CN101492072A - Mobile robot and obstacle crossing method thereof - Google Patents
Mobile robot and obstacle crossing method thereof Download PDFInfo
- Publication number
- CN101492072A CN101492072A CNA2008100101986A CN200810010198A CN101492072A CN 101492072 A CN101492072 A CN 101492072A CN A2008100101986 A CNA2008100101986 A CN A2008100101986A CN 200810010198 A CN200810010198 A CN 200810010198A CN 101492072 A CN101492072 A CN 101492072A
- Authority
- CN
- China
- Prior art keywords
- swinging kick
- robot
- motor
- obstacle
- belt wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005484 gravity Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000004519 grease Substances 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to robot engineering, in particular to a mobile robot needing to get over obstacles and an obstacle-crossing method thereof, wherein the robot comprises a box body, a front belt wheel and a rear belt wheel which are arranged on two sides of the box body and connected through a crawler belt, one end in the box body is provided with a belt wheel motor which is respectively connected with the belt wheels on two sides of the box body at the end, the other end of the box body is provided with a leg-swinging revolving shaft which is penetrated by the box body and the rear belt wheel at the end, and two ends of the leg-swinging revolving shaft, which are positioned outside the box body, are both provided with; a leg swinging motor connected with the leg swinging rotary shaft is arranged in the box body at the end. The method comprises the following steps: the swing legs rotate until the robot main body turns around the swing leg rotating shafts; the leg swinging motor reversely rotates to drive the leg swinging motor to reversely rotate until the main body is separated from the ground; the belt wheel motor works to enable the robot to move towards the barrier until the crawler belt is abutted against the upper edge of the barrier; and the swing legs continue to rotate reversely, and simultaneously the robot is moved until the gravity center of the robot exceeds the upper edge of the obstacle, so that the robot can get over the obstacle. The invention has the characteristics of simple structure, easy operation and the like.
Description
Technical field
The present invention relates to robot engineering, specifically a kind of mobile robot and obstacle surmounting method thereof that needs obstacle detouring to hinder.
Background technology
At present, the more mobile robot of existing use has single-unit peddrail mobile robot and two-segment type peddrail mobile robot.
The single-unit peddrail mobile robot makes robot movement, climbs the building or gets over obstacle by the belt wheel and the crawler belt engaged transmission of driven by motor casing both sides.This single-unit peddrail mobile robot can only be crossed shorter obstacle (comparing with the volume weight of robot self) when getting over obstacle, and also not steady when stair activity, overturning easily.
Two-segment type peddrail mobile robot, prosthomere crawler belt can individual drive as swinging kick.Robot is moved by main drive wheel control, by swinging kick drive motor control swinging kick upset, realizes the advancing of robot, retreats, climbs, obstacle etc. more.But, be difficult to make robot to stand up because the prosthomere crawler belt is shorter; Even robot is stood up, also be that standing up after being used for robot and toppling over saved oneself.And, when robot is used in the more complex environment of obstacle, will exist obstacle detouring and hinder height and robot self size is compared, the robot obstacle detouring hinders scarce capacity problem.In addition, also because swinging kick is a crawler type, and crawler belt and strut member thereof will certainly increase the overall weight of robot, and then cause driving power to increase, in-fighting is big, has influenced moving velocity, the hill climbing ability of robot.As shown in Figure 1, the weight of crawler belt and strut member thereof also make the whole center of gravity G of robot to the prosthomere crawler belt, be the skew of swinging kick end, and then cause robot to stand up the obstacle 11 that obstacle detouring hinders highly reducing.As shown in Figure 2, when robot stands up obstacle detouring when hindering, the center of gravity G end of robot rides against on the obstacle 11, and robot center of gravity end is lifted in the rotation of prosthomere crawler belt; Because the robot swinging kick is a crawler type, when the robot body obstacle detouring hindered, the support end that the prosthomere crawler belt contacts with ground was rolling friction, coefficient of friction is little, under the effect of robot self gravitation, robot glides easily, has increased the difficulty of robot manipulation's control.If as shown in Figure 3, robot does not adopt and stands up obstacle detouring and hinder, but adopts single-unit peddrail mobile robot obstacle detouring to hinder mode, and 11 the maximum height of clearing the jumps stands up the obstacle height that obstacle detouring hinders mode to cross much smaller than employing.Single-unit peddrail mobile robot obstacle detouring hinders height similar with it.Have, the two-segment type peddrail mobile robot is owing to having increased the prosthomere crawler belt, because of crawler belt manufacturing expense height, so cost is higher again.
