CN102849141A - Three-wheel walking robot of series and parallel connection - Google Patents
Three-wheel walking robot of series and parallel connection Download PDFInfo
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- CN102849141A CN102849141A CN201210101861XA CN201210101861A CN102849141A CN 102849141 A CN102849141 A CN 102849141A CN 201210101861X A CN201210101861X A CN 201210101861XA CN 201210101861 A CN201210101861 A CN 201210101861A CN 102849141 A CN102849141 A CN 102849141A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention relates to a three-wheel walking robot of series and parallel connection. The three-wheel walking robot of series and parallel connection comprises a carrying platform, batteries, a control system, a camera and three 6-degree-of-freedom walking combined type moving branched chains, wherein the batteries, the control system and the camera are arranged on the carrying platform; and the walking combined type moving branched chains are arranged below the carrying platform and comprise a yawing joint, a yawing joint bracket, an upper pitching joint, a thigh, a middle pitching joint, a middle pitching joint bracket, an upper roll joint, a shank, a lower pitching joint, a lower pitching joint bracket, a lower roll joint, a power wheel bracket and a power wheel. The three-wheel walking robot of series and parallel connection has favorable flexibility and rapidity; and besides, the structure is simplified.
Description
Technical field
The invention belongs to the Multifeet walking robot field, especially relate to a kind of three-wheel foot formula string and series-parallel robot mechanism.
Technical background
At present both at home and abroad the traveling gear of robot can be divided into wheeled, leg formula, crawler type etc. by move mode.Yet they all exist corresponding defective separately, and wheeled construction speed is fast, and control is flexible, but obstacle climbing ability is limited.Leg formula structure is adaptable, sight might as well, but energy consumption is large, control is complicated, and is unsuitable for alerting ability, occasion that rapidity requirement is high.Caterpillar mobile robot weight is large, and energy consumption is high.
Summary of the invention
Can not take into account the deficiency of simple in structure, alerting ability and rapidity in order to overcome the robot that is movably walking, the present invention proposes a kind of in simplified structure, three-wheel foot formula string and series-parallel robot with good alerting ability and rapidity.
For the technical scheme that solves the problems of the technologies described above proposition is:
A kind of three-wheel foot formula string and series-parallel robot, described three-wheel foot formula string and series-parallel robot comprise carrying platform, battery, control system, the wheel foot combined type movement side chain of camera and 3 6DOFs, on the described carrying platform battery is installed, control system and camera, the described sufficient combined type movement side chain of taking turns is installed below described carrying platform, described take turns sufficient combined type movement side chain comprise the driftage joint, the driftage knuckle support, upper pitching joint, thigh, middle pitching joint, middle pitching knuckle support, upper roll joint, shank, lower pitching joint, lower pitching knuckle support, lower roll joint, power wheel support and power wheel, captive joint with described carrying platform below in described driftage joint, described driftage joint is installed in driftage knuckle support top, described driftage knuckle support side is installed the pitching joint, captive joint with the thigh upper end in upper pitching joint, described thigh lower end is connected with middle pitching joint, described middle pitching joint is installed on the middle pitching knuckle support, described middle pitching knuckle support is connected with lower roll joint, described lower roll joint is connected with the shank upper end, described shank lower end is connected with lower pitching joint, described lower pitching joint is installed on the lower pitching knuckle support, described lower pitching knuckle support is connected with lower roll joint, described lower roll joint is connected with the power wheel support, on the described power wheel support power wheel is installed.
