CN210912655U - Crawler-type traveling platform and crawler-type robot - Google Patents
Crawler-type traveling platform and crawler-type robot Download PDFInfo
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- CN210912655U CN210912655U CN201921097179.1U CN201921097179U CN210912655U CN 210912655 U CN210912655 U CN 210912655U CN 201921097179 U CN201921097179 U CN 201921097179U CN 210912655 U CN210912655 U CN 210912655U
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Abstract
The utility model provides a crawler-type traveling platform and a crawler robot, relating to the technical field of rescue equipment, wherein the crawler-type traveling platform comprises a frame, a first swing arm, a first hollow shaft, a first central shaft, a walking driving device and a first swing arm driving device which are arranged on the frame; the main crawler wheel is rotatably mounted on the rack through a first hollow shaft, a first main swing arm wheel of the first swing arm is also fixed on the first hollow shaft, and when the walking driving device is in driving connection with the first hollow shaft, the main crawler wheel and the first main swing arm wheel can be driven to rotate simultaneously, so that the rack and the first swing arm can walk simultaneously; in addition, the first central shaft is rotatably arranged in the first hollow shaft and fixedly connected with the first swing arm, so that when the first swing arm driving device is in driving connection with the first central shaft, the relative rotation of the rack and the first swing arm can be completed. The technical problem that the crawler-type traveling platform in the prior art is weak in traffic capacity on complex terrains is solved.
Description
Technical Field
The utility model relates to a rescue equipment technical field particularly, relates to a crawler-type platform and track robot of marcing.
Background
According to investigation of disaster accident rescue conditions in network and news, the unknown field environment is a major obstacle to smooth rescue activities and a main reason for casualty loss. When a disaster or an accident occurs, the field environment is complicated and severe and is full of unknown and uncertain factors, at present, rescue still takes human initiative, the rescue enters dangerous environments such as fire, mines, earthquake ruins and the like to carry out preferential exploration to obtain information, the life safety of search and rescue personnel is seriously threatened, and a severe test is brought to the deployment and implementation of search and rescue work.
A small number of double-track rescue fire-fighting robots appear on the market, but the double-track rescue fire-fighting robots have single functions, are weak in traffic capacity of complex terrains, and cannot be well adapted to special terrains in major disasters. The humanoid robot and the leg-foot robot can better adapt to the complex environment, but because the technical difficulty is high, a series of problems such as huge capital investment and the like are still in the laboratory stage at present, and the current practical requirements cannot be adapted to.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a crawler-type platform and track robot of marcing to alleviate the technical problem that crawler-type platform of marcing among the prior art is weak at complicated topography current capacity.
The utility model provides a crawler-type traveling platform, which comprises a frame, a first swing arm, a first hollow shaft, a first central shaft, a traveling driving device and a first swing arm driving device, wherein the traveling driving device and the first swing arm driving device are arranged on the frame;
the first hollow shaft is rotatably installed on the rack and is coaxially fixed with a first main swing arm wheel and a main crawler wheel, the first swing arm is rotatably installed on the first main swing arm wheel, the first main swing arm wheel is used for driving a crawler on the first swing arm to rotate, the main crawler wheel is used for driving the crawler on the rack to rotate, and the walking driving device is used for driving the first hollow shaft to rotate;
the first central shaft is rotatably arranged in the first hollow shaft and is fixedly connected with the first swing arm, and the first swing arm driving device is used for driving the first central shaft to rotate.
Furthermore, the device also comprises a second swing arm, a second hollow shaft, a second central shaft and a second swing arm driving device;
the second hollow shaft and the first hollow shaft are respectively arranged at the front end and the rear end of the rack, the second hollow shaft is rotatably arranged on the rack and coaxially fixed with a second main swing arm wheel and a slave crawler wheel, the second swing arm is rotatably arranged on the second main swing arm wheel, and the second main swing arm wheel is used for driving a crawler on the second swing arm to rotate;
the second central shaft is rotatably arranged in the first hollow shaft and is fixedly connected with the second swing arm, and the second swing arm driving device is used for driving the second central shaft to rotate.