Summary of the invention
In order to solve the problem that existing robot obstacle detouring hinders scarce capacity, the object of the present invention is to provide a kind of mobile robot and obstacle surmounting method thereof that obstacle detouring hinders height, easy operating control that improve.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes casing and be installed in the casing both sides, by the forward and backward belt wheel of crawler belt bonded assembly, end in the casing is provided with belt wheel motor, belt wheel with these end casing both sides is connected respectively, the other end at casing is provided with the swinging kick axis of revolution, its back belt wheel by casing and this end passes, and the swinging kick axis of revolution is positioned at the outer two ends of casing and is equipped with swinging kick; In the casing of this end, be equipped with and swinging kick axis of revolution bonded assembly swinging kick motor.
Wherein: the output shaft of swinging kick motor and swinging kick axis of revolution are perpendicular, are respectively equipped with the finishing bevel gear cuter of the transmission that is meshing with each other on the output shaft of swinging kick motor and the swinging kick axis of revolution; The swinging kick motor rotates by the bevel gear driving swinging kick; The horizontal projection length of swinging kick is greater than the horizontal projection length of swinging kick axis of revolution to the robot center of gravity; The robot body is made up of crawler belt and casing, and the robot center of gravity is on the robot body; Be respectively equipped with the bearing that is enclosed within on the swinging kick axis of revolution between swinging kick axis of revolution and the casing and between swinging kick axis of revolution and the back belt wheel; Belt wheel motor is two, is connected with the preceding belt wheel of both sides by output shaft respectively, driven rotary before driving.
Obstacle surmounting method:
The swinging kick of swinging kick motor-driven rotates to the robot body around the upset of swinging kick axis of revolution; When casing upper end with after ground contacts, swinging kick motor inversion driving swinging kick retrograde rotation breaks away from ground to main body, the stall of swinging kick motor; Belt wheel motor driving pulley and crawler belt make robot move to the obstacle direction, ride against the obstacle upper edge to crawler belt; The swinging kick motor is task again, drives swinging kick and continues retrograde rotation, and the mobile robot surpasses the upper edge of obstacle to the robot center of gravity simultaneously; The stall of swinging kick motor, belt wheel motor drive machines people moves, and finishes and goes up obstacle more; Pack up swinging kick.
Ride against on the obstacle back to robot center of gravity at crawler belt and surpass that swinging kick and ground are sliding friction in the process of obstacle upper edge, utilize swinging kick that the robot body at center of gravity place is served obstacle; The horizontal projection length of swinging kick is greater than the horizontal projection length of swinging kick axis of revolution to the robot center of gravity, and in the process of swinging kick motor-driven swinging kick rotation, the robot body can be lifted, around the upset of swinging kick axis of revolution; When following obstacle, can be earlier with swinging kick near ground, belt wheel motor works, mobile robot also cooperate the rotation swinging kick, make the robot grease it in.
Advantage of the present invention and good effect are:
1. machine people of the present invention is a swinging kick formula single-unit peddrail mobile robot, is provided with belt wheel motor and swinging kick motor, driving pulley, crawler belt and swinging kick, simple in structure, easy operating respectively at the two ends of robot casing.
Robot swinging kick length greater than swinging kick axis of revolution center to the robot center of gravity in the length of horizontal surface projection, when swinging kick being rotated to contact, the robot body can be lifted with ground, the robot body rotates and can stand up around the swinging kick axis of revolution.