Further, rotary joint is all adopted in described driftage joint, upper pitching joint, middle pitching joint, upper roll joint, lower pitching joint, lower roll joint, and described rotary joint comprises joint shell, left end output bearing, left end cap, absolute encoder fixed muffle, absolute encoder, output flange, the oval plug of wave producer, wave producer bearing, flexbile gear, steel wheel, fixed mount, key, input flange, planetary gear, sleeve, DC servo motor, drg, incremental encoder, incremental encoder fixed muffle, right-hand member output bearing and right end cap; Absolute encoder is positioned the absolute encoder base by the absolute encoder fixed muffle, the joint shell is rotatably connected by left end output bearing and absolute encoder base, the joint shell is affixed by screw and fixed mount simultaneously, fixed mount is by the steel wheel of the affixed harmonic speed reducer of bolt, the flexbile gear of harmonic speed reducer is fixed together by bolt and input flange, the oval plug of output flange and wave producer joins with screw, and the output shaft of planetary gear is connected with output flange by key, sleeve is captiveed joint with the incremental encoder base with input flange respectively by bolt, described planetary gear, DC servo motor, drg and incremental encoder are positioned at sleeve, drg is connected with incremental encoder, DC servo motor output shaft one end is connected with drg, the DC servo motor output shaft other end is connected with planetary gear, joint shell and right end cap are forwarded by the right-hand member output shaft and are dynamically connected, and incremental encoder is located and is fixed in the right end cap by the incremental encoder fixed muffle.
Further again, the angle on the every limit of described carrying platform is 60 °, and carrying platform is the equilateral triangle shape.
Technical conceive of the present invention is: because existing wheeled, leg formula, crawler type mechanism have merits and faults, if will be wherein 2 kinds or various structures combines, performance advantage separately remedies deficiency each other, and the walking performance of robot is very significantly improved.
Three-wheel foot formula string and series-parallel robot have that rigidity is large, load-carrying capacity is strong, mode of motion is flexible, the volume magnification ratio large, obstacle detouring and climb very steep slopes ability by force, the characteristics such as multi-function operation.This is adapted in the complex environments such as the moon or martian surface so that this robot has wide military affairs and space operation purposes, and assistance even alternative cosmonaut carry out space exploration task.Therefore, research three-wheel foot formula string and series-parallel robot are for exploitation new construction Multifeet walking robot, and the application of widening Multifeet walking robot has important theory and engineering significance.
The useful effect that the present invention has is:
1. large many than single wheeled, leg formula, crawler type mechanism of the working space of novel three-wheeled sufficient formula string provided by the invention and series-parallel robot mechanism, can finish the large space scope obstacle detouring, cross abrupt slope and other tasks;
2. " shank " of each movement branched chain of novel three-wheeled sufficient formula string of the present invention and series-parallel robot mechanism can fold advance " thigh " inner, " thigh " then arranged along each edge direction of carrying platform triangle, this structure so that whole robot all be contracted within the carrying platform triangle scope, although this volumetric shrinkage than large characteristics so that three-wheel foot formula string and series-parallel robot joint component One's name is legion, but the volume after shrinking is little, be easy to carry very much, be particularly suitable for parking and delivering of the limited spacecraft in inner space;
3. novel three-wheeled sufficient formula string and series-parallel robot mechanism also have other several functions.Carrying platform installed inside battery and computer controller can be controlled the robot motion, and to each joint motor power supply of robot.
4. camera is installed in the carrying platform triangle outside, can make this robot carry out walking, obstacle detouring, keep away the multitasks such as barrier, target crawl, boring, detection, transportation, maintenance, assembling, automatic butt, recharging, multimachine co-ordination by visual processes and motion control;
5. novel three-wheeled sufficient formula string of the present invention and series-parallel robot are simple in structure, rationally distributed;
6. novel three-wheeled sufficient formula string of the present invention and series-parallel robot have the characteristics such as rigidity is large, mode of motion is flexible.
Description of drawings
Fig. 1 is three-wheel foot formula string and series-parallel robot schematic three dimensional views.
Fig. 2 is the sufficient formula movement branched chain schematic three dimensional views of wheel.
Fig. 3 is the joint cutaway view.