Furthermore, the first hollow shaft is provided with two coaxial arrangements, the second hollow shaft is provided with two coaxial arrangements, the main crawler wheel on one first hollow shaft is connected with the auxiliary crawler wheel on one second hollow shaft through crawler transmission, and the main crawler wheel on the other first hollow shaft is connected with the auxiliary crawler wheel on the other second hollow shaft through crawler transmission.
Furthermore, both ends of the first central shaft extend out of the cavity of the first hollow shaft, and both ends of the first hollow shaft are provided with sliding bearings.
Furthermore, the walking driving device is in driving connection with the first hollow shaft through a worm gear mechanism, and the first swing arm driving device is in driving connection with the first central shaft through a worm gear mechanism.
Furthermore, the first swing arm comprises an inner side plate and an outer side plate, one end of the inner side plate is rotatably installed on the first hollow shaft through a bearing bush, one end of the outer side plate is fixed on the first central shaft through an expansion sleeve, and a first driven swing arm wheel is rotatably installed at the other end of the inner side plate and the other end of the outer side plate together.
Furthermore, the first main swing arm wheel and the main crawler wheel are fixed on the first hollow shaft through expansion sleeves, and the second main swing arm wheel and the auxiliary crawler wheel are fixed on the second hollow shaft through expansion sleeves.
Further, the first main swing arm wheel, the second main swing arm wheel, the main crawler wheel and the slave crawler wheel are all made of black nylon materials.
Furthermore, flanges for preventing the crawler belt from falling off extend radially from two sides of the first main swing-arm wheel, the second main swing-arm wheel, the main crawler wheel and the auxiliary crawler wheel.
The utility model provides a track robot, include as above-mentioned track type platform of marcing.
Compared with the prior art, the utility model provides a crawler-type platform and track robot's beneficial effect as follows:
the utility model provides a crawler-type traveling platform, which comprises a frame, a first swing arm, a first hollow shaft, a first central shaft, a traveling driving device and a first swing arm driving device, wherein the traveling driving device and the first swing arm driving device are arranged on the frame; the walking driving device can drive the main crawler wheel and the first main swing arm wheel to simultaneously rotate through the first swing arm wheel rotatably mounted on the first main swing arm wheel, so that the crawler on the rack and the crawler on the first swing arm rotate simultaneously, and the rack and the first swing arm walk simultaneously; in addition, the first central shaft is rotatably arranged in the first hollow shaft and fixedly connected with the first swing arm, so that when the first swing arm driving device is in driving connection with the first central shaft, the relative rotation of the rack and the first swing arm can be completed.
At specific during operation, rotationally install in first hollow shaft through setting up first center pin, both can take place the relative rotation of circumference, realized under limited space size, frame and first swing arm all can be in the angle between adjustment frame and the first swing arm when walking state, combine the crawler-type walking design of frame and first swing arm, make the track in the frame and the track in the first swing arm have more probability to accomplish the butt atress with the ground barrier in complicated topography, and then can accomplish the walking of frame and first swing arm through the relative movement of track and ground barrier, guarantee that crawler-type platform of marcing has better trafficability in complicated topography, can replace the manual work to rescue the work in the complicated abominable environment of environment, the smooth expansion of rescue activity has been guaranteed.
The utility model provides a tracked robot through setting up above-mentioned crawler-type traveling platform, and is corresponding, and this tracked robot has all advantages of above-mentioned crawler-type traveling platform, no longer gives unnecessary details here one by one.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a crawler type traveling platform provided in an embodiment of the present invention;
fig. 2 is a schematic top view of the crawler travel platform according to the embodiment of the present invention (one first swing arm and one second swing arm are omitted);
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a cross-sectional view B-B of FIG. 2;
fig. 5 is a sectional view C-C in fig. 2.