3. swinging kick and ground are sliding friction, and coefficient of friction is big, are standing up obstacle detouring when hindering, and robot is difficult for gliding, easy operating control.
4. by increasing swinging kick length, can increase the robot obstacle detouring and hinder height.
5. the obstacle detouring that robot obstacle surmounting method of the present invention can improve robot hinders ability.
Description of drawings
Fig. 1 stands up one of schematic diagram that obstacle detouring hinders for existing two-segment type peddrail mobile robot;
Fig. 2 stands up two of schematic diagram that obstacle detouring hinders for existing two-segment type peddrail mobile robot;
Fig. 3 does not stand up the schematic diagram that obstacle detouring hinders for existing two-segment type peddrail mobile robot does not adopt;
Fig. 4 is mobile robot's of the present invention structural representation;
Fig. 5 is the A-A cutaway view among Fig. 4;
One of schematic diagram that Fig. 6 hinders for mobile robot's obstacle detouring of the present invention;
Two of the schematic diagram that Fig. 7 hinders for mobile robot's obstacle detouring of the present invention;
Three of the schematic diagram that Fig. 8 hinders for mobile robot's obstacle detouring of the present invention;
Wherein: 1 is belt wheel motor, and 2 is casing, and 3 is preceding belt wheel, and 4 is crawler belt, and 5 are the swinging kick motor, and 6 is bearing, and 7 is the back belt wheel, and 8 are swinging kick, and 9 are the swinging kick axis of revolution, and 10 is finishing bevel gear cuter.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As Fig. 4, shown in Figure 5, the artificial oscillating rod type single-unit of mobile apparatus of the present invention peddrail mobile robot, the robot center of gravity is on the casing that crawler belt supports, and fork is also referred to as swinging kick, specifically comprise casing 2 and be installed in casing 2 both sides, by the forward and backward belt wheel 3,7 of crawler belt 4 bonded assemblys.Front end in the casing 2 is provided with two belt wheel motor 1, is connected by the preceding belt wheel 3 of output shaft with these end casing both sides respectively, drives 3 rotations before driving.Rotation for belt wheel 3 before helping is equipped with bearing between two preceding belt wheels 3 and 1 output shaft of belt wheel motor separately, be enclosed within on the motor output shaft.Be provided with swinging kick axis of revolution 9 in the rear end of casing 2, its back belt wheel 7 by casing 2 and this end passes, and swinging kick axis of revolution 9 is positioned at casing 2 outer two ends and is equipped with swinging kick 8.In the casing 2 of this end, swinging kick motor 5 is installed, the output shaft of swinging kick motor 5 and swinging kick axis of revolution 9 are perpendicular, be respectively equipped with the finishing bevel gear cuter 10 of the transmission that is meshing with each other on the output shaft of swinging kick motor 5 and the swinging kick axis of revolution 9, swinging kick motor 5 drives swinging kick 8 by finishing bevel gear cuter 10 and rotates.The horizontal projection length L of swinging kick 8 is greater than the horizontal projection length L 1 of swinging kick axis of revolution 9 to robot center of gravity G.The robot body is made up of crawler belt 4 and casing 2, and G is on the robot body for the robot center of gravity.Be respectively equipped with bearing 6 between swinging kick axis of revolution 9 and the casing 2 and between swinging kick axis of revolution 9 and the back belt wheel 7, be set on the swinging kick axis of revolution 9, help the rotation of swinging kick axis of revolution 9.