Fig. 1: 1, the sufficient formula movement branched chain of wheel, 2, camera, 3, battery unit, 4, control system, 5, carrying platform;
Fig. 2: 6, power wheel, 7, the power wheel support, 8, the roll joint, 9, the pitching knuckle support, 10, the pitching joint, 11, shank, 12, the roll joint, 13, the pitching knuckle support, 14, the pitching joint, 15, thigh, 16, the pitching joint, 17, the driftage knuckle support, 18, the driftage joint;
Fig. 3: 19, joint shell, 20, left end output bearing, 21, left end cap, 22, absolute encoder fixed muffle, 23, absolute encoder, 24, output flange, 25, the oval plug of wave producer, 26, wave producer bearing, 27, flexbile gear, 28, steel wheel, 29, fixed mount, 30, key, 31, input flange, 32, planetary gear, 33, sleeve, 34, DC servo motor, 35, drg, 36, incremental encoder, 37, the incremental encoder fixed muffle, 38, right-hand member output bearing, 39, right end cap.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing.
With reference to Fig. 1～Fig. 3, a kind of three-wheel foot formula string and series-parallel robot are taken turns sufficient formula movement branched chain 1 and are formed by carrying platform 5, camera 2, control unit 4, battery unit 3 and 3 structures are duplicate.
Described each movement branched chain is by driftage joint 18, driftage knuckle support 17, upper pitching joint 16 as seen from Figure 2, middle pitching joint 14, lower pitching joint 10, middle pitching knuckle support 13, middle pitching knuckle support 9, upper roll joint 12, lower roll joint 8, thigh 15, shank 11, power wheel 6, power wheel support 7 consist of.
The end cap in driftage joint 18 is fixed together by screw and carrying platform 5, without relatively rotating, and the joint shell in the joint 18 of going off course simultaneously is connected with driftage knuckle support 17 by screw and drive 17 rotations of driftage knuckle support, driftage knuckle support 17 is affixed by the end cap in screw and upper pitching joint 16, without relatively rotating, the joint shell in upper pitching joint 16 is connected with thigh 15 by screw and drives thigh 15 and rotates, thigh 15 is affixed by the end cap in screw and middle pitching joint 14, without relatively rotating, the joint shell in middle pitching joint 14 is connected with middle pitching knuckle support 13 by screw and drives pitching knuckle support 13 and rotates, in to face upward knuckle support 13 affixed by the end cap in screw and upper roll joint 12, without relatively rotating, the joint shell in upper roll joint 12 is connected with shank 11 by screw and drives shank 11 and rotates, shank 11 is affixed by the end cap in screw and lower pitching joint 10, without relatively rotating, the joint shell in lower pitching joint 10 is connected with lower pitching knuckle support 9 by screw and drives pitching knuckle support 9 and rotates, it is affixed by the end cap in screw and lower roll joint 8 to face upward down knuckle support 9, without relatively rotating, the joint shell in lower roll joint 8 is connected with power wheel support 7 by screw and drives 7 rotations of power wheel support, and power wheel support 7 is connected with power wheel 6.
As shown in Figure 3, described joint is comprised of joint shell 19, left end output bearing 20, left end cap 21, absolute encoder fixed muffle 22, absolute encoder 23, output flange 24, the oval plug 25 of wave producer, wave producer bearing 26, flexbile gear 27, steel wheel 28, fixed mount 29, key 30, input flange 31, planetary gear 32, sleeve 33, DC servo motor 34, drg 35, incremental encoder 36, incremental encoder fixed muffle 37, right-hand member output bearing 38, right end cap 39.
