CN110979490B - Robot four limbs suitable for multiple topography - Google Patents
Robot four limbs suitable for multiple topography Download PDFInfo
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- CN110979490B CN110979490B CN201911309935.7A CN201911309935A CN110979490B CN 110979490 B CN110979490 B CN 110979490B CN 201911309935 A CN201911309935 A CN 201911309935A CN 110979490 B CN110979490 B CN 110979490B
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- 238000012876 topography Methods 0.000 title claims description 4
- 238000013016 damping Methods 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims abstract 9
- 230000035939 shock Effects 0.000 claims description 18
- 244000309464 bull Species 0.000 claims description 13
- 238000010521 absorption reaction Methods 0.000 claims description 11
- 230000017525 heat dissipation Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 239000000428 dust Substances 0.000 claims description 6
- 239000006185 dispersion Substances 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 6
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/62—Other vehicle fittings for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention relates to a robot four-limb suitable for various terrains, which comprises a robot main body, a damping mechanism and a cleaning mechanism, wherein the robot main body comprises a camera, an installation box, a transmission wheel, a rotating shaft, a radiating net and a net frame, the damping mechanism comprises fixed seats, the fixed seats are positioned on two sides of the installation box, a damping cylinder is arranged at the bottom end of each fixed seat, a lifting rod is arranged at the bottom end of each damping cylinder, the lifting rod penetrates through the damping cylinder, positioning wheels are arranged on two sides of the bottom end of each lifting rod, a damping spring and a fixing ring are respectively arranged at the top end of each lifting rod, the lifting rods penetrate through the damping springs and the fixing rings, the fixing rings are positioned at the top ends of the damping springs, the bottom ends of the damping springs are positioned at one end; through install the surge drum additional in the fixing base bottom, make the robot main part can steadily travel under various road conditions, through install the button additional in radiator-grid both sides, promoted the heat dispersion of robot main part.
Description
Technical Field
The invention relates to the field, in particular to a robot limb suitable for various terrains.
Background
Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is the product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is currently researching and developing in the direction, and the robot is the product of advanced integrated control theory, mechano-electronics, computer, materials and bionics. The robot has important application in the fields of industry, medicine, agriculture, construction industry and even military and the like, and the concept of the robot is gradually consistent internationally. Generally, people can accept the statement that a robot is a machine which realizes various functions by means of self power and control capacity, the robot needs to be operated in cooperation in many occasions in order to adapt to special operation, a crawler-type walking mechanism is generally adopted for a special operation robot in order to obtain a good walking effect, the contact area of the crawler-type walking mechanism and the ground is large, the obstacle crossing capacity is strong, various terrains can be used, and various xx in the market still have various problems.
Although the service life of a transmission gear and a transmission belt of the detection robot is prolonged, the pipeline detection robot disclosed by the invention with the authorization notice number of CN206973160U does not solve the problem that the existing robot is basically small and miniature and lacks a damping mechanism, and when the robot turns over more obstacles, the robot can cause larger vibration and bring adverse effects to the normal work of the robot, and therefore, the robot four limbs suitable for various terrains are designed.
Disclosure of Invention
The invention aims to provide a robot four-limb suitable for various terrains, and aims to solve the problems that the existing robot is basically small and miniature and lacks a damping mechanism, and when the robot climbs over a large number of obstacles, large vibration is caused, and adverse effects are brought to the normal work of the robot.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a four limbs of robot suitable for multiple topography, includes track, robot main part, damper and clean mechanism, the robot main part includes camera, install bin, drive wheel, pivot, radiator-grid and net frame, damper includes the fixing base, fixing base fixed connection is in install bin bottom both sides, fixing base bottom fixedly connected with damper, damper bottom fixedly connected with lifter, the locating wheel is all installed to the lifter both sides, the track is located the locating wheel bottom, track and locating wheel meshing.
Preferably, the lifting rod penetrates through the damping cylinder, a damping spring and a fixing ring are respectively arranged inside the damping cylinder, the lifting rod penetrates through the damping spring and the fixing ring, and the fixing ring is located at the top end of the damping spring.
Preferably, the fixed ring is fixedly connected with the lifting rod through threads, and the damping springs are fixedly connected with the fixed ring and the damping cylinder.
