CN104875801B - Double ratchet wheels formula telescopic obstacle detouring support arm and barrier-surpassing robot - Google Patents
Double ratchet wheels formula telescopic obstacle detouring support arm and barrier-surpassing robot Download PDFInfo
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- CN104875801B CN104875801B CN201510221920.0A CN201510221920A CN104875801B CN 104875801 B CN104875801 B CN 104875801B CN 201510221920 A CN201510221920 A CN 201510221920A CN 104875801 B CN104875801 B CN 104875801B
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000009977 dual effect Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 229910000737 Duralumin Inorganic materials 0.000 claims description 4
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a kind of telescopic obstacle detouring support arm of double ratchet wheels formula and barrier-surpassing robot, wherein double ratchet wheels formula telescopic obstacle detouring support arm include telescopic boom and the support arm body of gap cooperation；Rear walking wheel, the dynamic output shaft of axial series of rear walking wheel are fixed with support arm body；Front walking wheel is fixed on telescopic boom, the axial series of front walking wheel have power transmission shaft；Obstacle detouring crawler belt is linked on rear walking wheel and front walking wheel；Expansion tightening wheel mechanism is fixed with support arm body；It is fixed with dual pawl mechanism near telescopic boom one end on support arm body；Dual pawl mechanism, under the control of motor encoder, carries carry-over bar side-to-side movement；Tooth bar one end is connected with telescopic boom, and the other end is connected with cam；Cam and the tangent cooperation of expansion tightening wheel mechanism；Tooth bar side-to-side movement band moving cam side-to-side movement and telescopic boom telescopic slide；Cam motion makes expansion tightening wheel mechanism slide up and down along cam, is finally reached obstacle detouring slack of track and tightens up to coordinate telescopic boom telescopic slide.
Description
Technical field
The invention belongs to advanced manufacture and technical field of automation, the telescopic obstacle detouring of more particularly, to a kind of double ratchet wheels formula props up
Arm and barrier-surpassing robot.
Background technology
Put in the work of field complex environment with increasing robot, how to improve it to complex environment
Adaptability, becomes the important indicator weighing robot performance.Barrier-surpassing robot on the market is mostly using on support arm at present
Add obstacle detouring crawler belt, by the climbing of crawler belt, crossing over blockage, its obstacle clearing capability to be determined by the length of Robot arm；And this
The arm length of class robot is affected by robot overall dimensions and weight, tends not to accomplish very long, and length is
Fixing, motility and poor operability.
Content of the invention
In order to solve the shortcoming of prior art, the present invention provides a kind of telescopic obstacle detouring support arm of double ratchet wheels formula and obstacle detouring machine
Device people, this double ratchet wheels formula telescopic obstacle detouring support arm has the work(that can arbitrarily change arm length when complex environment uses
Energy.
For achieving the above object, the present invention employs the following technical solutions：
A kind of telescopic obstacle detouring support arm of double ratchet wheels formula, including support arm body and telescopic boom, described telescopic boom and support arm
Body space coordinates；
Rear walking wheel is fixed with the support of described support arm body, the axial series of described rear walking wheel have a power output
Axle；
Front walking wheel is fixed on the support of described telescopic boom, the axial series of described front walking wheel have a power transmission shaft；
Obstacle detouring crawler belt, it is linked on described rear walking wheel and front walking wheel；Described power output shaft drives rear walking wheel
Rotate, rear walking wheel drives front walking wheel to rotate by obstacle detouring crawler belt；
It is fixed with expansion tightening wheel mechanism on described support arm body；On described support arm body, the one end near telescopic boom is fixed with double spine
Wheel mechanism；
Described dual pawl mechanism, under drive control, carries carry-over bar side-to-side movement；Described tooth bar one end and telescopic boom phase
Even, the tooth bar other end is connected with cam；Described cam and the tangent cooperation of expansion tightening wheel mechanism；About tooth bar side-to-side movement band moving cam
Motion and telescopic boom telescopic slide in the body cavity of support arm body；Cam side-to-side movement makes expansion tightening wheel mechanism upper and lower along cam
Slide, finally make obstacle detouring slack of track and tighten up to coordinate telescopic boom telescopic slide.
