CN103171696B - Electronic spider car and perambulator - Google Patents
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- CN103171696B CN103171696B CN201310127296.9A CN201310127296A CN103171696B CN 103171696 B CN103171696 B CN 103171696B CN 201310127296 A CN201310127296 A CN 201310127296A CN 103171696 B CN103171696 B CN 103171696B
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- 241000239290 Araneae Species 0.000 title claims abstract description 49
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Abstract
Description
技术领域technical field
本发明涉及电动玩具或儿童车，特别涉及一种电动遥控的蜘蛛车及儿童车。The invention relates to an electric toy or a children's car, in particular to an electric remote control spider car and a children's car.
背景技术Background technique
现有的电动、遥控玩具或儿童车的操控都不够灵活，一般的遥控玩具或儿童车都是通过轮子转动实现移动的，因为其体积相对比较小，在不平整的地方操控时都没有良好的越野通过性，特别是在冰雪、湿滑路面行驶时通过性更差，稳定性和安全性都不够好，因此，就失去了操控的乐趣和实现不了其应有的功能效果。The control of existing electric, remote control toys or children's cars is not flexible enough. General remote control toys or children's cars are moved by the rotation of wheels, because their volume is relatively small, and they do not have good control when handling uneven places. Off-road passability, especially when driving on ice, snow, and slippery roads, the passability is even worse, and the stability and safety are not good enough. Therefore, the joy of manipulation and the proper functional effect cannot be realized.
因此，如何实现电动遥控玩具或儿童车具有良好的操控性越野通过性是业内亟待解决的技术问题。Therefore, how to realize that electric remote control toys or children's vehicles have good maneuverability and off-road passability is a technical problem to be solved urgently in the industry.
发明内容Contents of the invention
本发明所要解决的技术问题是实现电动遥控玩具或儿童车具有良好的操控性、越野通过性、稳定性和安全性，提供一种电动遥控的蜘蛛车及儿童车。The technical problem to be solved by the present invention is to realize that the electric remote control toy or children's car has good maneuverability, cross-country passability, stability and safety, and provide an electric remote control spider car and a children's car.
本发明提出一种电动蜘蛛车，包括车架体，所述车架体内设置有控制单元、左和右两个减速电机和供电装置，所述车架体的两侧分别设置有用于带动车体移动的驱动机构，每个所述驱动机构包括有两块相互平行设置的连接板、每块所述连接板的两侧分别设置的机械足结构；所述两个减速电机分别对应轴接设置在车架体两侧所述的两连接板之间的主传动齿轮，每个所述主传动齿轮两侧分别与设置在两连接板之间的两个副传动齿轮齿合，每个所述副传动齿轮在轴向上的两侧分别与活动设置在所述连接板上的足驱动轮连接；所述机械足结构包括有一端活动连接在所述连接板上端的第一连杆、一端与所述第一连杆的另一端活动连接的足节杆、一端与所述足节杆中部活动连接另一端与所述足驱动轮的边缘活动连接的第二连杆、一端与所述第二连杆中部活动连接另一端活动连接在所述连接板下端的第三连杆。The present invention proposes an electric spider car, which includes a frame body. A control unit, left and right deceleration motors and a power supply device are arranged in the frame body. A moving driving mechanism, each of which includes two connecting plates arranged parallel to each other, and mechanical foot structures respectively arranged on both sides of each connecting plate; The main transmission gear between the two connecting plates on both sides of the frame body, each side of the main transmission gear meshes with two auxiliary transmission gears arranged between the two connecting plates, each of the auxiliary transmission gears Both sides of the transmission gear in the axial direction are respectively connected with the foot driving wheels movably arranged on the connecting plate; The other end of the first connecting rod is movably connected to the foot joint rod, one end is movably connected to the middle part of the foot joint rod, the other end is movably connected to the edge of the foot drive wheel, and one end is movably connected to the second connecting rod. The middle part of the rod is movably connected to the third connecting rod at the lower end of the connecting plate at which the other end is movably connected.