Preferably, the positioning wheel is rotatably connected with the lifting rod through a rotating rod, and the diameter of the lifting rod is eight times of the zero point of the inner diameter of the damping cylinder.
Preferably, clean mechanism includes the button, install screen frame one side internally mounted, the radiator-grid is installed to screen frame one side, the mounting groove has all been seted up at mounting box one side both ends, the screen frame is located between the mounting groove, the button is located inside the mounting groove, the runner is installed to button one side, the button passes through the bull stick and is connected with the runner rotation, the runner passes through the bull stick and is connected with the mounting groove rotation, the connecting rod is installed to runner one side, the connecting rod passes through the bull stick and is connected with the runner rotation, connecting rod one end is provided with the stopper, the stopper passes through the bull stick and is connected with the connecting rod rotation.
Preferably, the bottom end of the button is fixedly connected with a spring B, and the bottom end of the spring B is fixedly connected to the surface of the bottom end of the mounting groove.
Preferably, the two ends of the net frame are both provided with a limiting groove, and the limiting blocks are located inside the limiting grooves.
Preferably, one side of the top end of the limiting block is provided with an inclined plane, and the cross section of the limiting block is trapezoidal.
Preferably, the equal fixedly connected with spring A in net frame both sides bottom, spring A bottom is provided with the fixed block, fixed block one side fixed connection is in the inside one side of install bin.
The using method specifically comprises the following steps:
the method comprises the following steps: before use, the damping mechanism and the cleaning mechanism are sequentially installed and fixed;
step two: when the robot main body runs on the hollow road section, the generated vibration is transmitted to the positioning wheel through the crawler belt, transmitted to the lifting rod through the positioning wheel and transmitted to the shock absorption spring through the lifting rod, and absorbed by the shock absorption spring to weaken the influence of the vibration on the robot main body, so that the robot main body can run stably under various road conditions;
step three: when the dust on the inner side of the radiating net needs to be cleaned, the button is pressed, the button drives the rotating wheel to rotate, the rotating wheel drives the connecting rod to move, the connecting rod drives the limiting block to move backwards, when the limiting block leaves the inside of the limiting groove, the spring A drives the net frame to move upwards under the action of the spring A, the net frame drives the radiating net to move upwards, and then the radiating net is taken out.
Compared with the prior art, the invention has the beneficial effects that:
(1) through installing the damper cylinder additional in the fixing base bottom, when the robot main part traveles in the hollow highway section, the vibrations of production pass through the track and transmit to the locating wheel, transmit to the lifter by the locating wheel, transmit to the shock attenuation spring by the lifter, absorb by the shock attenuation spring and weaken vibrations to the influence of robot main part, promoted the anti-seismic performance of robot main part, also make the robot main part can steadily travel under various road conditions simultaneously.
(2) Through installing the button additional in radiator-grid both sides, when the inboard dust of radiator-grid needs to be cleared up, press the button, it is rotatory to drive the runner by the button, and the runner drives the connecting rod and removes, and the connecting rod drives the stopper and moves backward, when the stopper leaves limiting groove inside, under the spring A effect. The net frame is driven by the spring A to move upwards, the net frame drives the radiating net to move upwards, then the radiating net is taken out, the operation is simple, workers can clean the radiating net conveniently, and the radiating performance of the robot main body is improved.
Drawings
FIG. 1 is a schematic illustration of a robot limb adapted for use in a variety of terrain;
FIG. 2 is a schematic view of a positioning wheel for a robot limb adapted for use in a variety of terrain;
FIG. 3 is a schematic cross-sectional view of a shock absorbing mechanism for a robotic limb adapted for use in a variety of terrain;
FIG. 4 is a schematic diagram of a robot limb cleaning mechanism suitable for use in a variety of terrains;
fig. 5 is an enlarged schematic view of a in fig. 4.
In the figure: 1. a camera; 2. installing a box; 3. a fixed seat; 4. a driving wheel; 5. a rotating shaft; 6. a damper cylinder; 7. a lifting rod; 8. positioning wheels; 9. a crawler belt; 10. a heat-dissipating web; 11. a screen frame; 12. a button; 13. a fixing ring; 14. a damping spring; 15. a spring A; 16. a fixed block; 17. a spring B; 18. mounting grooves; 19. a rotating wheel; 20. a connecting rod; 21. a limiting block; 22. a limiting groove.