The method that mobile robot's obstacle detouring of the present invention hinders is:
Robot state as shown in Figure 4, swinging kick 8 is overlapping with the robot body, moves from left to right.When running into higher obstacle 11, swinging kick motor 5 drives swinging kicks 8 and presses right-hand revolution among the figure.When swinging kick 8 landed, swinging kick motor 5 worked on, drives swinging kick 8.Because the horizontal projection length L of swinging kick 8 is greater than the horizontal projection length L 1 of swinging kick axis of revolution 9 to robot center of gravity G among Fig. 4, the robot body is lifted, and is turned to position shown in Figure 6 around swinging kick axis of revolution 9.When casing 2 upper ends with after ground contacts, swinging kick motor 5 reverse drive, i.e. the anticlockwise direction rotation among Fig. 6 is pressed in swinging kick 8, makes the robot body break away from ground, is raised up to position shown in Figure 7, swinging kick motor 5 quits work.Then, belt wheel 3 and by crawler belt 4 and forward and backward belt wheel 3,7 engaged transmission before belt wheel motor 1 drives makes robot move to obstacle 11 directions, rides against obstacle 11 upper edges to crawler belt 4.Swinging kick motor 5 is task again, and driving swinging kick 8 continues to press the anticlockwise direction rotation among Fig. 7, and the mobile robot reaches position shown in Figure 8 to the upper edge that robot center of gravity G surpasses obstacle 11 simultaneously.5 stalls of swinging kick motor, belt wheel motor 1 drive machines people move, and finishes and go up obstacle more.At last, pack up swinging kick 8.Ride against on the obstacle 11 back at crawler belt 4 and surpass to robot center of gravity G that swinging kick 8 is a sliding friction with ground in the process of obstacle 11 upper edges, coefficient of friction is far longer than the coefficient of friction of rolling friction, and robot is difficult for gliding, and is convenient to operation control.Utilize swinging kick 8 that the robot body at center of gravity G place is served obstacle 11.Robot when following obstacle 11, can be earlier with swinging kick 8 near ground, belt wheel motor 1 work, mobile robot also cooperate rotation swinging kick 8, make the robot grease it in.
The present invention can adapt under complex environments such as fire-fighting, scouting, dangerous operation and works.
Claims (10)
1. mobile robot, comprise casing and be installed in the casing both sides, by the forward and backward belt wheel of crawler belt bonded assembly, end in the casing is provided with belt wheel motor, belt wheel with these end casing both sides is connected respectively, it is characterized in that: the other end at casing (2) is provided with swinging kick axis of revolution (9), its back belt wheel (7) by casing (2) and this end passes, and swinging kick axis of revolution (9) is positioned at the outer two ends of casing (2) and is equipped with swinging kick (8); In the casing (2) of this end, be equipped with and swinging kick axis of revolution (9) bonded assembly swinging kick motor (5).
2. by the described mobile robot of claim 1, it is characterized in that: the output shaft of described swinging kick motor (5) and swinging kick axis of revolution (9) are perpendicular, are respectively equipped with the finishing bevel gear cuter (10) of the transmission that is meshing with each other on the output shaft of swinging kick motor (5) and the swinging kick axis of revolution (9); Swinging kick motor (5) drives swinging kick (8) by finishing bevel gear cuter (10) and rotates.
3. by the described mobile robot of claim 1, it is characterized in that: the horizontal projection length (L) of described swinging kick (8) is greater than the horizontal projection length (L1) of swinging kick axis of revolution (9) to robot center of gravity (G).
4. by the described mobile robot of claim 3, it is characterized in that: the robot body is made up of crawler belt (4) and casing (2), and robot center of gravity (G) is on the robot body.
5. by the described mobile robot of claim 1, it is characterized in that: be respectively equipped with the bearing (6) that is enclosed within on the swinging kick axis of revolution (9) between described swinging kick axis of revolution (9) and the casing (2) and between swinging kick axis of revolution (9) and the back belt wheel (7).
6. by the described mobile robot of claim 1, it is characterized in that: described belt wheel motor (1) is two, is connected with the preceding belt wheel (3) of both sides by output shaft respectively, drives (3) rotation before driving.