Described dual pawl mechanism, including a positive ratchet and a reverse ratchet, described forward direction ratchet and reverse ratchet size
Unanimously；Described forward direction ratchet and the axial direction of reverse ratchet are serially connected with motor transmission shaft, described forward direction ratchet and reverse ratchet and electricity
Be provided with spacer sleeve between machine power transmission shaft, described motor transmission shaft be respectively arranged at two ends with axial end cap；Set in described axial end cap
There is Positioning screw.
On described forward direction ratchet, some forward direction clicks are connected with by bearing pin, each described forward direction click and just
It is connected with a ratchet preloading spring between ratchet；On described reverse ratchet, some reverse clicks are connected with by bearing pin,
It is connected with a ratchet preloading spring between each described reverse click and reverse ratchet.
When described dual pawl mechanism rotates clockwise, under the promotion of ratchet preloading spring, positive click is turned-out
Going out, and fasten tooth bar makes tooth bar to left, and reversely click rotates clockwise simultaneously, and tooth bar compresses reverse click and makes
It is attached on described reverse ratchet；
When described dual pawl mechanism rotates counterclockwise, under the promotion of ratchet preloading spring, reverse click is turned-out
Going out, and fasten tooth bar makes tooth bar to right translation, and positive click rotates counterclockwise simultaneously, and tooth bar compresses reverse click and makes
It is attached on described forward direction ratchet；Tooth bar is moved and drives the telescopic boom being connected with tooth bar to move forward and backward.
When there is accidental movement in tooth bar, described forward direction click and reverse click pushing away in ratchet preloading spring
All outwards rout up under dynamic, now dual pawl mechanism passes through the auto-lock function holding locking state of the motor that motor transmission shaft is connected,
Positive click and reverse click, by stuck tooth bar, make tooth bar cannot move.
Described expansion tightening wheel mechanism, including base, described base is installed with a slip body of rod, the described slip body of rod and base can
Slided with mutual；There is a fixed block described slip body of rod upper end；There are a tensioner preloading spring, tensioner between base and fixed block
Preloading spring is set on the slip body of rod；Described fixed block be respectively provided on two sides with an axle side expansion tightening wheel and a hole side expansion tightening wheel；
There is a transverse axis, respectively there is a bearing at transverse axis two ends on the expansion tightening wheel of described axle side；Described hole side expansion tightening wheel is through on described transverse axis；Institute
State transverse axis port and be provided with axial end cap, described axial end cap is provided with Positioning screw.
Described hole side expansion tightening wheel and the tangent cooperation all with cam of axle side expansion tightening wheel；Effect in cam and tensioner preloading spring
Under, described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down along cam.
Described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down motion amplitude and are determined by cam contour.
Described support arm body, telescopic boom and cam are duralumin material and make.
Described hole side expansion tightening wheel and axle side expansion tightening wheel are duralumin material and make.
A kind of barrier-surpassing robot is provided with above-mentioned double ratchet wheels formula telescopic obstacle detouring support arm.
Specify in the present invention：When positive ratchet rotates clockwise, it is defined as dual pawl mechanism and rotates clockwise；Work as forward direction
When ratchet rotates counterclockwise, it is defined as dual pawl mechanism and rotates counterclockwise.
Beneficial effects of the present invention are：
(1) dual pawl mechanism of the present invention locked, the structure that cleverly solves the problems, such as that rack gear cannot position
Think novel, structure reliability；
(2) cam mechanism of the present invention is simple with expansion tightening wheel mechanism structure, easily manufactured, safe and reliable；
(3) the support arm contractible trasformation length designed by the present invention, strong to complex environment adaptive faculty.
(4) pass through to change the telescopic boom of different length and different size of expansion tightening wheel, can easily reach adjustment support arm
The purpose of overall length.