Detailed Description
In order to solve the problems proposed above, the present invention provides a robot limb suitable for use in a variety of terrains. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1-5, which are four limbs of a robot suitable for various terrains, including track 9, the robot main body, damper and cleaning mechanism, the robot main body includes camera 1, install bin 2, drive wheel 4, pivot 5, radiator-grid 10 and net frame 11, damper includes fixing base 3, fixing base 3 fixed connection is in 2 bottom both sides of install bin, 3 bottom fixed connection of fixing base has shock-absorbing cylinder 6, 6 bottom fixed connection of shock-absorbing cylinder has lifter 7, locating wheel 8 is all installed to 7 both sides of lifter, track 9 is located 8 bottoms of locating wheel, track 9 meshes with locating wheel 8.
Through install damping spring 14 additional in damper cylinder 6 inside, when the robot main part traveles on the road surface of more obstacles, the vibrations that the jolt produced pass through track 9, transmit to locating wheel 8, transmit to damping spring 14 by lifter 7 again, absorb by damping spring 14 and weaken, simultaneously under damping spring 14 effect, provide down force for locating wheel 8, the frictional force between track 9 and the road surface has been promoted, make the robot main part can adapt to multiple road conditions, in the embodiment, preferably, lifter 7 runs through damper cylinder 6, damper cylinder 6 is inside to be provided with damping spring 14 and solid fixed ring 13 respectively, lifter 7 all runs through damping spring 14 and solid fixed ring 13, gu fixed ring 13 is located damper spring 14 top.
In order to fix the damping spring 14, in the present embodiment, it is preferable that the fixing ring 13 is fixedly connected to the lifting rod 7 by a screw, and the damping spring 14 is fixedly connected to the fixing ring 13 and the damping cylinder 6.
Locating wheel 8 rotates through bull stick and lifter 7 to be connected, and the track 9 of being convenient for drives locating wheel 8 rotatory, and in this embodiment, preferred, locating wheel 8 rotates through bull stick and lifter 7 to be connected, and lifter 7 diameter is eight times at zero point of 6 internal diameters of shock attenuation section of thick bamboo.
Through install button 12 additional at 2 one side both ends of install bin, the inboard dust of radiator-grid 10 clearance of having convenient for, promote heat dispersion, in this embodiment, it is preferred, clean mechanism includes button 12, 2 one side internally mounted of install bin has net frame 11, radiator-grid 10 is installed to net frame 11 one side, install bin 2 one side both ends have all been seted up mounting groove 18, net frame 11 is located between the mounting groove 18, button 12 is located inside mounting groove 18, runner 19 is installed to button 12 one side, button 12 passes through the bull stick and is connected with runner 19 rotation, runner 19 passes through the bull stick and is connected with mounting groove 18 rotation, connecting rod 20 is installed to runner 19 one side, connecting rod 20 passes through the bull stick and is connected with runner 19 rotation, connecting rod 20 one end is provided with stopper 21, stopper 21 passes through the bull stick and is connected.
Through installing spring B17 additional in button 12 bottom, made things convenient for button 12 to reset, driven runner 19 by button 12 and reset, runner 19 drives connecting rod 20 and resets, and connecting rod 20 drives stopper 21 and resets, and in this embodiment, preferred, button 12 bottom fixedly connected with spring B17, spring B17 bottom fixed connection are in mounting groove 18 bottom surface.
Through set up spacing groove 22 at net frame 11 both ends, be convenient for spacing 21 fixed net frame 11, in this embodiment, preferred, spacing groove 22 has all been seted up at net frame 11 both ends, and spacing 21 is located inside spacing groove 22.
Through setting up stopper 21 top one side into the inclined plane, be convenient for stopper 21 to slide into the net frame 11 both sides spacing groove 22 in, in this embodiment, preferably, stopper 21 top one side is provided with the inclined plane, and stopper 21 cross-section is trapezoidal.
Through installing spring A15 additional at net frame 11 both sides bottom, be convenient for pop out net frame 11, in this embodiment, preferably, equal fixedly connected with spring A15 in net frame 11 both sides bottom, spring A15 bottom is provided with fixed block 16, fixed block 16 one side fixed connection in the inside one side of install bin 2.