优选地，所述控制单元包括有CPU、分别与所述CPU电联的左和右电机全桥驱动装置、左和右减速电机保护装置以及转向检测装置；所述左电机全桥驱动装置与左减速电机保护装置相连，所述右电机全桥驱动装置与右减速电机保护装置相连；所述左电机全桥驱动装置与所述左减速电机相连，所述右电机全桥驱动装置与所述右减速电机相连；所述转向检测装置与一摇杆电位器相连。Preferably, the control unit includes a CPU, left and right motor full-bridge drive devices electrically connected with the CPU, left and right deceleration motor protection devices, and a steering detection device; the left motor full-bridge drive device is connected to the left The deceleration motor protection device is connected, the right motor full-bridge drive device is connected with the right deceleration motor protection device; the left motor full-bridge drive device is connected with the left deceleration motor, and the right motor full-bridge drive device is connected with the right The reduction motor is connected; the steering detection device is connected with a rocker potentiometer.
优选地，所述左和右减速电机全桥驱动装置分别包括有调速控制装置和方向控制装置，所述调速控制装置和方向控制装置分别与所述CPU电联。Preferably, the left and right geared motor full-bridge drive devices respectively include a speed control device and a direction control device, and the speed control device and the direction control device are respectively electrically connected to the CPU.
优选地，还包括有显示面板，所述控制单元还包括电量显示装置，所述显示面板与所述电量显示装置相连。Preferably, a display panel is also included, the control unit further includes a power display device, and the display panel is connected to the power display device.
优选地，所述控制单元还包括有电量检测及蜂鸣提醒装置，所述电量检测及蜂鸣提醒装置与电源电路和一蜂鸣器相连。Preferably, the control unit further includes a power detection and buzzer reminder device, and the power detection and buzzer reminder device is connected with a power circuit and a buzzer.
优选地，所述供电装置包括相联的电源装置和电池，所述电源装置和电池分别与所述左和右减速电机连接，所述电源装置与所述控制单元连接。Preferably, the power supply device includes a connected power supply device and a battery, the power supply device and the battery are respectively connected to the left and right geared motors, and the power supply device is connected to the control unit.
优选地，还包括有无线遥控单元，所述无线遥控单元包括有与所述控制单元连接的无线接收装置、发送信号给所述无线接收装置的无线遥控器。Preferably, a wireless remote control unit is also included, and the wireless remote control unit includes a wireless receiving device connected to the control unit, and a wireless remote controller for sending signals to the wireless receiving device.
本发明又提出一种电动蜘蛛儿童车，包括电动蜘蛛车和设置在所述电动蜘蛛车上的儿童坐架结构，所述电动蜘蛛车包括车架体，所述车架体内设置有控制单元、左和右两个减速电机和供电装置，所述车架体的两侧分别设置有用于带动车体移动的驱动机构，每个所述驱动机构包括有两块相互平行设置的连接板、每块所述连接板的两侧分别设置的机械足结构；所述两个减速电机分别对应轴接设置在车架体两侧所述的两连接板之间的主传动齿轮，每个所述主传动齿轮两侧分别与设置在两连接板之间的两个副传动齿轮齿合，每个所述副传动齿轮在轴向上的两侧分别与活动设置在所述连接板上的足驱动轮连接；所述机械足结构包括有一端活动连接在所述连接板上端的第一连杆、一端与所述第一连杆的另一端活动连接的足节杆、一端与所述足节杆中部活动连接另一端与所述足驱动轮的边缘活动连接的第二连杆、一端与所述第二连杆中部活动连接另一端活动连接在所述连接板下端的第三连杆。The present invention further proposes an electric spider car for children, which includes an electric spider car and a child seat frame structure arranged on the electric spider car. The electric spider car includes a frame body, and the frame body is provided with a control unit, Left and right two deceleration motors and power supply devices, the two sides of the frame body are respectively provided with driving mechanisms for driving the vehicle body to move, each of the driving mechanisms includes two connecting plates arranged in parallel with each other, each The mechanical foot structures respectively arranged on both sides of the connecting plate; the two decelerating motors respectively correspond to the main transmission gear arranged between the two connecting plates on both sides of the frame body, and each of the main transmission The two sides of the gear mesh with the two auxiliary transmission gears arranged between the two connecting plates respectively, and the two sides of each auxiliary transmission gear in the axial direction are respectively connected with the foot drive wheels movably arranged on the connecting plates The mechanical foot structure includes a first connecting rod with one end movably connected to the upper end of the connecting plate, a foot joint rod with one end movably connected with the other end of the first connecting rod, and one end movable with the middle part of the foot joint rod Connect the second connecting rod whose other end is movably connected with the edge of the foot drive wheel, and one end which is movably connected with the middle part of the second connecting rod and the other end which is movably connected with the third connecting rod at the lower end of the connecting plate.