Icon: 1-a frame; 2-a first swing arm; 3-a first hollow shaft; 4-a first central axis; 5-a walking driving device; 6-a first swing arm driving device; 7-a first main swing arm wheel; 8-main crawler wheels; 9-a second swing arm; 10-a second swing arm drive; 11-a second main swing arm wheel; 12-slave track wheels; 13-an encoder; 14-a planetary gear reducer; 15-a plum blossom coupling; 16-a worm gear; 17-a worm; 18-a support wheel;
201-inner side plate; 202-outer panel.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1 to 5, the crawler type traveling platform provided in this embodiment includes a frame 1, a first swing arm 2, a first hollow shaft 3, a first central shaft 4, and a traveling driving device 5 and a first swing arm driving device 6 mounted on the frame 1; the main crawler wheel 8 is rotatably mounted on the frame 1 through the first hollow shaft 3, the first main swing arm wheel 7 is also fixed on the first hollow shaft 3, and the first swing arm 2 is rotatably mounted on the first main swing arm wheel 7, so that the walking driving device 5 can drive the main crawler wheel 8 and the first main swing arm wheel 7 to simultaneously rotate, the crawler on the frame 1 and the crawler on the first swing arm 2 simultaneously rotate, and further the simultaneous walking of the frame 1 and the first swing arm 2 is completed; in addition, by arranging the first central shaft 4 to be rotatably installed in the first hollow shaft 3 and fixedly connected to the first swing arm 2, when the first swing arm driving device 6 is drivingly connected to the first central shaft 4, the relative rotation between the frame 1 and the first swing arm 2 can be completed.
When the crawler-type walking machine works, the first central shaft 4 is rotatably arranged in the first hollow shaft 3 and can rotate relatively in the circumferential direction, so that the angle between the rack 1 and the first swing arm 2 can be adjusted simultaneously when the rack 1 and the first swing arm 2 are both in a walking state under the limited space size, and by combining the crawler-type walking design of the rack 1 and the first swing arm 2, so that the crawler belt on the frame 1 and the crawler belt on the first swing arm 2 have higher probability of completing the abutting stress with the ground obstacle in the complex terrain, and then can accomplish the walking of frame 1 and first swing arm 2 through the relative movement of track and ground barrier, guarantee that track type platform of marcing has better current capacity in complicated topography, can replace the manual work to rescue the work in the complicated abominable environment of environment, guarantee the smooth expansion of rescue activity.
It is worth to say that, in this embodiment, each first hollow shaft 3 corresponds to one first central shaft 4 and one first swing arm 2, and at this time, the number of the first swing arms 2 may be multiple, and the multiple first swing arms 2 may be mutually independent to complete the relative rotation with the frame 1, so that the crawler-type traveling platform has a higher degree of freedom to be able to adapt to more complex terrains.
Specifically, the present embodiment also provides the following detailed description of the specific structure of the crawler type traveling platform.
With reference to fig. 1 and fig. 5, in the present embodiment, the crawler travel platform further includes a second swing arm 9, a second hollow shaft, a second central shaft, and a second swing arm driving device 10; the second hollow shaft and the first hollow shaft 3 are respectively arranged at the front end and the rear end of the rack 1, the second hollow shaft is rotatably arranged on the rack 1 and coaxially fixed with a second main swing arm wheel 11 and a slave crawler wheel 12, the second main swing arm wheel 11 is used for driving a crawler on a second swing arm 9 to rotate, and the second swing arm 9 is rotatably arranged on the second main swing arm wheel 11; the second central shaft is rotatably arranged in the first hollow shaft 3 and is fixedly connected with the second swing arm 9, and the second swing arm driving device 10 is used for driving the second central shaft to rotate.
Specifically, in the embodiment, the structure of the first hollow shaft 3 is the same as that of the second hollow shaft, the structure of the first central shaft 4 is the same as that of the second central shaft, and when the frame 1, the first swing arm 2 and the second swing arm 9 work, the walking operation is completed at the same time; first swing arm 2 and second swing arm 9 also all can relatively independent completion and frame 1 relative rotation, and the degree of freedom of platform of marcing this moment is higher, and adaptability to complicated topography is stronger.
In this embodiment, the first hollow axle 3 is provided with two coaxial arrangements, the second hollow axle is provided with two coaxial arrangements, the main crawler wheel 8 on one first hollow axle 3 is connected with the slave crawler wheel 12 on one second hollow axle through crawler transmission, and the main crawler wheel 8 on the other first hollow axle 3 is connected with the slave crawler wheel 12 on the other second hollow axle through crawler transmission.