Brief description
Fig. 1 is the structural representation of scalable obstacle detouring support arm；
Fig. 2 is the structural representation of dual pawl mechanism；
Fig. 3 is dual pawl mechanism motion schematic diagram；
Fig. 4 a) it is expansion tightening wheel mechanism structure schematic diagram；
Fig. 4 b) it is expansion tightening wheel mechanism structure front view.
Wherein, 1 support arm body, 2 telescopic boom, 3 expansion tightening wheel mechanisms, 4 dual pawl mechanisms, 5 power output shafts, 6 cams, after 71
Road wheel, 72 front walking wheels, 8 power transmission shafts, 9 obstacle detouring crawler belts, 10 tooth bars, 101 positive ratchets, 102 reverse ratchets, 111 positive spine
Wheel ratchet, 112 reverse clicks, 13 ratchet preloading springs, 14 spacer sleeves, 15 motor transmission shafts, 16 axial end cap, 17 positioning
Screw, 18 bases, 19 hole side expansion tightening wheels, 20 fixed blocks, the 21 slip bodies of rod, 22 tensioner preloading springs, 23 axle side expansion tightening wheels, 24 axles
Hold.
Specific embodiment
The present invention will be further described with embodiment below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of telescopic obstacle detouring support arm of double ratchet wheels formula, including support arm body 1 and telescopic boom 2, described stretch
Contracting support arm 2 and the cooperation of support arm body 1 gap；Rear walking wheel 71 is fixed with the support of described support arm body 1, described rear walking wheel 71
Axial series have a power output shaft 5；Front walking wheel 72 is fixed on the support of described telescopic boom 2, described front walking wheel 72
Axial series have a power transmission shaft 8；Obstacle detouring crawler belt 9, it is linked on described rear walking wheel 71 and front walking wheel 72；Described power is defeated
Shaft 5 drives rear walking wheel 71 to rotate, and rear walking wheel 71 drives front walking wheel 72 to rotate by obstacle detouring crawler belt 9；Described support arm body 1
Upper fixing expansion tightening wheel mechanism 3；On described support arm body 1, the one end near telescopic boom 2 is fixed with dual pawl mechanism 4；
Described dual pawl mechanism 4, under drive control, carries carry-over bar 10 side-to-side movement；Described tooth bar 10 one end is propped up with flexible
Arm 2 is connected, and tooth bar 10 other end is connected with cam 6；Described cam 6 and the tangent cooperation of expansion tightening wheel mechanism 3；Tooth bar 10 side-to-side movement
The telescopic slide in the body cavity of support arm body 1 with moving cam 6 side-to-side movement and telescopic boom 2；Cam 6 side-to-side movement makes expansion tightening wheel
Mechanism 3 slides up and down along cam 6, finally makes obstacle detouring crawler belt 9 relax and tighten up to coordinate telescopic boom 2 telescopic slide.
As shown in Fig. 2 dual pawl mechanism 4 includes a positive ratchet 101 and a reverse ratchet 102, described forward direction ratchet 101
In the same size with reverse ratchet 102；The axial direction of described forward direction ratchet 101 and reverse ratchet 102 is serially connected with motor transmission shaft 15, institute
State positive ratchet 101 and reversely between ratchet 102 and motor transmission shaft 15, be provided with spacer sleeve 14, the two of described motor transmission shaft 15
End is respectively equipped with axial end cap 16；Described axial end cap 16 is provided with Positioning screw 17.
On described forward direction ratchet 101, some forward direction clicks 111 are connected with by bearing pin, each described forward direction ratchet spine
It is connected with a ratchet preloading spring 13 between pawl 111 and positive ratchet 101；It is connected with by bearing pin on described reverse ratchet 102
Some reverse clicks 112, are connected with a ratchet pretension between each described reverse click 112 and reverse ratchet 102
Spring 13.
As shown in figure 3, when dual pawl mechanism 4 rotates clockwise, under the promotion of ratchet preloading spring 13, positive ratchet spine
Pawl 111 is outwards routed up, and described forward direction click 111 fastens tooth bar 10 and makes tooth bar 10 to left, reverse click simultaneously
112 rotate clockwise, and tooth bar 10 compresses reverse click 112 makes it be attached on described reverse ratchet 102；
When dual pawl mechanism 4 rotates counterclockwise, under the promotion of ratchet preloading spring 13, reverse click 112 is outside
Rout up, described reverse click 112 fastens tooth bar 10 makes tooth bar 10 to right translation, and positive click 112 is counterclockwise simultaneously
Rotate, tooth bar 10 compresses reverse click 112 makes it be attached on described forward direction ratchet 101；Tooth bar 10 move and drive with
The telescopic boom 2 that tooth bar 10 is connected moves forward and backward.
When tooth bar 10 occurs accidental movement, positive click 111 and reverse click 112 are in ratchet preloading spring
All outwards rout up under 13 promotion, now the auto-lock function of the motor that dual pawl mechanism 4 is connected by motor transmission shaft 15 is protected
Hold locking state, positive click 111 and reverse click 112, by stuck tooth bar 10, make tooth bar 10 cannot move.
As Fig. 4 a) and Fig. 4 b) shown in, expansion tightening wheel mechanism 3 includes base 18, and described base 18 is equipped with a slip body of rod
21, the described slip body of rod 21 and base 18 can mutually slide；There is a fixed block 20 the described slip body of rod 21 upper end；In base 18
There is a tensioner preloading spring 22 and fixed block 20 between, tensioner preloading spring 22 is set on the slip body of rod 21；Described fixed block
20 be respectively provided on two sides with an axle side expansion tightening wheel 23 and a hole side expansion tightening wheel 19.Described axle side expansion tightening wheel 23 is with a transverse axis
Expansion tightening wheel, transverse axis is respectively arranged at two ends with bearing 24, and bearing 24 outer is linked on fixed block 20 endoporus；Described transverse axis port
It is provided with axial end cap 16, described axial end cap 16 is provided with Positioning screw 17.
Described hole side expansion tightening wheel 19 and axle side expansion tightening wheel 23 tangent cooperation all with cam 6；In cam 6 and tensioner preloading spring
In the presence of 22, described hole side expansion tightening wheel 19 and axle side expansion tightening wheel 23 slide up and down along cam 6.
Described hole side expansion tightening wheel 19 and axle side expansion tightening wheel 23 slide up and down motion amplitude and are determined by cam 6 profile.
Described support arm body 1, telescopic boom 2 and cam 6 are duralumin material and make, on the premise of ensureing structural strength,
Greatly reduce overall weight, improve endurance.
A kind of barrier-surpassing robot is provided with above-mentioned double ratchet wheels formula telescopic obstacle detouring support arm.
The operation principle of the present invention is：
(1) when positive ratchet 101 rotates clockwise, it is defined as dual pawl mechanism 4 and rotates clockwise；When positive ratchet
101 when rotating counterclockwise, and is defined as dual pawl mechanism 4 and rotates counterclockwise.
(2) under normally travel state, dual pawl mechanism 4 rotates counterclockwise and makes tooth bar 10 move inward to shift cam 6 onto
Inner side, then, with the hole side expansion tightening wheel 19 of the tangent cooperation of cam 6 and axle side expansion tightening wheel 23 in the presence of cam 6, rise to
High-order；Now obstacle detouring crawler belt 9 is in the length condition of shortest route.Meanwhile, under the drive of tooth bar 10, telescopic boom 2 withdraws
To the inner side of support arm body 1, now support arm entire length is in short status to carry out general obstacle detouring and walking motion.