7. by the described mobile robot's of claim 1 obstacle surmounting method, it is characterized in that: swinging kick motor (5) drives swinging kick (8) and rotates to the robot body around swinging kick axis of revolution (9) upset; When casing (2) upper end with after ground contacts, swinging kick motor (5) inversion driving swinging kick (8) retrograde rotation breaks away from ground to main body, swinging kick motor (5) stall; Belt wheel motor (1) driving pulley and crawler belt make robot move to obstacle (11) direction, ride against obstacle (11) upper edge to crawler belt (4); Swinging kick motor (5) is task again, drives swinging kick (8) and continues retrograde rotation, and the mobile robot surpasses the upper edge of obstacle (11) to robot center of gravity (G) simultaneously; Swinging kick motor (5) stall, belt wheel motor (1) drive machines people moves, and finishes and goes up obstacle more; Pack up swinging kick (8).
8. by the described method of claim 7, it is characterized in that: ride against obstacle (11) at crawler belt (4) and go up back to robot center of gravity (G) and surpass that swinging kick (8) is a sliding friction with ground in the process of obstacle (11) upper edge, utilize swinging kick that the robot body at center of gravity (G) place is served obstacle (11).
9. by the described method of claim 7, it is characterized in that: the horizontal projection length (L) of described swinging kick (8) is greater than the horizontal projection length (L1) of swinging kick axis of revolution (9) to robot center of gravity (G), drive in the process of swinging kick (8) rotation at swinging kick motor (5), the robot body can be lifted, around swinging kick axis of revolution (9) upset.
10. by the described method of claim 7, it is characterized in that: when obstacle (11) down, can be earlier with swinging kick (8) near ground, belt wheel motor (1) work, mobile robot also cooperate rotation swinging kick (8), make the robot grease it in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100101986A CN101492072A (en) | 2008-01-23 | 2008-01-23 | Mobile robot and obstacle crossing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100101986A CN101492072A (en) | 2008-01-23 | 2008-01-23 | Mobile robot and obstacle crossing method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101492072A true CN101492072A (en) | 2009-07-29 |
Family
ID=40922907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100101986A Pending CN101492072A (en) | 2008-01-23 | 2008-01-23 | Mobile robot and obstacle crossing method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101492072A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2482024A3 (en) * | 2011-01-27 | 2013-05-22 | Todd M. Meaney | Small unmanned ground vehicle |
| WO2012170081A3 (en) * | 2011-01-27 | 2013-08-22 | Irobot Corporation | Small unmanned ground vehicle |
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| CN104608834A (en) * | 2015-01-22 | 2015-05-13 | 马鞍山纽泽科技服务有限公司 | Intelligent climbing crawler |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| US9522595B2 (en) | 2011-01-27 | 2016-12-20 | Irobot Defense Holdings, Inc. | Small unmanned ground vehicle |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| CN107235086A (en) * | 2017-06-02 | 2017-10-10 | 赵雪虎 | A kind of full topographical steps climbing robot |
| CN107932473A (en) * | 2012-07-27 | 2018-04-20 | 工程服务公司 | Mobile robot with flexible deployable afterbody |
| CN109109995A (en) * | 2018-11-06 | 2019-01-01 | 南京林业大学 | A kind of crawler-type wall climbing robot of two-stage structure |
| CN109178140A (en) * | 2018-09-30 | 2019-01-11 | 荆门它山之石电子科技有限公司 | A kind of wheel type barrier-crossing robot |
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
| CN114769978A (en) * | 2022-06-21 | 2022-07-22 | 昆山圣翰智能机械科技有限公司 | Intelligent robot automatic assembly device |
| CN115056868A (en) * | 2022-05-16 | 2022-09-16 | 王维 | Obstacle crossing method of traveling device and traveling device applying same |
-
2008