The using method specifically comprises the following steps:
the method comprises the following steps: before use, the damping mechanism and the cleaning mechanism are sequentially installed and fixed;
step two: when the robot main body runs on the hollow road section, the generated vibration is transmitted to the positioning wheel 8 through the crawler belt 9, transmitted to the lifting rod 7 through the positioning wheel 8 and transmitted to the shock absorption spring 14 through the lifting rod 7, and the shock absorption spring 14 absorbs and weakens the influence of the vibration on the robot main body, so that the robot main body can stably run under various road conditions;
step three: when the dust on the inner side of the heat dissipation net 10 needs to be cleaned, the button 12 is pressed, the button 12 drives the rotating wheel 19 to rotate, the rotating wheel 19 drives the connecting rod 20 to move, the connecting rod 20 drives the limiting block 21 to move backwards, when the limiting block 21 leaves the inner part of the limiting groove 22, the spring A15 drives the net frame 11 to move upwards under the action of the spring A15, the net frame 11 drives the heat dissipation net 10 to move upwards, and then the heat dissipation net 10 is taken out.
The working principle and the using process of the invention are as follows: after the device accomplishes, through installing shock attenuation section of thick bamboo 6 additional in 3 bottoms of fixing base, when the robot main part traveles in hollow highway section, the vibrations of production transmit to locating wheel 8 through track 9, transmit to lifter 7 by locating wheel 8, transmit to shock attenuation spring 14 by lifter 7, absorb by shock attenuation spring 14 and weaken the influence of vibrations to the robot main part, the anti-seismic performance of robot main part has been promoted, also make the robot main part can steadily travel under various road conditions simultaneously, through installing button 12 additional in radiator-grid 10 both sides, when the inboard dust of radiator-grid 10 needs to be cleared up, press button 12, it is rotatory to drive runner 19 by button 12, runner 19 drives connecting rod 20 and removes, connecting rod 20 drives stopper 21 and moves backward, when stopper 21 leaves inside spacing groove 22, under the effect of spring A15. The spring A15 drives the net frame 11 to move upwards, the net frame 11 drives the heat dissipation net 10 to move upwards, and then the heat dissipation net 10 is taken out.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a four limbs of robot suitable for multiple topography, includes track (9), robot main part, damper and clean mechanism, its characterized in that: the robot main body comprises a camera (1), an installation box (2), a transmission wheel (4), a rotating shaft (5), a radiating net (10) and a net frame (11), the damping mechanism comprises a fixed seat (3), the fixed seat (3) is fixedly connected to two sides of the bottom end of the installation box (2), a damping cylinder (6) is fixedly connected to the bottom end of the fixed seat (3), a lifting rod (7) is fixedly connected to the bottom end of the damping cylinder (6), positioning wheels (8) are respectively installed on two sides of the lifting rod (7), a crawler (9) is positioned at the bottom end of the positioning wheels (8), the crawler (9) is meshed with the positioning wheels (8), the lifting rod (7) penetrates through the damping cylinder (6), a damping spring (14) and a fixing ring (13) are respectively arranged inside the damping cylinder (6), and the lifting rod (7) penetrates through the damping spring (14) and the fixing ring (13), the shock absorption device is characterized in that the fixing ring (13) is located at the top end of a shock absorption spring (14), the fixing ring (13) is fixedly connected with the lifting rod (7) through threads, the shock absorption spring (14) is fixedly connected with the fixing ring (13) and the shock absorption cylinder (6), the positioning wheel (8) is rotatably connected with the lifting rod (7) through a rotating rod, the diameter of the lifting rod (7) is eight times of the inner diameter of the shock absorption cylinder (6), the cleaning mechanism comprises a button (12), a net frame (11) is installed inside one side of the installation box (2), a radiating net (10) is installed on one side of the net frame (11), installation grooves (18) are formed in both ends of one side of the installation box (2), the net frame (11) is located between the installation grooves (18), the button (12) is located inside the installation grooves (18), a rotating wheel (19) is installed on one side of the button (12), and the button (12) is rotatably connected with, runner (19) are rotated with mounting groove (18) through the bull stick and are connected, connecting rod (20) are installed to runner (19) one side, connecting rod (20) are rotated with runner (19) through the bull stick and are connected, connecting rod (20) one end is provided with stopper (21), stopper (21) are rotated with connecting rod (20) through the bull stick and are connected, button (12) bottom fixedly connected with spring B (17), spring B (17) bottom fixed connection is in mounting groove (18) bottom surface, spacing groove (22) have all been seted up at net frame (11) both ends, stopper (21) are located inside spacing groove (22).