(3) when running into the obstacle higher than normal condition, dual pawl mechanism 4 rotate counterclockwise make tooth bar 10 be displaced outwardly by
Cam 6 shifts outermost onto, then pre- in cam 6 and tensioner with the hole side expansion tightening wheel 19 of the tangent cooperation of cam 6 and axle side expansion tightening wheel 23
Under the collective effect of tight spring 22, it is recovered in support arm body 1, obstacle detouring crawler belt 9 starts to become slack, be support arm elongation headspace；
Meanwhile, the telescopic boom 2 being connected with tooth bar 10 is pushed outwardly, under the control of motor encoder, reaches the length needing；
When hole side expansion tightening wheel 19 and axle side expansion tightening wheel 23 drop to lowest order, obstacle detouring crawler belt 9 is in the length of the longest formation
Degree state；Meanwhile, under the drive of tooth bar 10, telescopic boom 2 reaches the outermost of support arm body 1, now support arm entire length
It is in long status.
(4) after the completion of obstacle detouring, dual pawl mechanism 4 rotates clockwise, by cam 6 to hole side expansion tightening wheel 19 and axle side tensioner
Propulsion in wheel 23, hole side expansion tightening wheel 19 and axle side expansion tightening wheel 23 outwards eject in the presence of cam 6, shrink obstacle detouring crawler belt 9；With
When telescopic boom 2 is drawn in into support arm body 1, eventually arrive at and tighten up position.This process is inverse process with elongation support arm.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (8)
1. a kind of telescopic obstacle detouring support arm of double ratchet wheels formula is it is characterised in that include support arm body and telescopic boom, described flexible
Arm is coordinated with support arm body space；
Rear walking wheel is fixed with the support of described support arm body, the axial series of described rear walking wheel have a power output shaft；
Front walking wheel is fixed on the support of described telescopic boom, the axial series of described front walking wheel have a power transmission shaft；
Obstacle detouring crawler belt, it is linked on described rear walking wheel and front walking wheel；Described power output shaft drives rear walking wheel to rotate,
Rear walking wheel drives front walking wheel to rotate by obstacle detouring crawler belt；
It is fixed with expansion tightening wheel mechanism on described support arm body；On described support arm body, the one end near telescopic boom is fixed with double ratchet wheels machine
Structure；
Described dual pawl mechanism, under drive control, carries carry-over bar side-to-side movement；Described tooth bar one end is connected with telescopic boom, tooth
The bar other end is connected with cam；Described cam and the tangent cooperation of expansion tightening wheel mechanism；Tooth bar side-to-side movement band moving cam side-to-side movement
With telescopic boom in the body cavity of support arm body telescopic slide；Cam side-to-side movement makes expansion tightening wheel mechanism glide along on cam
Dynamic, finally make obstacle detouring slack of track and tighten up to coordinate telescopic boom telescopic slide；
Described dual pawl mechanism, including a positive ratchet and a reverse ratchet, described forward direction ratchet and reverse ratchet are in the same size；
The axial direction of described forward direction ratchet and reverse ratchet is serially connected with motor transmission shaft, and described forward direction ratchet and reverse ratchet are driven with motor
Be provided with spacer sleeve between axle, described motor transmission shaft be respectively arranged at two ends with axial end cap；Described axial end cap is provided with positioning
Screw；
Described support arm body, telescopic boom and cam are duralumin material and make.
2. as claimed in claim 1 a kind of telescopic obstacle detouring support arm of double ratchet wheels formula it is characterised in that on described forward direction ratchet
Some forward direction clicks are connected with by bearing pin, between each described forward direction click and positive ratchet, are connected with a ratchet
Preloading spring；On described reverse ratchet, some reverse clicks are connected with by bearing pin, each described reverse click with
Reversely it is connected with a ratchet preloading spring between ratchet.
3. as claimed in claim 2 a kind of telescopic obstacle detouring support arm of double ratchet wheels formula it is characterised in that described dual pawl mechanism
When rotating clockwise, under the promotion of ratchet preloading spring, positive click is outwards routed up, and fastening tooth bar makes tooth bar to the left
Translation, reversely click rotates clockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described reverse ratchet；
When described dual pawl mechanism rotates counterclockwise, under the promotion of ratchet preloading spring, reverse click is outwards routed up, and
Fastening tooth bar makes tooth bar to right translation, and positive click rotates counterclockwise simultaneously, and tooth bar compresses reverse click makes it paste
It is attached on described forward direction ratchet；Tooth bar is moved and drives the telescopic boom being connected with tooth bar to move forward and backward.
