driving
Wheel（104）, decelerator（105）, permanent magnetic suck unit connecting plate（106）, permanent magnetic suck unit（107）, permanent magnetic suck unit branch
Frame（108）, decelerator hold-down support（109）, motor transitional flange（110）, motor protecting cover（111）, timing belt（112）With from
Dynamic synchronous pulley（113）, the decelerator（105）Pass through both sides output flange bolt hole and decelerator hold-down support
（109）Connection, the decelerator（105）Pass through the mounting hole that bottom is provided with and permanent magnetic suck unit connecting plate（106）Screw thread connects
Connect, and pass through permanent magnetic suck unit connecting plate（106）On mounting hole with its under permanent magnetic suck unit rack（108）Screwed hole
Between be threadedly coupled, the permanent magnetic suck unit（107）Two symmetrical through holes are provided with, and pass through through hole and permanent magnetic suck list
First support（108）Between be threadedly coupled；
The decelerator（105）Output shaft on driving wheel hub is installed（102）, driving wheel hub（102）Driven with timing belt
Driving wheel（104）Between be bolted, the driving wheel hub（102）Outer ring inflation rubber tire is installed（101）, the electricity
Machine counter flange（110）One end by bolt and motor connection, and motor transitional flange（110）The other end pass through decelerator
（105）Input seam is fixedly connected, motor and the motor transitional flange（110）On be socketed with motor protecting cover jointly
（111）；
The driven synchronous pulley（113）Installed in decelerator hold-down support（109）On in the U-shaped hole that is opened up, the synchronization
Band（112）One end is enclosed on timing belt driving wheel（104）On, and timing belt（112）The other end is enclosed on driven synchronous pulley（113）
On.
A kind of 2. walking chassis device of Pa Bi magnetic sucks robot according to claim 1, it is characterised in that：The car
Frame（3）Including positioning grasping firmly hoop（301）, fixing axle（302）, left fixed base plate side plate（303）, fixed base plate（304）, insurance
Thick stick fixed base plate connector（305）, right fixed base plate side plate（306）With fixing axle plug（307）, the positioning grasping firmly hoop
（301）Pass through bolt and decelerator hold-down support（109）Threaded connection, magnetic drive wheel group described in two groups（1）By multigroup fixed
Position clamps anchor ear（301）It is fastened on fixing axle（302）Both sides, magnetic drive wheel group described in two groups（1）The water bar of both sides
（103）Positioning grasping firmly hoop is arranged on by bolt（301）On, the fixing axle（302）Both ends pacified respectively by bolt
Equipped with fixing axle plug（307）；
The left fixed base plate side plate（303）With right fixed base plate side plate（306）Between pass through two groups of positioning grasping firmly hoops（301）
It is fixedly connected on fixing axle（302）On, the fixed base plate side plate（303）With right fixed base plate side plate（306）Between by solid
Reservation plate（304）It is fixedly connected, the fixed base plate（304）Pass through bumper and bumper fixed base plate connector（305）Even
Connect.
A kind of 3. walking chassis device of Pa Bi magnetic sucks robot according to claim 2, it is characterised in that：The left side
Fixed base plate side plate（303）With right fixed base plate side plate（306）Between be symmetrical arranged.
A kind of 4. walking chassis device of Pa Bi magnetic sucks robot according to claim 2, it is characterised in that：It is described fixed
Position clamps anchor ear（301）Inwall be provided with valve rubber.
A kind of 5. walking chassis device of Pa Bi magnetic sucks robot according to claim 1, it is characterised in that：It is described from
Dynamic synchronous pulley（113）In decelerator hold-down support（109）U-shaped hole between position, unclamped by screw and tighten regulation
Position.
A kind of 6. walking chassis device of Pa Bi magnetic sucks robot according to claim 1, it is characterised in that：The electricity
Machine protective cover（111）On be connected with heat bulge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292884.1U CN206704338U (en) | 2017-03-24 | 2017-03-24 | A kind of walking chassis device of Pa Bi magnetic sucks robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292884.1U CN206704338U (en) | 2017-03-24 | 2017-03-24 | A kind of walking chassis device of Pa Bi magnetic sucks robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206704338U true CN206704338U (en) | 2017-12-05 |
Family
ID=60470348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292884.1U Expired - Fee Related CN206704338U (en) | 2017-03-24 | 2017-03-24 | A kind of walking chassis device of Pa Bi magnetic sucks robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206704338U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050184A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | A kind of tire pressure stabilising arrangement of magnetically adsorbed wall climbing robot |
| CN112455203A (en) * | 2019-04-26 | 2021-03-09 | 杭州申昊科技股份有限公司 | Two-drive differential wheel driving unit structure for robot driving |
| US11548577B2 (en) | 2018-11-29 | 2023-01-10 | Saudi Arabian Oil Company | Crawler vehicle with automatic probe normalization |
-
2017
- 2017-03-24 CN CN201720292884.1U patent/CN206704338U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050184A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | A kind of tire pressure stabilising arrangement of magnetically adsorbed wall climbing robot |
| CN109050184B (en) * | 2018-08-22 | 2021-09-03 | 浙江大学 | Tire pressure stabilizing device of magnetic adsorption wheel type wall-climbing robot |
| US11548577B2 (en) | 2018-11-29 | 2023-01-10 | Saudi Arabian Oil Company | Crawler vehicle with automatic probe normalization |
| CN112455203A (en) * | 2019-04-26 | 2021-03-09 | 杭州申昊科技股份有限公司 | Two-drive differential wheel driving unit structure for robot driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206704338U (en) | A kind of walking chassis device of Pa Bi magnetic sucks robot | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN108500997B (en) | Curved surface wall climbing robot for surface cleaning | |
| CN102673671B (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN202624434U (en) | Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm | |
| CN102689295B (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| CN107054491A (en) | A kind of walking chassis device of Pa Bi magnetic sucks robot | |
| CN207389348U (en) | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot | |
| CN111016772B (en) | Pure electric vehicles axle is with removing turnover vehicle | |
| CN202608930U (en) | Composite magnetic adsorption type video detection wall climbing robot | |
| CN101716986A (en) | Overwater bicycle | |
| CN204095492U (en) | A kind of a11wheel drive four-wheel steering electric fork truck chassis drive system | |
| CN102700646A (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| CN206438813U (en) | A kind of efficiently friction access car loading device for multilayered | |
| CN202805181U (en) | Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm | |
| CN106428281A (en) | Magnetic-absorption wall-climbing robot | |
| CN106427398B (en) | Can omnibearing movable omni-directional wheel | |
| CN206202480U (en) | Magnetic adsorption wall climbing robot | |
| CN109972877B (en) | Mechanical multifunctional parking device | |
| CN208085841U (en) | Permanent magnetic suck wheel-pedrail climbing machinery for welding robot | |
| CN207000700U (en) | It is a kind of new double without wheeled motorcycle | |
| CN206306731U (en) | Can omnibearing movable omni-directional wheel | |
| CN204223014U (en) | A kind of permanent magnetic suck climbing robot | |
| CN205891049U (en) | Transport vechicle chassis and AGV transport vechicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |