CN114407033A - A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation - Google Patents
A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation Download PDFInfo
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- CN114407033A CN114407033A CN202210018151.4A CN202210018151A CN114407033A CN 114407033 A CN114407033 A CN 114407033A CN 202210018151 A CN202210018151 A CN 202210018151A CN 114407033 A CN114407033 A CN 114407033A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 230000009194 climbing Effects 0.000 title claims abstract description 27
- 238000007689 inspection Methods 0.000 claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 230000001174 ascending effect Effects 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention discloses an auxiliary climbing mechanism of a rail hanging inspection robot for outdoor large-gradient operation, which comprises a traveling mechanism and an auxiliary climbing mechanism, wherein the traveling mechanism drives the rail hanging robot to travel; the traveling mechanism comprises a rack, a driving wheel set for the rack to move on the track is arranged on the rack, and a driving chain wheel set for the rack to move on the chain is also arranged on the rack; the flat rail runs by means of the friction force between the driving wheel set and the rail surface; on the ramp, stable ascending and descending are realized through the matching of the driving chain wheels and the chains, so that slipping and vehicle sliding are effectively avoided, and the reliability of the robot system is improved.
Description
Technical Field
The invention relates to the technical field of rail hanging inspection robots, in particular to a rail hanging inspection robot auxiliary climbing mechanism for outdoor large-gradient operation.
Background
The traditional inspection mode is manual inspection, depends on senses and experiences of people, and is simultaneously assisted with relevant detection equipment to work, so the inspection mode has many defects and insufficiencies, and defects such as false detection and missed detection can often appear, or some dangerous places are difficult to inspect and the like, so that a plurality of potential safety hazards are not found in time and serious accidents are caused.
In order to solve the problems, the inspection robot is adopted to replace a worker to perform inspection work in outdoor places, such as transformer substations, chemical plants, wind power plants, photovoltaic plants and other large-scale outdoor places. At present, inspection robots are mainly divided into a ground type and a rail-mounted type, wherein the ground type is mainly a wheel type robot and a crawler type robot, and inspection work is carried out along a fixed magnetic track on the ground; the rail hanging type inspection robot is used for performing inspection work on an erected rail. Compared with the ground type, the rail-mounted type monitoring device has the advantages of not occupying ground space, not being influenced by landform and landform, having better monitoring visual field and the like.
The existing outdoor rail-mounted inspection robot has the main problems that due to the complex outdoor environment conditions, the phenomenon of skidding occurs when a large-gradient rail runs, so that the driving is disabled; the current solution to the above problem is to add a backup drive, i.e. the robot is transported up by the backup drive when climbing a slope, which increases the cost, weight and energy consumption of the robot.
Disclosure of Invention
In order to solve the problems, the invention provides an auxiliary climbing mechanism of a rail hanging inspection robot for outdoor large-gradient operation, which comprises a travelling mechanism for driving the rail hanging inspection robot to travel and an auxiliary climbing mechanism, wherein the auxiliary climbing mechanism comprises a rail and a chain fixed on the bottom surface of the rail, and the chain is arranged at a rail ramp; the running mechanism comprises a rack, a driving wheel set for the rack to move on the track is arranged on the rack, and a driving chain wheel set for the rack to move on the chain is also arranged on the rack.
Furthermore, the frame includes a bottom plate and two curb plates, and the drive wheelset includes two last shaft of being connected with the rotation of both sides board, and the one end that goes up the shaft and be located between both sides board is fixed with the drive wheel, and the other end of going up the shaft is fixed with gear A.
Furthermore, the driving chain wheel set is positioned right below the driving wheel set, the driving chain wheel set comprises a lower wheel shaft which penetrates through the two side plates and is rotationally connected with the side plates, a chain wheel which can be meshed with the chain is fixed in the middle of the lower wheel shaft, and gears B which are meshed with the gears A are fixed at the two ends of the lower wheel shaft.
Furthermore, a motor is installed on the bottom plate, the output end of the motor is connected with a gear C, the gear C is meshed with a gear B, and the outer diameter of the gear B is larger than that of the gear A.
Furthermore, running gear still including install in both sides curb plate and be close to one side two from the driving wheel, follow driving wheel and curb plate and rotate to be connected, and the driving wheel sets up with following the driving wheel symmetry.
Furthermore, the track is an H-shaped steel or I-shaped steel track, the chain is a chain with a mounting bent plate, the chain is fixed at the central line position of the bottom surface of the lower wing plate of the track, two ends of the chain extend to the track flat rail section, and guide blocks are fixed at two ends of the chain at the bottom of the lower wing plate of the track.
Furthermore, the travelling mechanism also comprises a guide wheel set, and the guide wheel set comprises an upper guide wheel and a lower guide wheel; two upper guide wheels are arranged on the side walls close to the two side plates, the upper guide wheels are positioned above the driving wheels, and the upper guide wheels are symmetrically arranged relative to the two sides of the rail web; two lower guide wheels are arranged on two sides of the top of the bottom plate and are symmetrically arranged.
Furthermore, tensioning wheels arranged on the bottom plate are arranged right below the driving wheel and the driven wheel, and springs are connected below the tensioning wheels.
Furthermore, the driving wheel set is positioned above the lower wing plate of the track, the driving wheel and the driven wheel are in rolling connection with the top surface of the lower wing plate of the track, the driving chain wheel set is positioned below the lower wing plate of the track, and the tensioning wheel is in rolling connection with the bottom surface of the lower wing plate of the track.
The invention has the following beneficial effects:
1. walking at the flat rail by means of the friction force between the driving wheel and the rail surface; at ramp department, through the meshing of sprocket chain, realize stably going up the downhill path, effectively avoid skidding and swift current car, improve robot system's reliability, do not have other power supplies or reserve drive arrangement to switch, can realize that the main driving wheel is automatic switching between drive wheel and sprocket, and simple structure, easy dismounting, effective reduce cost.
2. The unique single-motor multi-shaft synchronous driving structure is adopted, a complex standby driving device and a power switching device are not needed, the control difficulty and the energy consumption are favorably reduced, and the running stability of the rail-mounted robot is improved.
3. The meshing precision requirement of the chain wheel and the chain is low, the problems of skidding and sliding on the upper slope and the lower slope can be solved by the meshing mode of the chain wheel and the chain, and the chain can be selected from standard parts and is convenient to replace.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a traveling mechanism according to the present invention;
FIG. 3 is another structural view of the traveling mechanism of the present invention
FIG. 4 is a schematic view of the track and chain structure of the present invention; .
The reference numerals are explained below: 1. a traveling mechanism; 11. a frame; 111. a base plate; 112. a side plate; 12. a drive sprocket; 121. a gear A; 122. a sprocket; 123. a bearing seat; 13. a driving wheel set; 131. a drive wheel; 132. a gear B; 14. a driven wheel; 15. a tension wheel; 161. an upper guide wheel; 162. a lower guide wheel; 17. a motor; 171. a gear C; 2. an auxiliary climbing mechanism; 21. a guide block; 22. a chain; 23. a track.
Detailed Description
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular 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 a relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 4, an auxiliary climbing mechanism of a rail-hanging inspection robot for outdoor large-gradient operation comprises a traveling mechanism 1 and an auxiliary climbing mechanism 2, wherein the traveling mechanism 1 travels by a rail-hanging robot, the traveling mechanism 1 comprises a driving wheel set 13, a driving chain wheel set 12 and a driven wheel 14, the auxiliary climbing mechanism 2 comprises a rail 23, a chain 22 and a guide block 21, the rail 23 is fixed on the bottom surface of the rail 23, the chain 22 is arranged on a slope of the rail 23, and a chain wheel 122 in the driving chain wheel set 12 can be meshed with the chain 22. The rail 23 is an H-shaped steel or I-shaped steel rail 23, the chain 22 is a chain 22 with a mounting bent plate, the chain 22 is fixed at the center of the bottom surface of the lower wing plate of the rail 23, and two ends of the chain extend to the flat rail section of the rail 23. Namely, the walking is carried out at the flat rail by the friction force between the driving wheel 131 and the surface of the rail 23; at the slope, stable climbing is realized through the engagement of the chain wheels 122 and the chains 22, and the same principle is realized when the slope goes downhill.
In the present embodiment, as shown in fig. 1 to 3, the driving wheel set 13, the driving sprocket set 12, and the driven wheel 14 of the traveling mechanism 1 are all mounted on the frame 11 to form a whole. The frame 11 comprises a bottom plate 111 and two side plates 112; the driving wheel set 13 and the driven wheel 14 are symmetrically arranged on the two side plates 112; on the single side plate 112 with the drive wheel set 13 forward and the driven wheel 14 rearward, and on the same horizontal line. The driving sprocket set 12 is located on the bottom plate 111 of the frame 11 and is located right below the driving wheel set 13. When the robot runs on a flat rail, the driving wheel 131 is a main running wheel, and the robot runs by the friction force between the driving wheel 131 and the rail 23, and at the moment, the chain wheel 122 idles; when the robot runs on the slope rail and the chain wheel 122 is engaged with the chain 22, the chain wheel 122 in the driving chain wheel set 12 is a main running wheel, and the robot realizes the up-down slope by means of the engagement of the chain wheel 122 and the chain 22.
In this embodiment, as shown in fig. 1 to 3, the driving wheel set 13 and the driven wheel 14 are arranged above the lower wing plate of the rail 23 in a left-right symmetrical manner, and are located above the left and right side plates 112 of the frame 11, and fall on the upper surface of the lower wing plate of the rail 23, and the other end of the wheel shaft of the driving wheel 131 is provided with a gear B132. The symmetrical arrangement can effectively share the dead weight of the robot, avoid the unilateral walking of the robot and ensure the stable operation of the robot.
In the present embodiment, as shown in fig. 2 and 3, the driving wheel set 13 and the driving sprocket set 12 are driven by the motor 17 of the traveling mechanism 1, and the motor 17 may be fixed to the left or right side of the bottom plate 111 of the traveling mechanism 1. The three components jointly form a single-motor multi-shaft synchronous driving structure; the motor 17 is arranged on one side of the travelling mechanism 1, so that heat dissipation is facilitated, and space can be reserved for other parts. The output end of the motor 17 is provided with a gear C171, the driving chain wheel set 12 is positioned on the bottom plate 111 of the frame 11 and is right below the driving wheel set 13, the wheel shaft of the driving chain wheel set is supported by two bearing seats 123, the two ends of the wheel shaft are provided with a gear A121, the gear C171 is meshed with the gear A121, and the gear A121 is meshed with a gear B132; at the other end of the driving sprocket group 12, the gear a121 is also meshed with the gear B132, so that under the action of the wheel shaft of the driving sprocket group 12, the output power of the motor 17 can be simultaneously transmitted to the driving sprocket group 12 and the group driving wheel group 13 through the transmission of the gears, and single-motor multi-shaft synchronous driving is realized. By calculating and selecting the proper center distance and transmission ratio, the linear speed of the driving wheel 131 and the chain wheel 122 with little deviation can be obtained.
Example two:
according to one embodiment, the auxiliary climbing mechanism of the rail-mounted inspection robot for outdoor large-gradient operation is shown in fig. 1 and 4, wherein guide blocks 21 are installed at two ends of a chain 22 and are located in the center of the bottom surface of a wing plate under a rail 23. When the rail hanging robot runs at the slope rail, the chain wheel 122 and the chain 22 are engaged, the body can be guided and centered by the guide block 21 arranged at the bottom of the lower wing plate of the track 23, so that the chain wheel 122 and the chain 22 are smoothly engaged, and the phenomenon that the robot fails to walk due to incapability of engagement is effectively prevented.
In this embodiment, as shown in fig. 1 to 3, the guide wheel set includes an upper guide wheel 161 and a lower guide wheel 162, and the upper guide wheel 161 is symmetrically arranged on both sides of the web of the rail 23 to allow the robot to operate within a range of included angles between its center line and the extending direction of the rail 23. The lower guide wheels 162 are symmetrically arranged on the bottom plate 111 in front, rear, left and right directions. Before the robot travels to the slope rail and the chain wheel 122 and the chain 22 are meshed, the front and the rear groups of lower guide wheels 162 of the robot sequentially guide the vehicle body to be centered through the guide blocks 21, and therefore smooth meshing of the chain wheel 122 and the chain 22 is further guaranteed.
In the embodiment, as shown in fig. 1 to 3, tension pulleys 15 mounted on the bottom plate 111 are provided right below the driving wheel 131 and the driven wheel 14, the tension pulleys 15 are arranged below the lower wing plate of the rail 3 along the center line of the rail 23 in a bilateral symmetry manner, the tension pulleys 15 are mounted on the bottom plate 111 of the traveling mechanism 1, a spring 151 is provided below the tension pulleys, when the rail-mounted robot travels on the rail 23, the tension pulleys 15 travel along the bottom surface of the lower wing plate of the rail 23, and the spring 151 is always in a compressed state, so that the function of buffering and damping can be achieved, vibration generated in the traveling process of the robot is reduced, and the traveling stability of the robot is improved.
The working principle of the invention is as follows:
the motor 17 is electrified to start rotating, and simultaneously, the gear C171 on the output shaft of the motor 17 is driven, the gear C171 is meshed with the gear A121, and the gear A121 is meshed with the gear B132; at the other end of the driving sprocket set 12, the gear a121 is also meshed with the gear B132, so that under the action of the wheel shaft of the driving sprocket set 12, the output power of the motor 17 can be simultaneously transmitted to the driving sprocket set 12 and the set driving wheel set 13 through the transmission of the gears, and single-motor multi-shaft synchronous driving can be realized. By calculating and selecting the proper center distance and gear ratio, the linear velocity difference between the driving wheel 131 and the chain wheel 122 can be reduced to be lower.
When the rail-mounted robot runs on a flat rail, the driving wheel set 13 and the driven wheel 14 fall on the upper surface of the lower wing plate of the rail 23, the tension wheel 15 is tightly attached to the bottom surface of the lower wing plate of the rail 23, under the action of gravity and tension force provided by the tension wheel 15, the rail-mounted robot runs by means of friction force between the driving wheel 131 and the surface of the rail 23, at the moment, the driving wheel 131 is a main running wheel, and the chain wheel 122 idles. The upper guide wheel 161 can ensure that the robot runs within a certain range of included angle between the center line of the robot and the extending direction of the track 23.
When the robot is about to enter the slope rail, two sets of lower guide wheels 162 on the bottom plate 111 of the frame 11 sequentially pass through the guide blocks 21 arranged on the bottom surfaces of the lower wing plates of the track 23 to guide the vehicle body to be centered, so that the chain wheel 122 positioned below the track 23 is smoothly meshed with the chain 22, and the smooth up-down slope walking without slipping is realized by means of the meshing of the chain wheel 122 and the chain 22. The sprocket 122 is now the main road wheel.
In the whole driving process, no other power source or standby driving device is switched, so that the main driving wheel can be automatically switched between the driving wheel 131 and the chain wheel 122, the structure is simplified, the control is simpler, and the stability is higher.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (9)
1. The utility model provides a hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation which characterized in that: the climbing robot comprises a traveling mechanism (1) for driving a rail-hanging robot to travel and an auxiliary climbing mechanism (2), wherein the auxiliary climbing mechanism (2) comprises a track (23) and a chain (22) fixed on the bottom surface of the track (23), and the chain (22) is arranged at a ramp of the track (23); running gear (1) includes frame (11), install on frame (11) and supply frame (11) drive wheel (131) group that move on track (23), still install on frame (11) and supply frame (11) drive sprocket (122) group that move on chain (22).
2. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 1, is characterized in that: the machine frame (11) comprises a bottom plate (111) and two side plates (112), the driving wheel (131) group comprises two upper wheel shafts rotatably connected with the two side plates (112), one end of each upper wheel shaft, which is positioned between the two side plates (112), is fixedly provided with a driving wheel (131), and the other end of each upper wheel shaft is fixedly provided with a gear A (121).
3. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 2, is characterized in that: the driving chain wheel (122) set is positioned right below the driving wheel (131) set, the driving chain wheel (122) set comprises a lower wheel shaft which penetrates through the two side plates (112) and is rotatably connected with the side plates (112), the chain wheel (122) capable of being meshed with the chain (22) is fixed in the middle of the lower wheel shaft, and the gears B (132) meshed with the gears A (121) are fixed at two ends of the lower wheel shaft.
4. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 3, is characterized in that: install a motor (17) on bottom plate (111), the output of motor (17) is connected with gear C (171), gear C (171) with gear B (132) mesh mutually, the external diameter of gear B (132) is greater than the external diameter of gear A (121).
5. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 2, is characterized in that: the walking mechanism (1) further comprises two driven wheels (14) which are arranged on one side, close to the two side plates (112), of the two side plates (112), the driven wheels (14) are rotatably connected with the side plates (112), and the driving wheels (131) and the driven wheels (14) are symmetrically arranged.
6. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 2, is characterized in that: the track (23) is H shaped steel or I-steel track (23), and chain (22) are chain (22) of taking the installation bent plate, and the central line position in the bottom surface of the lower pterygoid lamina of track (23) is fixed in chain (22), and both ends extend to track (23) plain rail section, the lower pterygoid lamina bottom of track (23) is fixed with guide block (21) in chain (22) both ends.
7. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 2, is characterized in that: the travelling mechanism (1) further comprises a guide wheel set, and the guide wheel set comprises an upper guide wheel (161) and a lower guide wheel (162); two upper guide wheels (161) are respectively installed on the side walls, close to the two side plates (112), of the two side plates, the upper guide wheels (161) are located above the driving wheels (131), and the upper guide wheels (161) are symmetrically arranged relative to the two sides of a web of the rail (23); two lower guide wheels (162) are installed on two sides of the top of the bottom plate (111), and the lower guide wheels (162) are symmetrically arranged.
8. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 5, is characterized in that: tensioning wheels (15) installed on the bottom plate (111) are arranged right below the driving wheel (131) and the driven wheel (14), and springs (151) are connected below the tensioning wheels (15).
9. The auxiliary climbing mechanism of the rail inspection robot for outdoor large-gradient operation according to claim 8, characterized in that: the driving wheel set (13) is positioned above the lower wing plate of the track (23), the driving wheel (131) and the driven wheel (14) are in rolling connection with the top surface of the lower wing plate of the track (23), the driving chain wheel set (12) is positioned below the lower wing plate of the track (23), and the tension wheel (15) is in rolling connection with the bottom surface of the lower wing plate of the track (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210018151.4A CN114407033A (en) | 2022-01-07 | 2022-01-07 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210018151.4A CN114407033A (en) | 2022-01-07 | 2022-01-07 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
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| CN202210018151.4A Pending CN114407033A (en) | 2022-01-07 | 2022-01-07 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987560A (en) * | 2022-06-17 | 2022-09-02 | 广东科凯达智能机器人有限公司 | Variable-drive walking mechanism, robot and walking track |
| CN115196465A (en) * | 2022-07-18 | 2022-10-18 | 重庆小目科技有限责任公司 | Elevator trolley for high-voltage iron tower operation |
| CN116395340A (en) * | 2023-06-09 | 2023-07-07 | 威尔克莱特(苏州)科技有限公司 | Coupling mechanism, conveyor, track mechanism and track conveyor |
| WO2024067556A1 (en) * | 2022-09-30 | 2024-04-04 | 安徽容知日新科技股份有限公司 | Driving assembly for inspection robot system |
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| CN114987560A (en) * | 2022-06-17 | 2022-09-02 | 广东科凯达智能机器人有限公司 | Variable-drive walking mechanism, robot and walking track |
| CN114987560B (en) * | 2022-06-17 | 2024-03-19 | 广东科凯达智能机器人有限公司 | Running gear, robot and walking track of variable drive |
| CN115196465A (en) * | 2022-07-18 | 2022-10-18 | 重庆小目科技有限责任公司 | Elevator trolley for high-voltage iron tower operation |
| CN115196465B (en) * | 2022-07-18 | 2023-08-01 | 重庆小目科技有限责任公司 | Elevator trolley for running high-voltage iron tower |
| WO2024067556A1 (en) * | 2022-09-30 | 2024-04-04 | 安徽容知日新科技股份有限公司 | Driving assembly for inspection robot system |
| CN116395340A (en) * | 2023-06-09 | 2023-07-07 | 威尔克莱特(苏州)科技有限公司 | Coupling mechanism, conveyor, track mechanism and track conveyor |
| CN116395340B (en) * | 2023-06-09 | 2023-09-01 | 威尔克莱特(苏州)科技有限公司 | Coupling mechanism, conveyor, track mechanism and track conveyor |
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Application publication date: 20220429 |