4. as claimed in claim 2 a kind of telescopic obstacle detouring support arm of double ratchet wheels formula it is characterised in that when tooth bar occur unexpected
When mobile, described forward direction click and reverse click are all outwards routed up under the promotion of ratchet preloading spring, now double
The auto-lock function of the motor that ratchet mechanism is connected by motor transmission shaft keeps locking state, positive click and reverse spine
Wheel ratchet, by stuck tooth bar, makes tooth bar cannot move.
5. as claimed in claim 1 a kind of telescopic obstacle detouring support arm of double ratchet wheels formula it is characterised in that described tensioner turbine
Structure, including base, described base is installed with a slip body of rod, the described slip body of rod and base can mutually slide；Described slip
There is a fixed block body of rod upper end；There is a tensioner preloading spring between base and fixed block, tensioner preloading spring is set in slip
On the body of rod；Described fixed block be respectively provided on two sides with an axle side expansion tightening wheel and a hole side expansion tightening wheel；Have on the expansion tightening wheel of described axle side
One transverse axis, respectively there is a bearing at transverse axis two ends；Described hole side expansion tightening wheel is through on described transverse axis；Described transverse axis port is provided with axial direction
End cap, described axial end cap is provided with Positioning screw.
6. as claimed in claim 5 a kind of telescopic obstacle detouring support arm of double ratchet wheels formula it is characterised in that described hole side expansion tightening wheel
With the tangent cooperation all with cam of axle side expansion tightening wheel；In the presence of cam and tensioner preloading spring, described hole side expansion tightening wheel and axle
Side expansion tightening wheel slides up and down along cam.
7. as claimed in claim 6 a kind of telescopic obstacle detouring support arm of double ratchet wheels formula it is characterised in that described hole side expansion tightening wheel
Slide up and down motion amplitude with axle side expansion tightening wheel to be determined by cam contour.
8. a kind of barrier-surpassing robot is it is characterised in that described barrier-surpassing robot is provided with as any one of claim 1-7
Double ratchet wheels formula telescopic obstacle detouring support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510221920.0A CN104875801B (en) | 2015-05-04 | 2015-05-04 | Double ratchet wheels formula telescopic obstacle detouring support arm and barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510221920.0A CN104875801B (en) | 2015-05-04 | 2015-05-04 | Double ratchet wheels formula telescopic obstacle detouring support arm and barrier-surpassing robot |
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| Publication Number | Publication Date |
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| CN104875801A CN104875801A (en) | 2015-09-02 |
| CN104875801B true CN104875801B (en) | 2017-03-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109938939A (en) * | 2019-04-29 | 2019-06-28 | 江苏苏云医疗器材有限公司 | Flat push lever driving device and wheelchair suitable for wheelchair |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100666442B1 (en) * | 2005-08-23 | 2007-01-09 | 대우조선해양 주식회사 | Apparatus for transferring using the permanent magnetic |
| CN201376853Y (en) * | 2008-11-13 | 2010-01-06 | 抚顺永茂建筑机械有限公司 | Telescopic fold hinge of caterpillar hoist |
| CN202337293U (en) * | 2011-10-28 | 2012-07-18 | 广东力源液压机械有限公司 | Retractable-type track chassis |
| CN103879467B (en) * | 2014-03-11 | 2015-12-30 | 河北工业大学 | The differential mobile robot platform of a kind of passive self adaptation crawler belt deformable rocking bar |
| CN204126561U (en) * | 2014-08-18 | 2015-01-28 | 浙江宏业新能源有限公司 | A kind of structure improved rig walking chassis |
| CN104477268B (en) * | 2014-11-27 | 2017-01-04 | 浙江理工大学 | A kind of drive lacking crawler-type mobile obstacle detouring platform |
| CN204726544U (en) * | 2015-05-04 | 2015-10-28 | 国家电网公司 | The telescopic obstacle detouring support arm of two ratchet-type and barrier-surpassing robot |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
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