CN105664449B - A kind of power equipment mounting robot - Google Patents
A kind of power equipment mounting robot Download PDFInfo
- Publication number
- CN105664449B CN105664449B CN201610245689.3A CN201610245689A CN105664449B CN 105664449 B CN105664449 B CN 105664449B CN 201610245689 A CN201610245689 A CN 201610245689A CN 105664449 B CN105664449 B CN 105664449B
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- Prior art keywords
- joint
- electric cylinders
- servomotor
- afer bay
- electromagnet
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Links
- 241000478345 Afer Species 0.000 claims abstract description 42
- 229910052744 lithium Inorganic materials 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000004804 winding Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of power equipment mounting robot, including walking servomotor, rear wheel, electromagnet etc., described walking servomotor is symmetrical arranged at the rear portion of following afer bay, in the output shaft end of servomotor, rear wheel is set, described electromagnet is fixed in electromagnet mounting bracket, and a straight pin is set on electromagnet armature top；The present invention using walk servomotor can on road surface automatic moving；Using the climbing device with auto-lock function, robot is set to stop optional position on utility poles, it is reliable and stable；The multi-joint mechanical arm driven using electric cylinders, make the winding device of end more flexibly free in movement.
Description
Technical field
The present invention relates to electric power network technical field, more particularly to a kind of power equipment mounting robot.
Background technology
With the fast development of modern electric technology, the scale of power network and power transmission line construction is also increasing, wherein rural area
Most of power network for low voltage power transmission net, it is necessary to carry out overhead transmission line using electric pole and support, support is generally angle iron knot
Structure, fixed using a U-shaped frame, be provided with 2 nuts at the both ends of U-shaped frame, for fixed support and U-shaped frame, nut generally needs
Worker is wanted using by hand to install, but because worker station is on high-altitude operation vehicle, crank, so the not side that operates
Just, therefore it is badly in need of a robot for being capable of installing/dismounting nut automatically.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of power equipment mounting robot, it uses self-lock mechanism, makes robot
Electric pole can voluntarily be climbed and stopped at an arbitrary position；Using multi-joint mechanical arm, robot is set to become at work more
Flexibly.
Technical scheme used in the present invention is：A kind of power equipment mounting robot, including walking servomotor, rear car
Wheel, afer bay, hook, hanger, handle, forebay, electromagnet, spring, articulated stand, connecting rod, electric-control system, lithium battery group,
Guide pillar, interior Hexagonal jacket, video camera, the first servomotor, the 4th joint, the 4th electric cylinders, the 3rd joint, the 3rd electric cylinders, second
Joint, the second electric cylinders, the first joint, the first electric cylinders, rotating turret, worm gear, the second servomotor, the 5th electric cylinders, the second spherosome,
First spherosome, jointed shaft, worm screw, universal wheel, described forebay and afer bay are semicircle arcuation, and forebay and afer bay are each
There are 2, the afer bay of its middle and lower part is fixedly connected with the bottom of guide pillar, and the afer bay on top is slidably mounted on guide pillar, described
Forebay be connected by jointed shaft with afer bay, the middle part of described forebay sets one piece of riser, described vertical
Plate medial surface sets the first swinging mounting and the second swinging mounting respectively, and the second swinging mounting is being arranged on the first swinging mounting just
Top, the 3rd swinging mounting is set at the top of riser, the 4th swinging mounting is set in the end sides of forebay；Described hand
Handle is rotatably installed on the 4th swinging mounting, and described hanger is hinged on middle handle, and described hook is arranged on afer bay side
Face, forebay and afer bay can be fixed together using hook and hanger；Described articulated stand one end is hinged on second
On swinging mounting, the other end sets the first spherosome, and the angle between articulated stand and riser is 45 ° ~ 60 °；Described spring
One end is hinged on the first swinging mounting, and the other end of spring is hinged on articulated stand bottom；The second described spherosome is symmetrical
It is arranged on the inside of afer bay；Described electromagnet is fixed in electromagnet mounting bracket, and one is set on electromagnet armature top