Absolute encoder 23 is positioned left end cap 21 by absolute encoder fixed muffle 22, joint shell 19 is rotatably connected with absolute encoder base 21 by left end output bearing 20, joint shell 19 is affixed by screw and fixed mount 29, fixed mount 29 is by the steel wheel 28 of the affixed harmonic speed reducer of bolt, the steel wheel 28 of described harmonic speed reducer and 27 engagements of the flexbile gear of harmonic speed reducer, the flexbile gear 27 of harmonic speed reducer is fixed together by bolt and input flange 31, output flange 24 joins with the oval plug of wave producer 25 usefulness screws, and the output shaft of planetary gear 32 is connected with output flange 24 by key, sleeve 33 is captiveed joint with right end cap 39 with input flange 31 respectively by bolt, described planetary gear 32, DC servo motor 34, drg 35 and incremental encoder 36 are positioned at sleeve 33, drg 35 is connected with incremental encoder 36, DC servo motor 34 output shafts one end is connected with drg 35, the other end is connected with planetary gear 32, joint shell 19 is rotationally connected by right-hand member output bearing 38 with right end cap 34, and incremental encoder 36 is located and is fixed in the right end cap 39 by incremental encoder fixed muffle 37.
The principle of work of the said three-wheel foot formula string of the present invention and series-parallel robot is to come shank and the rotation of thigh and locking and the rotation of control power wheel in the controlled motion side chain by the rotation of controlling DC servo motor 34 in three movement branched chain, thereby realize 2 kinds of motions of carrying platform 5, i.e. walking movement and rolling are advanced.
And the principle of work in each joint is that planetary gear 32 is by output flange 24 and the oval plug 25 of key 30 driving wave producers, the oval plug 25 of wave producer further drives steel wheel 28 by wave producer bearing 26 and flexbile gear 27, joint shell 19 is affixed by fixed mount 29 and steel wheel 28, thereby the rotation of steel wheel 28 is delivered to joint shell 19.In this joint, flexbile gear 27 connects firmly together with input flange 31, planetary gear 32, sleeve 33, DC servo motor 34, drg 35, incremental encoder 36, incremental encoder fixed muffle 37, right end cap 39, do not relatively rotate between them, so joint shell 19 is rotatably connected with left end cap 21 and right end cap 39 by left end output bearing 20 and right-hand member output bearing 38, and exists between them and relatively rotate.Therefore when DC servo motor 34 is rotated, relatively rotating after harmonic speed reducer slows down just arranged between joint shell 19 and left end cap 21 and the right end cap 39, joint shell 19 just can drive affixed thigh 15 and shank 11 thereon and rotate.
Three-wheel of the present invention foot formula string and series-parallel robot by wheel foot combined type movement side chain, carrying platform, battery, the control system of 3 6DOFs, shooting is first-class forms, as shown in Figure 1.Each movement branched chain is identical, and can become the mechanical arm of independently connecting, as shown in Figure 2.Each is taken turns sufficient formula movement branched chain and contains driftage, pitching, pitching, roll, pitching, roll joint, pitching, driftage support and power wheel and power wheel support.The robot carrying platform is designed to equilateral triangle, and each movement branched chain is installed in carrying platform equilateral triangle vertex position by the driftage joint.The movement branched chain end is power wheel.In described each movement branched chain, upper pitching joint is rotatably connected by driftage joint and carrying platform, thigh and upper pitching joint are for being rotationally connected, again with middle pitching joint for being rotationally connected, upper roll joint can be rotated around middle pitching joint, shank and lower pitching joint and upper roll joint are for being rotationally connected, and lower roll joint can be rotated around lower pitching joint, and power wheel can rotate around lower roll joint.
Shank is rotatable until fold in thigh around the pitching joint in the above-mentioned movement branched chain, and thigh can be in the pitching joint turns folding the carrying platform triangle, and it is arranged along each edge direction of carrying platform triangle, thereby so that the whole piece movement branched chain all be contracted within the carrying platform triangle scope.
In the described joint, as shown in Figure 3, absolute encoder is positioned the absolute encoder base by the absolute encoder fixed muffle, the joint shell is rotatably connected by left end output bearing and absolute encoder base, affixed by screw and fixed mount simultaneously, fixed mount is by the steel wheel of the affixed harmonic speed reducer of bolt, the flexbile gear of harmonic speed reducer is fixed together by bolt and input flange, the oval plug of output flange and wave producer joins with screw, and the output shaft of planetary gear is connected with output flange by key, sleeve is captiveed joint with the incremental encoder base with input flange respectively by bolt, described planetary gear, DC servo motor, drg and incremental encoder are positioned at sleeve, drg is connected with incremental encoder, DC servo motor output shaft one end is connected with drg, the other end is connected with planetary gear, joint shell and incremental encoder base are forwarded by the right-hand member output shaft and are dynamically connected, and incremental encoder is located and is fixed in the incremental encoder base by the incremental encoder fixed muffle.