Taking the first swing arm 2 positioned at the front end of the frame 1 as an example, the front end of the frame 1 is provided with two relatively independent first swing arms 2, the rear end of the frame 1 is provided with two relatively independent second swing arms 9, and the two walking driving devices 5 respectively control the walking of the two crawler belts on the frame 1, so that the forward and backward steering operation of the whole traveling platform can be completed; the four swing arms can relatively independently complete the relative rotation with the frame 1, the degree of freedom of the traveling platform is further improved, and the adaptability to complex terrains is further enhanced.
It should be noted that, with continued reference to fig. 1, the master crawler wheel 8 and the slave crawler wheel 12 are both located at the same height of the frame 1, the frame 1 is provided with a plurality of support wheels 18 at a position offset between the master crawler wheel 8 and the slave crawler wheel 12, and the crawler is in transmission connection with the master crawler wheel 8, the slave crawler wheel 12 and the plurality of support wheels 18 respectively.
In this embodiment, both ends of the first central shaft 4 extend out from the cavity of the first hollow shaft 3, and both ends of the first hollow shaft 3 are provided with sliding bearings.
Specifically, two sliding bearings with the same structure are also arranged between the second central shaft and the second hollow shaft, and the sliding bearings can be in clearance fit with the central shaft and the hollow shaft respectively, and also can be in interference fit with the hollow shaft and in clearance fit with the central shaft. The sliding bearing is preferably a curled bearing, so that the friction between the central shaft and the hollow shaft is lower, the independent rotation is not influenced basically, and meanwhile, the relative fixation of the central shaft and the hollow shaft in the axial direction is realized.
It is worth to be noted that the sliding bearing is preferably a graphite self-lubricating sliding bearing, the radial dimension of the sliding bearing does not need a complex oil supply sealing system, the overall structural size and complexity of the central shaft and the hollow shaft are reduced, the maintenance is simple, and the stability is high.
In this embodiment, the traveling driving device 5 is in driving connection with the first hollow shaft 3 through a worm gear mechanism, and the first swing arm driving device 6 is in driving connection with the first central shaft 4 through a worm gear mechanism.
Referring to fig. 1, 2 and 4, in particular, the travel driving device 5 is preferably a motor and is sequentially in driving connection with a set of planetary gear reducers 14, a double offset ring gear coupling 15 and a worm 17, a worm wheel 16 matched with the worm 17 is fixed at one end of the first hollow shaft 3, the first swing arm driving device 6 is also preferably a motor and is sequentially in driving connection with another set of planetary gear reducers 14, a double offset ring gear coupling 15 and a worm 17, and a worm wheel 16 matched with the worm 17 is fixed at one end of the first central shaft 4.
This setting for the axis direction of motor, planetary gear reducer 14, plum blossom coupling 15 and worm 17 is the length direction of frame 1, and is specific, and multiunit motor, planetary gear reducer 14, plum blossom coupling 15 and worm 17 can all be located between 1 two tracks of frame, have effectively utilized the inside space of frame 1, have reduced the dimensional requirement of frame 1, and the whole size of crawler-type platform of marcing is littleer, and is stronger at complicated topography environment adaptability.
In this embodiment, the first swing arm 2 includes an inner plate 201 and an outer plate 202, one end of the inner plate 201 is rotatably mounted on the first hollow shaft 3 through a bearing bush, one end of the outer plate 202 is fixed on the first central shaft 4 through an expansion sleeve, a first slave swing arm wheel is rotatably mounted on the other end of the inner plate 201 and the other end of the outer plate 202 together, and the first master swing arm wheel 7 and the first slave swing arm wheel are connected through a crawler belt transmission.