2. A robotic limb according to claim 1 adapted for use in a variety of terrains wherein: an inclined plane is arranged on one side of the top end of the limiting block (21), and the cross section of the limiting block (21) is trapezoidal.
3. A robotic limb according to claim 1 adapted for use in a variety of terrains wherein: equal fixedly connected with spring A (15) in net frame (11) both sides bottom, spring A (15) bottom is provided with fixed block (16), fixed block (16) one side fixed connection is in the inside one side of install bin (2).
4. The robot limb applicable to various terrains according to claim 1, wherein the use method is as follows:
the method comprises the following steps: before use, the damping mechanism and the cleaning mechanism are sequentially installed and fixed;
step two: when the robot main body runs on a hollow road section, generated vibration is transmitted to the positioning wheel (8) through the crawler belt (9), transmitted to the lifting rod (7) through the positioning wheel (8), transmitted to the shock absorption spring (14) through the lifting rod (7), and absorbed and weakened by the shock absorption spring (14) to influence of the vibration on the robot main body, so that the robot main body can run stably under various road conditions;
step three: when the dust on the inner side of the heat dissipation net (10) needs to be cleaned, the button (12) is pressed, the button (12) drives the rotating wheel (19) to rotate, the rotating wheel (19) drives the connecting rod (20) to move, the connecting rod (20) drives the limiting block (21) to move backwards, when the limiting block (21) leaves the inside of the limiting groove (22), the spring A (15) drives the net frame (11) to move upwards, the net frame (11) drives the heat dissipation net (10) to move upwards, and then the heat dissipation net (10) is taken out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911309935.7A CN110979490B (en) | 2019-12-18 | 2019-12-18 | Robot four limbs suitable for multiple topography |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911309935.7A CN110979490B (en) | 2019-12-18 | 2019-12-18 | Robot four limbs suitable for multiple topography |
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| CN110979490A CN110979490A (en) | 2020-04-10 |
| CN110979490B true CN110979490B (en) | 2021-04-23 |
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| CN201911309935.7A Active CN110979490B (en) | 2019-12-18 | 2019-12-18 | Robot four limbs suitable for multiple topography |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113844556B (en) * | 2021-09-17 | 2022-08-16 | 南京蹑波物联网科技有限公司 | Robot directional anti-deviation mechanism and anti-deviation method based on Internet of things |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR558008A (en) * | 1922-02-16 | 1923-08-20 | Cie Forges Et Acieries Marine | Air suspension track |
| DE69526122T2 (en) * | 1995-12-12 | 2002-11-28 | Babcock-Hitachi K.K., Tokio/Tokyo | MAGNETIC DRIVING DEVICE TYPE CHAIN CHAIN |
| ATE442287T1 (en) * | 2007-06-14 | 2009-09-15 | Alstom Technology Ltd | DRIVE UNIT FOR AN INSPECTION VEHICLE AND INSPECTION VEHICLE WITH SUCH A DRIVE UNIT |
| CN105313998B (en) * | 2015-10-03 | 2018-01-02 | 上海大学 | A kind of caterpillar mobile robot suspension of rigidity adaptive |
| CN105599815B (en) * | 2016-01-15 | 2019-04-30 | 江苏大学 | A kind of grain combine profiling vibration damping crawler-type traveling chassis |
| CN207604212U (en) * | 2017-11-01 | 2018-07-13 | 谢春娣 | A kind of harvester convenient for climbing |
| CN208698863U (en) * | 2018-08-13 | 2019-04-05 | 烟台恒邦信息科技有限公司 | A kind of bi-motor steering mechanism suitable for small crawler robot |
| CN109895875A (en) * | 2019-03-05 | 2019-06-18 | 齐宽宽 | A kind of handling machinery device with shock-absorbing function for logistics transportation |
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