The steel wheel of the harmonic speed reducer in the above-mentioned joint is fixed together by bolt and fixed mount, and the joint shell is affixed by screw and fixed mount, so can be with the movable joint shell to rotate together when steel wheel rotates.The wave producer of harmonic speed reducer has been removed coupler, directly is connected by screw by output flange and drives the oval plug rotation of wave producer, designs like this escapable cost and alleviates joint weight.
Claims (3)
1. three-wheel foot formula string and series-parallel robot, it is characterized in that: described three-wheel foot formula string and series-parallel robot comprise carrying platform, battery, control system, the wheel foot combined type movement side chain of camera and 3 6DOFs, on the described carrying platform battery is installed, control system and camera, the described sufficient combined type movement side chain of taking turns is installed below described carrying platform, described take turns sufficient combined type movement side chain comprise the driftage joint, the driftage knuckle support, upper pitching joint, thigh, middle pitching joint, middle pitching knuckle support, upper roll joint, shank, lower pitching joint, lower pitching knuckle support, lower roll joint, power wheel support and power wheel, captive joint with described carrying platform below in described driftage joint, described driftage joint is installed in driftage knuckle support top, described driftage knuckle support side is installed the pitching joint, captive joint with the thigh upper end in upper pitching joint, described thigh lower end is connected with middle pitching joint, described middle pitching joint is installed on the middle pitching knuckle support, described middle pitching knuckle support is connected with lower roll joint, described lower roll joint is connected with the shank upper end, described shank lower end is connected with lower pitching joint, described lower pitching joint is installed on the lower pitching knuckle support, described lower pitching knuckle support is connected with lower roll joint, described lower roll joint is connected with the power wheel support, on the described power wheel support power wheel is installed.
2. three-wheel as claimed in claim 1 foot formula string and series-parallel robot, it is characterized in that: described driftage joint, upper pitching joint, middle pitching joint, upper roll joint, lower pitching joint, rotary joint is all adopted in lower roll joint, and described rotary joint comprises the joint shell, left end output bearing, left end cap, the absolute encoder fixed muffle, absolute encoder, output flange, the oval plug of wave producer, the wave producer bearing, flexbile gear, steel wheel, fixed mount, key, input flange, planetary gear, sleeve, DC servo motor, drg, incremental encoder, the incremental encoder fixed muffle, right-hand member output bearing and right end cap; Absolute encoder is positioned the absolute encoder base by the absolute encoder fixed muffle, the joint shell is rotatably connected by left end output bearing and absolute encoder base, the joint shell is affixed by screw and fixed mount simultaneously, fixed mount is by the steel wheel of the affixed harmonic speed reducer of bolt, the steel wheel of described harmonic speed reducer and the engagement of the flexbile gear of harmonic speed reducer, the flexbile gear of harmonic speed reducer is fixed together by bolt and input flange, the oval plug of output flange and wave producer joins with screw, and the output shaft of planetary gear is connected with output flange by key, sleeve is captiveed joint with the incremental encoder base with input flange respectively by bolt, described planetary gear, DC servo motor, drg and incremental encoder are positioned at sleeve, drg is connected with incremental encoder, DC servo motor output shaft one end is connected with drg, the DC servo motor output shaft other end is connected with planetary gear, joint shell and right end cap are forwarded by the right-hand member output shaft and are dynamically connected, and incremental encoder is located and is fixed in the right end cap by the incremental encoder fixed muffle.