Specifically, the inner plate 201 is rotatably mounted on the first hollow shaft 3, so that it is ensured that the rotation of the inner plate 201 relative to the frame 1 is not affected when the first main swing arm wheel 7 rotates, one end of the outer plate 202 is fixed at one end of the first central shaft 4 without the fixed worm wheel 16 through an expansion sleeve, and the expansion sleeve belongs to the category of mechanical universal parts and is used for connecting two shafts in different mechanisms to rotate together to transmit mechanical parts of torque. The expansion sleeve is in interference fit with the outer side plate 202 and the first central shaft 4 respectively to complete circumferential and axial fixation of the expansion sleeve and the outer side plate, a key groove does not need to be formed in the first hollow shaft 3 in the fixing mode, and the strength and the dynamic stability of the first hollow shaft 3 are improved.
In this embodiment, both the first swing arm driving device 6 and the second swing arm driving device 10 can be servo motors with encoders 13, that is, the rotation angles of the servo motors can be accurately controlled through the encoders 13, and the swing arms and the frame 1 can be accurately and flexibly controlled in rotation; the walking driving device 5 can be a direct current brush motor, so that the whole crawler type advancing platform is fast to start, timely to brake and capable of smoothly regulating the speed in a large range.
In this embodiment, the first main swing arm wheel 7 and the main track wheel 8 are both fixed on the first hollow shaft 3 through the expansion sleeve, and the second main swing arm wheel 11 and the slave track wheel 12 are both fixed on the second hollow shaft through the expansion sleeve.
In a similar way, the expansion sleeve is arranged to replace circumferential and axial fixation of the hollow shaft and the wheel, a key groove does not need to be formed in the hollow shaft, and the strength and the dynamic stability of the first hollow shaft 3 are further improved.
In this embodiment, the first master swing arm wheel 7, the second master swing arm wheel 11, the master crawler wheel 8, and the slave crawler wheel 12 are all made of black nylon material.
The traveling wheel made of black nylon has the characteristics of high mechanical strength, rigidity, hardness, toughness and the like, and is good in aging resistance, mechanical vibration reduction capacity, good in sliding property, excellent in wear resistance, good in machining performance, high in chemical stability, resistant to organic solvents and fuel oil, non-toxic and harmless, and capable of meeting the use requirements of the traveling wheel. Meanwhile, the walking wheels with the same volume are made of black nylon, have smaller quality and better plasticity than those made of metal, and are tightly meshed with the crawler belt and not easy to strip.
Finally, referring to fig. 3, in this embodiment, the first main swing arm wheel 7, the second main swing arm wheel 11, the main track wheel 8, and the secondary track wheel 12 all radially extend to form a rib for preventing the track from falling off, so as to ensure that the frame 1, the first swing arm 2, and the second swing arm 9 can stably and permanently maintain a walking state when the crawler-type traveling platform performs a large-scale motion in a complex environment.
Example two
The crawler robot provided by the embodiment comprises the crawler travelling platform, and various tools for disaster relief and fire fighting are installed on the frame 1 of the crawler travelling platform, so that the crawler robot can have better traffic capacity on complex terrains, search and rescue work can be completed better instead of manpower, and smooth expansion of rescue activities is guaranteed. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A crawler-type traveling platform is characterized by comprising a rack (1), a first swing arm (2), a first hollow shaft (3), a first central shaft (4), a walking driving device (5) and a first swing arm driving device (6), wherein the walking driving device and the first swing arm driving device are installed on the rack (1);
the first hollow shaft (3) is rotatably installed on the rack (1) and is coaxially fixed with a first main swing arm wheel (7) and a main crawler wheel (8), the first swing arm (2) is rotatably installed on the first main swing arm wheel (7), the first main swing arm wheel (7) is used for driving a crawler on the first swing arm (2) to rotate, the main crawler wheel (8) is used for driving the crawler on the rack (1) to rotate, and the walking driving device (5) is used for driving the first hollow shaft (3) to rotate;
the first central shaft (4) is rotatably arranged in the first hollow shaft (3) and is fixedly connected with the first swing arm (2), and the first swing arm driving device (6) is used for driving the first central shaft (4) to rotate.
