CN102849141B - Three-wheel walking robot of series and parallel connection - Google Patents

Three-wheel walking robot of series and parallel connection Download PDF

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Publication number
CN102849141B
CN102849141B CN201210101861.XA CN201210101861A CN102849141B CN 102849141 B CN102849141 B CN 102849141B CN 201210101861 A CN201210101861 A CN 201210101861A CN 102849141 B CN102849141 B CN 102849141B
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joint
pitching
wheel
platform
driftage
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CN102849141A (en
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艾青林
楼勇亮
陈教料
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Pizhou Tiefu Jiulong Public Service Co ltd
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Jiang University Of Technology
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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

A kind of three-wheel foot formula string series-parallel robot
Technical field
The invention belongs to Multifeet walking robot field, especially relate to a kind of three-wheel foot formula string 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.But they all exist corresponding defect separately, wheeled construction speed is fast, control flexibly, but obstacle climbing ability is limited.Leg formula structure is adaptable, sight might as well, but energy consumption is large, controls complicatedly, 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 ofly in simplified structure, there is three-wheel foot formula string the series-parallel robot of 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 series-parallel robot, described three-wheel foot formula string series-parallel robot comprise carrying platform, battery, control system, the wheel foot combined type movement side chain of camera and 3 6DOFs, installs battery on described carrying platform, control system and camera are installed the described sufficient combined type movement side chain of taking turns below described carrying platform, described take turns sufficient combined type movement side chain comprise driftage joint, 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, described driftage joint is fixedly connected with described carrying platform below, described driftage joint is arranged on driftage knuckle support top, described driftage knuckle support side is installed pitching joint, upper pitching joint is fixedly connected with thigh upper end, described thigh lower end is connected with middle pitching joint, described middle pitching joint is arranged on middle pitching knuckle support, described middle pitching knuckle support is connected with lower roll joint, described lower roll joint is connected with shank upper end, described shank lower end is connected with lower pitching joint, described lower pitching joint is arranged on lower pitching knuckle support, described lower pitching knuckle support is connected with lower roll joint, and described lower roll joint is connected with power wheel support, on described power wheel support, power wheel is installed.
Further, described driftage joint, upper pitching joint, middle pitching joint, upper roll joint, lower pitching joint, lower roll joint all adopt rotary 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 absolute encoder base by absolute encoder fixed muffle, joint shell exports bearing by left end and absolute encoder base is rotatably connected, joint shell is simultaneously affixed by screw and fixed mount, 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 fixedly connected with 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 and are dynamically connected by right-hand member output shaft, incremental encoder is located and is fixed in right end cap by incremental encoder fixed muffle.
Further again, the angle on the described every limit of carrying platform is 60o, and carrying platform is equilateral triangle shape.
Technical conceive of the present invention is: because there are merits and faults in existing wheeled, leg formula, crawler type mechanism, if by wherein 2 kinds or various structures combines, performance advantage separately, makes up deficiency each other, just can make the walking performance of robot be very significantly improved.
Three-wheel foot formula string series-parallel robot have that rigidity is large, load-carrying capacity is strong, mode of motion is flexible, volume magnification ratio large, obstacle detouring and climb very steep slopes ability by force, the feature such as multi-function operation.This makes this robot have wide military affairs and space operation purposes, is adapted in the complex environment such as the moon or martian surface, assists even to substitute cosmonaut and carries out space exploration task.Therefore, research three-wheel foot formula string 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 series-parallel robot mechanism, can complete 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 series-parallel robot mechanism can fold enter " thigh " inner, " thigh " arranged along the each edge direction of carrying platform triangle, this structure makes within whole robot is all contracted to carrying platform triangle scope, although this volumetric shrinkage makes three-wheel foot formula string series-parallel robot joint component One's name is legion than large feature, 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 series-parallel robot mechanism also have other several functions.Battery and computer controller are installed in carrying platform inner side, can control robot motion, and to the each joint motor power supply of robot.
4. camera is installed in carrying platform triangle outside, can make this robot carry out walking, obstacle detouring, keep away the multitasks such as barrier, target crawl, boring, detection, transport, 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 series-parallel robot are simple in structure, rationally distributed;
6. novel three-wheeled sufficient formula string of the present invention series-parallel robot have the features such as rigidity is large, mode of motion is flexible.
Brief description of the drawings
Fig. 1 is three-wheel foot formula string 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 joint cutaway view.
Fig. 1: 1, take turns sufficient formula movement branched chain, 2, camera, 3, battery unit, 4, control system, 5, carrying platform;
Fig. 2: 6, power wheel, 7, power wheel support, 8, lower roll joint, 9, lower pitching knuckle support, 10, lower pitching joint, 11, shank, 12, upper roll joint, 13, middle pitching knuckle support, 14, middle pitching joint, 15, thigh, 16, upper pitching joint, 17, driftage knuckle support, 18, 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, incremental encoder fixed muffle, 38, right-hand member output bearing, 39, right end cap.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
With reference to Fig. 1~Fig. 3, a kind of three-wheel foot formula string series-parallel robot, take turns sufficient formula movement branched chain 1 and form by carrying platform 5, camera 2, control unit 4,3 and 3 structures of battery unit are duplicate.
Each described movement branched chain is by the joint 18 of going off course, 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, lower pitching knuckle support 9, upper roll joint 12, lower roll joint 8, thigh 15, shank 11, power wheel 6, power wheel support 7 form.
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 is connected with driftage knuckle support 17 by screw and drives driftage knuckle support 17 to rotate simultaneously, 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 to rotate, 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 to rotate, 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 to rotate, 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 down pitching knuckle support 9 to rotate, under to face upward knuckle support 9 affixed by the end cap in screw and lower roll joint 8, without relatively rotating, the joint shell in lower roll joint 8 is connected with power wheel support 7 by screw and drives power wheel support 7 to rotate, power wheel support 7 is connected with power wheel 6.
As shown in Figure 3, described joint is made up 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 exported bearing 20 by left end and is rotatably connected with absolute encoder base 21, 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 engages with the flexbile gear 27 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 use screws, and the output shaft of planetary gear 32 is connected with output flange 24 by key, sleeve 33 is fixedly connected 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 shaft one end are connected with drg 35, the other end is connected with planetary gear 32, joint shell 19 is exported bearing 38 with right end cap 34 by right-hand member and is rotationally connected, incremental encoder 36 is located and is fixed in 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 series-parallel robot is that the rotation by controlling DC servo motor 34 in three movement branched chain comes shank and the rotation of thigh and locking and the rotation of control power wheel in controlled motion side 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 to be planetary gear 32 drive the oval plug 25 of wave producer by output flange 24 and key 30, 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, together with flexbile gear 27 connects firmly 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, between them, do not relatively rotate, therefore joint shell 19 exports bearing 20 by left end and right-hand member output bearing 38 is rotatably connected with left end cap 21 and right end cap 39, and exists and relatively rotate between them.Therefore in the time that DC servo motor 34 is rotated, just have relatively rotating after harmonic speed reducer slows down between joint shell 19 and left end cap 21 and right end cap 39, joint shell 19 just can drive affixed thigh 15 and shank 11 thereon to rotate.
Three-wheel of the present invention foot formula string 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.Eachly take turns sufficient formula movement branched chain and contain driftage, pitching, pitching, roll, pitching, roll joint, pitching, driftage support and power wheel and power wheel support.Robot carrying platform is designed to equilateral triangle, and each movement branched chain is arranged on carrying platform equilateral triangle vertex position by driftage joint.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.
In above-mentioned movement branched chain, shank is rotatable until fold in thigh around pitching joint, and thigh can be in pitching joint turns folding carrying platform triangle, and it is arranged along the each edge direction of carrying platform triangle, thereby make within whole piece movement branched chain is all contracted to carrying platform triangle scope.
In described joint, as shown in Figure 3, absolute encoder is positioned absolute encoder base by absolute encoder fixed muffle, joint shell exports bearing by left end and absolute encoder base is rotatably connected, simultaneously affixed by screw and fixed mount, 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 fixedly connected with 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 and are dynamically connected by right-hand member output shaft, incremental encoder is located and is fixed in incremental encoder base by incremental encoder fixed muffle.
The steel wheel of the harmonic speed reducer in above-mentioned joint is fixed together by bolt and fixed mount, and joint shell is affixed by screw and fixed mount, so can be with movable joint shell to rotate together in the time that steel wheel rotates.The wave producer of harmonic speed reducer has been removed coupler, is directly connected by screw and drives the oval plug of wave producer to rotate by output flange, designs like this escapable cost and alleviates joint weight.