优选地，所述控制单元包括有CPU、分别与所述CPU电联的左和右电机全桥驱动装置、左和右减速电机保护装置以及转向检测装置；所述左电机全桥驱动装置与左减速电机保护装置相连，所述右电机全桥驱动装置与右减速电机保护装置相连；所述左电机全桥驱动装置与所述左减速电机相连，所述右电机全桥驱动装置与所述右减速电机相连；所述转向检测装置与一摇杆电位器相连。Preferably, the control unit includes a CPU, left and right motor full-bridge drive devices electrically connected with the CPU, left and right deceleration motor protection devices, and a steering detection device; the left motor full-bridge drive device is connected to the left The deceleration motor protection device is connected, the right motor full-bridge drive device is connected with the right deceleration motor protection device; the left motor full-bridge drive device is connected with the left deceleration motor, and the right motor full-bridge drive device is connected with the right The reduction motor is connected; the steering detection device is connected with a rocker potentiometer.
优选地，所述左和右减速电机全桥驱动装置分别包括有调速控制装置和方向控制装置，所述调速控制装置和方向控制装置分别与所述CPU电联。Preferably, the left and right geared motor full-bridge drive devices respectively include a speed control device and a direction control device, and the speed control device and the direction control device are respectively electrically connected to the CPU.
优选地，还包括有显示面板，所述控制单元还包括电量显示装置，所述显示面板与所述电量显示装置相连。Preferably, a display panel is also included, the control unit further includes a power display device, and the display panel is connected to the power display device.
优选地，所述控制单元还包括有电量检测及蜂鸣提醒装置，所述电量检测及蜂鸣提醒装置与电源电路和一蜂鸣器相连。Preferably, the control unit further includes a power detection and buzzer reminder device, and the power detection and buzzer reminder device is connected with a power circuit and a buzzer.
优选地，所述供电装置包括相联的电源装置和电池，所述电源装置和电池分别与所述左和右减速电机连接，所述电源装置与所述控制单元连接。Preferably, the power supply device includes a connected power supply device and a battery, the power supply device and the battery are respectively connected to the left and right geared motors, and the power supply device is connected to the control unit.
优选地，还包括有无线遥控单元，所述无线遥控单元包括有与所述控制单元连接的无线接收装置、发送信号给所述无线接收装置的无线遥控器。Preferably, a wireless remote control unit is also included, and the wireless remote control unit includes a wireless receiving device connected to the control unit, and a wireless remote controller for sending signals to the wireless receiving device.
本发明的电动蜘蛛车，在车架体内设置有控制单元、供电装置和左、右两个减速电机，所述车架体的两侧分别设置有用于带动车体移动的驱动机构，驱动机构为类似蜘蛛的脚一样行走，使操控更加灵活，通过控制单元对左、右两个减速电机的控制，可实现前进、后退、原地转向等功能，而且具有良好的越野通过性，可以在冰雪、湿滑路面行驶，既具有良好的稳定性和安全性，又具有体积小、携带方便、新奇等优点，用电动蜘蛛车制作成电动蜘蛛儿童车更可增加儿童乐趣。The electric spider car of the present invention is provided with a control unit, a power supply device, and two left and right deceleration motors in the frame body, and the two sides of the frame body are respectively provided with a driving mechanism for driving the car body to move, and the driving mechanism is Walking like a spider's feet makes the control more flexible. Through the control of the left and right two deceleration motors through the control unit, functions such as forward, backward, and in-situ steering can be realized, and it has good cross-country passability. Driving on wet and slippery roads not only has good stability and safety, but also has the advantages of small size, easy to carry, and novelty. Using electric spider cars to make electric spider children's cars can increase children's fun.
附图说明Description of drawings
图1为本发明的电动蜘蛛车一实例的立体结构示意图；Fig. 1 is the three-dimensional structure schematic diagram of an example of the electric spider car of the present invention;
图2为图1电动蜘蛛车的俯视图；Fig. 2 is the top view of Fig. 1 electric spider car;
图3为图1电动蜘蛛车的一侧面放大图；Fig. 3 is a side enlarged view of the electric spider car of Fig. 1;
图4为图1电动蜘蛛车的一侧面透视放大图。Fig. 4 is a side perspective enlarged view of the electric spider car of Fig. 1 .
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.
具体实施方式detailed description
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
参照图1至图4所示，提出本发明的电动蜘蛛车的一实施例，包括车架体10，所述车架体10内设置有用于控制电动蜘蛛车工作的控制单元、左和右两个减速电机(减速电机是指减速机和电机(马达)的集成体，这种集成体通常也可称为齿轮马达或齿轮电机)(图中未示出)和供电装置，供电装置可为充电锂电池或蓄电池，所述车架体10的两侧分别设置有用于带动车体移动的驱动机构，每个所述驱动机构包括有两块相互平行固定设置的连接板20、每块所述连接板20的两侧分别设置的机械足结构，所述连接板20也起到支架的支撑车体的作用；左和右两个减速电机分别对应通过轴接主传动齿轮30，主传动齿轮30设置在车架体10两侧的两个连接板20之间，每个所述主传动齿轮30的左右两侧分别与设置在两个连接板20之间的两个副传动齿轮40齿合，每个所述副传动齿轮40在轴向上的两侧分别与活动设置在所述连接板20上的足驱动轮50固定连接；所述机械足结构包括有一端活动连接在所述连接板20上端的第一连杆61、一端与所述第一连杆61的另一端活动连接的足节杆62、一端与所述足节杆62中部活动连接另一端与所述足驱动轮50的边缘(或偏离足驱动轮50的圆心)活动连接的第二连杆63、一端与所述第二连杆63中部活动连接另一端活动连接在所述连接板20下端的第三连杆64。机械足结构各连杆的有机配合使足节杆62可类似蜘蛛的脚一样行走。Referring to Figures 1 to 4, an embodiment of the electric spider car of the present invention is proposed, including a frame body 10, a control unit for controlling the work of the electric spider car, a left and a right two A deceleration motor (a deceleration motor refers to the integration of a reducer and a motor (motor), which is usually also called a gear motor or a gear motor) (not shown in the figure) and a power supply device, which can be used for charging Lithium battery or accumulator, the two sides of described vehicle frame body 10 are respectively provided with and are used for driving the driving mechanism that vehicle body moves, and each described driving mechanism includes two connecting plates 20 that are fixedly arranged in parallel with each other, each connecting plate 20 The two sides of the plate 20 are respectively equipped with mechanical foot structures, and the connecting plate 20 also plays the role of supporting the vehicle body; the left and right two reduction motors are respectively connected to the main transmission gear 30 through the shaft, and the main transmission gear 30 is set Between the two connecting plates 20 on both sides of the vehicle frame body 10, the left and right sides of each main transmission gear 30 mesh with two auxiliary transmission gears 40 arranged between the two connecting plates 20, each Both sides of the auxiliary transmission gear 40 in the axial direction are fixedly connected with the foot drive wheel 50 movably arranged on the connecting plate 20; the mechanical foot structure includes one end movably connected to the upper end of the connecting plate 20 The first connecting rod 61, one end is movably connected with the other end of the first connecting rod 61, and the other end is movably connected with the middle part of the foot joint 62, and the other end is movably connected with the edge of the foot drive wheel 50 ( Or deviate from the center of circle of the foot drive wheel 50) the second connecting rod 63 that is movably connected, one end is movably connected with the middle part of the second connecting rod 63 and the other end is movably connected with the third connecting rod 64 at the lower end of the connecting plate 20 . The organic cooperation of each connecting rod of the mechanical foot structure makes the foot joint bar 62 walk like the feet of a spider.
电动蜘蛛车行走原理：驾驶者控制无线遥控器或车体控制摇杆把控制信号送到控制单元，控制单元控制左和右减速电机工作，减速电机带动主传动齿轮30转动，主传动齿轮30带动与其连接的两个副传动齿轮40转动，副传动齿轮40带动足驱动轮50转动，足驱动轮50推动活动连接在其边缘的第二连杆63，第二连杆63产生往复摇摆运动并传递到足节杆62，使足节杆62前后行走摆动，连接板20在足节杆62往前摇摆时支撑车体，足节杆62在地面前后行走摆动时就驱动电动蜘蛛车移动。The walking principle of the electric spider car: the driver controls the wireless remote controller or the car body control rocker to send the control signal to the control unit, the control unit controls the left and right deceleration motors to work, the deceleration motor drives the main transmission gear 30 to rotate, and the main transmission gear 30 drives The two auxiliary transmission gears 40 connected with it rotate, and the auxiliary transmission gear 40 drives the foot drive wheel 50 to rotate, and the foot drive wheel 50 promotes the second connecting rod 63 that is movably connected to its edge, and the second connecting rod 63 produces a reciprocating rocking motion and transmits To the foot joint bar 62, make the foot joint bar 62 walk and swing forward and backward, the connecting plate 20 supports the vehicle body when the foot joint bar 62 swings forward, and the foot joint bar 62 just drives the electric spider car to move when the foot joint bar 62 walks back and forth on the ground and swings.