- 2008-01-23 CN CNA2008100101986A patent/CN101492072A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2482024A3 (en) * | 2011-01-27 | 2013-05-22 | Todd M. Meaney | Small unmanned ground vehicle |
| WO2012170081A3 (en) * | 2011-01-27 | 2013-08-22 | Irobot Corporation | Small unmanned ground vehicle |
| US10611418B2 (en) | 2011-01-27 | 2020-04-07 | Flir Detection, Inc. | Small unmanned ground vehicle |
| US11472299B2 (en) | 2011-01-27 | 2022-10-18 | Teledyne Flir Detection, Inc. | Small unmanned ground vehicle |
| US9346499B2 (en) | 2011-01-27 | 2016-05-24 | Irobot Corporation | Resilient wheel assemblies |
| US9522595B2 (en) | 2011-01-27 | 2016-12-20 | Irobot Defense Holdings, Inc. | Small unmanned ground vehicle |
| US10059388B2 (en) | 2011-01-27 | 2018-08-28 | Irobot Defense Holdings, Inc. | Resilient wheels assemblies |
| CN107932473A (en) * | 2012-07-27 | 2018-04-20 | 工程服务公司 | Mobile robot with flexible deployable afterbody |
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| CN103303381B (en) * | 2013-05-03 | 2015-10-07 | 新乡学院 | A kind of search and rescue robot and move mode thereof |
| CN104608834A (en) * | 2015-01-22 | 2015-05-13 | 马鞍山纽泽科技服务有限公司 | Intelligent climbing crawler |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| CN107235086A (en) * | 2017-06-02 | 2017-10-10 | 赵雪虎 | A kind of full topographical steps climbing robot |
| CN107235086B (en) * | 2017-06-02 | 2019-01-18 | 天津市龙眼机器人科技有限公司 | A kind of full topographical steps climbing robot |
| CN109178140A (en) * | 2018-09-30 | 2019-01-11 | 荆门它山之石电子科技有限公司 | A kind of wheel type barrier-crossing robot |
| CN109109995A (en) * | 2018-11-06 | 2019-01-01 | 南京林业大学 | A kind of crawler-type wall climbing robot of two-stage structure |
| CN109109995B (en) * | 2018-11-06 | 2023-10-27 | 南京林业大学 | Crawler-type wall climbing robot with two-section structure |
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
| CN115056868A (en) * | 2022-05-16 | 2022-09-16 | 王维 | Obstacle crossing method of traveling device and traveling device applying same |
| CN114769978A (en) * | 2022-06-21 | 2022-07-22 | 昆山圣翰智能机械科技有限公司 | Intelligent robot automatic assembly device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101492072A (en) | Mobile robot and obstacle crossing method thereof | |
| CN104773226B (en) | The sufficient change type mobile-robot system of wheel | |
| CN201140734Y (en) | Mobile robot with combined step-wheel-footstep | |
| CN209098109U (en) | A kind of rotatable lift up of steel structure device | |
| CN102923208A (en) | Obstacle-crossing walking mechanism of robot | |
| CN111001113B (en) | Hydraulic control fire-fighting robot | |
| CN105539036A (en) | Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot | |
| CN204124229U (en) | Walking robot | |
| CN204184488U (en) | Manned ball shape robot | |
| CN208345718U (en) | A kind of rotary coating lifting platform | |
| CN102849141A (en) | Three-wheel walking robot of series and parallel connection | |
| CN204472947U (en) | A kind of many areal, fluid absorption type Climbing Robot | |
| CN204813710U (en) | Multi -functional corridor cleans machine people | |
| CN110561439A (en) | Robot action obstacle-avoiding device | |
| CN202641910U (en) | Stair climbing machine | |
| CN202299545U (en) | Back-rotating type hydraulic power automobile elevator | |
| CN201768129U (en) | Three-dimensional fitness ring chair | |
| CN202987328U (en) | Obstacle crossing running mechanism of robot | |
| CN108005568A (en) | One kind is based on gear-driven manned mobile book ladder | |
| CN102602467B (en) | Variable-step-length continuous hopping and steering movement mechanism | |
| CN205220850U (en) | Multi -functional robot that hinders more | |
| CN201980012U (en) | Deformable walking mechanism | |
| CN107336574A (en) | A kind of liftable robot of changeable wheelbase | |
| CN208880705U (en) | It is a kind of it is novel can high-speed mobile crawler bio-robot | |
| CN208011159U (en) | The wheeled T-type pipe robot of big reducing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090729 |