Claims (2)

1. three-wheel foot formula string a series-parallel robot, is characterized in that: described three-wheel foot formula string series-parallel robot comprise carrying platform, battery, control system, the wheel foot combined type movement side chain of camera and 3 6DOFs, installs battery on described carrying platform, control system and camera are installed the described sufficient combined type movement side chain of taking turns below described carrying platform, described take turns sufficient combined type movement side chain comprise driftage joint, 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, described driftage joint is fixedly connected with described carrying platform below, described driftage joint is arranged on driftage knuckle support top, described driftage knuckle support side is installed pitching joint, upper pitching joint is fixedly connected with thigh upper end, described thigh lower end is connected with middle pitching joint, described middle pitching joint is arranged on middle pitching knuckle support, described middle pitching knuckle support is connected with lower roll joint, described lower roll joint is connected with shank upper end, described shank lower end is connected with lower pitching joint, described lower pitching joint is arranged on lower pitching knuckle support, described lower pitching knuckle support is connected with lower roll joint, and described lower roll joint is connected with power wheel support, on described power wheel support, power wheel is installed, described driftage joint, upper pitching joint, middle pitching joint, upper roll joint, lower pitching joint, lower roll joint all adopts rotary joint, 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, the flexbile gear of harmonic speed reducer, the steel wheel of harmonic speed reducer, 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 absolute encoder base by absolute encoder fixed muffle, joint shell exports bearing by left end and absolute encoder base is rotatably connected, joint shell is simultaneously affixed by screw and fixed mount, fixed mount is by the steel wheel of the affixed harmonic speed reducer of bolt, the steel wheel of described harmonic speed reducer engages with 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 fixedly connected with 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 and are dynamically connected by right-hand member output shaft, incremental encoder is located and is fixed in right end cap by incremental encoder fixed muffle.
2. three-wheel foot formula string as claimed in claim 1 series-parallel robot, is characterized in that: the angle on the described every limit of carrying platform is 60 °, and carrying platform is equilateral triangle shape.
CN201210101861.XA 2012-03-31 2012-03-31 Three-wheel walking robot of series and parallel connection Active CN102849141B (en)

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
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
CN110104087B (en) * 2019-05-24 2020-05-08 深圳市行者机器人技术有限公司 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

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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

Patent Citations (4)

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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
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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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