电控制部分：所述控制单元包括有CPU(中央处理器)、分别与所述CPU电联并用于实现电机正或反转的左和右电机全桥驱动装置、左和右减速电机保护装置以及转向检测装置；所述左电机全桥驱动装置与左减速电机保护装置相连，所述右电机全桥驱动装置与右减速电机保护装置相连；所述左电机全桥驱动装置与所述左减速电机相连，所述右电机全桥驱动装置与所述右减速电机相连；所述转向检测装置与一摇杆电位器相连。Electrical control part: the control unit includes a CPU (Central Processing Unit), a left and a right motor full-bridge driving device, a left and a right deceleration motor protection device and Steering detection device; the full bridge drive device of the left motor is connected with the protection device of the left deceleration motor, and the full bridge drive device of the right motor is connected with the protection device of the right deceleration motor; the full bridge drive device of the left motor is connected with the protection device of the left deceleration motor The right motor full-bridge driving device is connected with the right deceleration motor; the steering detection device is connected with a rocker potentiometer.
所述左和右减速电机全桥驱动装置分别包括有调速控制装置和方向控制装置，所述调速控制装置和方向控制装置分别与所述CPU电联。The left and right deceleration motor full-bridge drive devices respectively include a speed control device and a direction control device, and the speed control device and the direction control device are respectively electrically connected to the CPU.
还包括有显示面板，所述控制单元还包括电量显示装置，所述显示面板与所述电量显示装置相连。便于了解电量情况。A display panel is also included, and the control unit also includes a power display device, and the display panel is connected to the power display device. Easy to understand the power status.
所述控制单元还包括有电量检测及蜂鸣提醒装置，所述电量检测及蜂鸣提醒装置与电源电路和一蜂鸣器相连。当电量过低时发出报警信号。The control unit also includes a power detection and buzzer reminder device, and the power detection and buzzer reminder device is connected with a power circuit and a buzzer. Send out an alarm signal when the battery is too low.
所述供电装置包括相联的电源装置和电池，所述电源装置和电池分别与所述左和右减速电机连接，所述电源装置与所述控制单元连接。The power supply device includes an associated power supply device and a battery, the power supply device and the battery are respectively connected to the left and right geared motors, and the power supply device is connected to the control unit.
还包括有无线遥控单元，所述无线遥控单元包括有与所述控制单元连接的无线接收装置、发送信号给所述无线接收装置的无线遥控器。无线遥控器用于控制车的方向、速度、前进或后退等动作。It also includes a wireless remote control unit, and the wireless remote control unit includes a wireless receiving device connected to the control unit, and a wireless remote controller that sends signals to the wireless receiving device. The wireless remote control is used to control the direction, speed, forward or backward of the car and other actions.
本发明的电动蜘蛛车的左、右两个减速电机同向或不同向转动，使车体类似蜘蛛一样行走，实现前进、后退或原地转向等功能，使操控更加灵活，具有良好的越野通过性，可以在冰雪、湿滑路面行驶，既具有良好的稳定性和安全性，又具有体积小、携带方便和新奇等特点。本电动蜘蛛车发明可用于玩具，还可用于科技探险领域，使用广泛。The two left and right deceleration motors of the electric spider car of the present invention rotate in the same direction or in different directions, so that the car body can walk like a spider, realize functions such as forward, backward or in-situ steering, make the control more flexible, and have good off-road passing It can run on ice, snow, and slippery roads. It not only has good stability and safety, but also has the characteristics of small size, convenient portability and novelty. The invention of the electric spider car can be used in toys, and can also be used in the field of scientific and technological exploration, and is widely used.