3. three-wheel as claimed in claim 1 or 2 foot formula string and series-parallel robot, it is characterized in that: the angle on the every limit of described carrying platform is 60 °, and carrying platform is the equilateral triangle shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210101861.XA CN102849141B (en) | 2012-03-31 | 2012-03-31 | Three-wheel walking robot of series and parallel connection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210101861.XA CN102849141B (en) | 2012-03-31 | 2012-03-31 | Three-wheel walking robot of series and parallel connection |
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| CN102849141A true CN102849141A (en) | 2013-01-02 |
| CN102849141B CN102849141B (en) | 2014-11-12 |
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| CN201210101861.XA Expired - Fee Related CN102849141B (en) | 2012-03-31 | 2012-03-31 | Three-wheel walking robot of series and parallel connection |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963868A (en) * | 2014-05-12 | 2014-08-06 | 北京理工大学 | Three-legged robot capable of turning over in midair in crossed mode |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN107988956A (en) * | 2017-11-21 | 2018-05-04 | 浙江工业大学 | A kind of track alteration device and method based on angular transducer and absolute encoder |
| WO2019041070A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent universal moving wheel for robot |
| CN110104087A (en) * | 2019-05-24 | 2019-08-09 | 深圳市行者机器人技术有限公司 | A kind of novel wheel foot moving mechanism |
| CN112722105A (en) * | 2021-02-03 | 2021-04-30 | 滁州天邈电子科技有限公司 | Negative pressure adsorption type high-altitude evidence obtaining robot |
| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
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| US6564888B1 (en) * | 1999-08-30 | 2003-05-20 | Honda Giken Kogyo Kabushiki Kaisha | Biped mobile robot |
| CN201712689U (en) * | 2009-05-22 | 2011-01-19 | 华南理工大学 | Modular six-degree-of-freedom active joint type biped walking robot |
| CN102114879A (en) * | 2011-01-27 | 2011-07-06 | 北京交通大学 | Biped walking four-bar mechanism |
| CN202593676U (en) * | 2012-03-31 | 2012-12-12 | 浙江工业大学 | Three-wheel-foot type serial-parallel combined robot |
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2012
- 2012-03-31 CN CN201210101861.XA patent/CN102849141B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6564888B1 (en) * | 1999-08-30 | 2003-05-20 | Honda Giken Kogyo Kabushiki Kaisha | Biped mobile robot |
| CN201712689U (en) * | 2009-05-22 | 2011-01-19 | 华南理工大学 | Modular six-degree-of-freedom active joint type biped walking robot |
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| CN202593676U (en) * | 2012-03-31 | 2012-12-12 | 浙江工业大学 | Three-wheel-foot type serial-parallel combined robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963868A (en) * | 2014-05-12 | 2014-08-06 | 北京理工大学 | Three-legged robot capable of turning over in midair in crossed mode |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| WO2019041070A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent universal moving wheel for robot |
| CN107988956A (en) * | 2017-11-21 | 2018-05-04 | 浙江工业大学 | A kind of track alteration device and method based on angular transducer and absolute encoder |
| CN110104087A (en) * | 2019-05-24 | 2019-08-09 | 深圳市行者机器人技术有限公司 | A kind of novel wheel foot moving mechanism |
| CN112722105A (en) * | 2021-02-03 | 2021-04-30 | 滁州天邈电子科技有限公司 | Negative pressure adsorption type high-altitude evidence obtaining robot |
| CN113602528A (en) * | 2021-08-30 | 2021-11-05 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
| CN113602528B (en) * | 2021-08-30 | 2024-03-26 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
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| CN102849141B (en) | 2014-11-12 |
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Effective date of registration: 20200724 Address after: 221300 Tiefu Street, Tiefu Town, Pizhou City, Jiangsu Province (Cultural Center) Patentee after: PIZHOU TIEFU JIULONG PUBLIC SERVICE Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20200724 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310014 City Zhaohui District Six Patentee before: ZHEJIANG University OF TECHNOLOGY |
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Granted publication date: 20141112 |