2. The tracked running platform according to claim 1, further comprising a second swing arm (9), a second hollow shaft, a second central shaft and a second swing arm drive (10);
the second hollow shaft and the first hollow shaft (3) are respectively arranged at the front end and the rear end of the rack (1), the second hollow shaft is rotatably arranged on the rack (1) and coaxially fixed with a second main swing arm wheel (11) and a slave crawler wheel (12), the second swing arm (9) is rotatably arranged on the second main swing arm wheel (11), and the second main swing arm wheel (11) is used for driving a crawler on the second swing arm (9) to rotate;
the second central shaft is rotatably arranged in the first hollow shaft (3) and is fixedly connected with the second swing arm (9), and the second swing arm driving device (10) is used for driving the second central shaft to rotate.
3. The tracked running platform according to claim 2, wherein said first hollow axles (3) are provided with two and coaxial arrangements and said second hollow axles are provided with two and coaxial arrangements, said master track wheels (8) on one of said first hollow axles (3) being connected by means of a track transmission to said slave track wheels (12) on one of said second hollow axles, said master track wheels (8) on the other of said first hollow axles (3) being connected by means of a track transmission to said slave track wheels (12) on the other of said second hollow axles.
4. The tracked running platform according to claim 3, wherein both ends of the first central shaft (4) protrude from the cavity of the first hollow shaft (3), and both ends of the first hollow shaft (3) are provided with sliding bearings.
5. The tracked running platform according to claim 4, wherein the travel drive (5) is in driving connection with the first hollow shaft (3) via a worm gear mechanism, and the first swing arm drive (6) is in driving connection with the first central shaft (4) via a worm gear mechanism.
6. The tracked running platform according to claim 4, wherein the first swing arm (2) comprises an inner side plate (201) and an outer side plate (202), one end of the inner side plate (201) is rotatably mounted on the first hollow shaft (3) through a bearing bush, one end of the outer side plate (202) is fixed on the first central shaft (4) through an expansion sleeve, and a first driven swing arm wheel is rotatably mounted between the other end of the inner side plate (201) and the other end of the outer side plate (202).
7. The tracked running platform according to any one of claims 2 to 6, wherein the first master swing-arm wheel (7) and the master track wheel (8) are each fixed to the first hollow axle (3) by means of an expansion sleeve, and the second master swing-arm wheel (11) and the slave track wheel (12) are each fixed to the second hollow axle by means of an expansion sleeve.
8. The tracked running platform according to any one of claims 2 to 6, wherein the first master swing-arm wheel (7), the second master swing-arm wheel (11), the master track wheel (8) and the slave track wheels (12) are all made of black nylon material.
9. The tracked running platform according to any one of claims 2 to 6, wherein the first main swing-arm wheel (7), the second main swing-arm wheel (11), the main track wheel (8) and the slave track wheel (12) each have a rib extending radially on both sides thereof for preventing the track from falling off.
10. A track robot comprising a tracked vehicle platform according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921097179.1U CN210912655U (en) | 2019-07-12 | 2019-07-12 | Crawler-type traveling platform and crawler-type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921097179.1U CN210912655U (en) | 2019-07-12 | 2019-07-12 | Crawler-type traveling platform and crawler-type robot |
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| CN210912655U true CN210912655U (en) | 2020-07-03 |
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| CN201921097179.1U Active CN210912655U (en) | 2019-07-12 | 2019-07-12 | Crawler-type traveling platform and crawler-type robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406604A (en) * | 2019-07-12 | 2019-11-05 | 北京信息科技大学 | Crawler type traveling platform and caterpillar robot |
| CN114560024A (en) * | 2022-03-17 | 2022-05-31 | 京沪高速铁路股份有限公司 | Robot for detecting narrow space of station house |
-
2019
- 2019-07-12 CN CN201921097179.1U patent/CN210912655U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406604A (en) * | 2019-07-12 | 2019-11-05 | 北京信息科技大学 | Crawler type traveling platform and caterpillar robot |
| CN114560024A (en) * | 2022-03-17 | 2022-05-31 | 京沪高速铁路股份有限公司 | Robot for detecting narrow space of station house |
| CN114560024B (en) * | 2022-03-17 | 2023-09-22 | 京沪高速铁路股份有限公司 | Station house narrow and small space detection robot |
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