本发明的一种电动蜘蛛儿童车的一实施例，包括上述的电动蜘蛛车和设置在所述电动蜘蛛车上的用于给儿童乘坐的儿童坐架结构(未在图中示出)，所述电动蜘蛛车包括车架体10，所述车架体10内设置有控制单元、左右两个减速电机和供电装置，所述车架体10的两侧分别设置有用于带动车体移动的驱动机构，每个所述驱动机构包括有两块相互平行设置的连接板20、每块所述连接板20的两侧分别设置的机械足结构；所述两个减速电机分别对应轴接设置在车架体10两侧所述的两连接板20之间的主传动齿轮30，每个所述主传动齿轮30两侧分别与设置在两连接板20之间的两个副传动齿轮40齿合，每个所述副传动齿轮40在轴向上的两侧分别与活动设置在所述连接板20上的足驱动轮50连接；所述机械足结构包括有一端活动连接在所述连接板20上端的第一连杆61、一端与所述第一连杆61的另一端活动连接的足节杆62、一端与所述足节杆62中部活动连接另一端与所述足驱动轮50的边缘活动连接的第二连杆63、一端与所述第二连杆63中部活动连接另一端活动连接在所述连接板20下端的第三连杆64。An embodiment of an electric spider car for children according to the present invention includes the above-mentioned electric spider car and a child seat frame structure (not shown in the figure) for children to ride on the electric spider car. The electric spider car includes a frame body 10, a control unit, two left and right gear motors and a power supply device are arranged inside the frame body 10, and driving drives for driving the car body to move are respectively arranged on both sides of the frame body 10. mechanism, each of the driving mechanisms includes two connecting plates 20 arranged parallel to each other, and mechanical foot structures respectively arranged on both sides of each connecting plate 20; The main transmission gear 30 between the two connecting plates 20 described on both sides of the frame body 10, the two sides of each main transmission gear 30 mesh with the two secondary transmission gears 40 arranged between the two connecting plates 20 respectively, Both sides of each of the auxiliary transmission gears 40 in the axial direction are respectively connected with the foot drive wheels 50 movably arranged on the connecting plate 20; The first connecting rod 61, one end is movably connected with the other end of the first connecting rod 61, the foot joint rod 62, one end is movably connected with the middle part of the foot joint rod 62, and the other end is movable with the edge of the foot drive wheel 50 The connected second connecting rod 63 has one end movably connected to the middle of the second connecting rod 63 and the other end movably connected to the third connecting rod 64 at the lower end of the connecting plate 20 .
儿童坐架结构上可以设置有前进、后退、加减速或原地转向等功能的控制摇杆。The child seat structure can be provided with a control rocker with functions such as forward, backward, acceleration and deceleration or turning in situ.
本发明的电动蜘蛛儿童车，还包括了上述电动蜘蛛车实施例的其它全部技术方案，所达到的技术效果也一样，在此不再赘述。The electric spider children's car of the present invention also includes all other technical solutions of the above electric spider car embodiment, and the achieved technical effects are also the same, which will not be repeated here.
用电动蜘蛛车制作成电动蜘蛛儿童车，使童车类似蜘蛛的脚一样行走，操控更加灵活，通过控制单元对左、右两个减速电机的控制，可实现前进、后退、原地转向等功能，具有良好的越野通过性，可以在冰雪、湿滑路面行驶，既具有良好的稳定性和安全性，更增加儿童的驾驶乐趣。Use the electric spider car to make an electric spider baby car, so that the baby car can walk like a spider's feet, and the control is more flexible. Through the control of the left and right two deceleration motors by the control unit, functions such as forward, backward, and in-situ steering can be realized. It has good cross-country passability and can run on ice, snow and slippery roads. It has good stability and safety and increases children's driving fun.
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related All technical fields are equally included in the scope of patent protection of the present invention.
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| CN104986245A (en) * | 2015-07-27 | 2015-10-21 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
| CN107472393A (en) * | 2017-08-23 | 2017-12-15 | 湖南匡楚科技有限公司 | Climbing robot |
| CN107380296B (en) * | 2017-08-25 | 2023-12-26 | 湖南匡楚科技有限公司 | Chemical material mixing device based on crawling robot |
| CN108995728B (en) * | 2018-08-07 | 2020-03-24 | 北京交通大学 | A high-mobility wheel-foot composite robot |
| CN116105586A (en) * | 2023-02-28 | 2023-05-12 | 山东省煤田地质规划勘察研究院 | A Spider-type Seismic Exploration Shot Positioning and Ranging Device |
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| CN202728394U (en) * | 2012-04-19 | 2013-02-13 | 武汉工程大学 | spider robot |
| CN203246529U (en) * | 2013-04-12 | 2013-10-23 | 何志波 | An electric spider car and a children's car |
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