Individual straight pin, described link rotatable are arranged on the 3rd swinging mounting, and connecting rod lateral ends are provided with chute, the electromagnet
Armature is slidably mounted in the chute of connecting rod by the straight pin on top, and the inner opposite end of connecting rod sets Tri-ball body；It is described
Walking servomotor be symmetrical arranged at the rear portion of following afer bay, servomotor output shaft end set rear wheel；
The 5th described electric cylinders are arranged between two afer bays；
Described rotating turret is rotatablely installed on the rear portion installing plate of superincumbent afer bay, in the bottom of rotating turret rotary shaft
Worm gear is provided with, worm screw and the second servomotor, the output shaft of the second described servomotor and snail are set in the side of worm gear
Bar connects；The first described joint end be rotatably installed in rotating turret front portion, the first described electric cylinders be arranged on the first joint and
Between rotating turret；The end of described second joint is rotatably installed in the end in the first joint, and the second described electric cylinders are arranged on
Between second joint and the first joint；The end in the 3rd described joint is rotatably installed in the end of second joint, and described
Three electric cylinders are arranged between the 3rd joint and second joint；The end in the 4th described joint is rotatably installed in the end in the 3rd joint
Portion, the 4th described electric cylinders are arranged between the 4th joint and the 3rd joint；Watched in the 4th described joint end set first
Motor and video camera are taken, the Hexagonal jacket in the output shaft end of the first servomotor is set；Described electric-control system and lithium electricity
The afer bay rear portion that pond group is arranged above, described lithium battery group are powered for electric-control system, and described electric-control system leads to respectively
Cross circuit and electromagnet, the first servomotor, video camera, the 4th electric cylinders, the 3rd electric cylinders, the 5th electric cylinders, the second servomotor, the
One electric cylinders, the second electric cylinders are connected；Described universal wheel is arranged on the bottom of following forebay.
Further, wireless telecommunications system built in described electric-control system, robot can utilize wireless telecommunications system with
Ground handling operator carries out real-time communication.
Further, the first described spherosome and the second spherosome are fluorubber material.
There is advantages below because present invention employs above-mentioned technical proposal, the present invention：
1. the present invention using walk servomotor can on road surface automatic moving.
2. the present invention using with auto-lock function climbing device, allow robot stop on utility poles appoint
Meaning position, it is reliable and stable.
3. the present invention makes the winding device of end more flexible in movement using the multi-joint mechanical arm of electric cylinders driving
Freely.
Brief description of the drawings
Schematic diagram when Fig. 1 is present invention climbing electric pole.
Fig. 2, Fig. 4 are the overall schematic of the present invention.
Fig. 3 is the bottom schematic view of the present invention.
Fig. 5 is schematic diagram when forebay of the present invention is opened.
Fig. 6 is the electromagnet scheme of installation of the present invention.
Fig. 7 is the mechanical arm schematic diagram of the present invention.
The forebay schematic diagram of Fig. 8 positions present invention.
Drawing reference numeral：1- electric poles；2- supports；3- nuts；4- walking servomotors；5- rear wheels；6- afer bays；7- is hung
Hook；8- hangers；9- handles；10- forebays；11- electromagnet；12- articulated stands；13- springs；14- connecting rods；15- electric-control systems；
16- lithium battery groups；17- guide pillars；Hexagonal jacket in 18-；19- video cameras；The servomotors of 20- first；The joints of 21- the 4th；22-
Four electric cylinders；The joints of 23- the 3rd；The electric cylinders of 24- the 3rd；25- second joints；The electric cylinders of 26- second；The joints of 27- first；The electricity of 28- first
Cylinder；29- rotating turrets；30- worm gears；The servomotors of 31- second；The electric cylinders of 32- the 5th；The spherosomes of 33- second；The spherosomes of 34- first；
35- jointed shafts；36- worm screws；37- universal wheels, the swinging mountings of 1001- first；The swinging mountings of 1002- second；1003- the 3rd is rotated
Support；1004- electromagnet mounting brackets；The swinging mountings of 1005- the 4th.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of power equipment mounting robot, including
Walking servomotor 4, rear wheel 5, afer bay 6, hook 7, hanger 8, handle 9, forebay 10, electromagnet 11, bullet
Spring 13, articulated stand 12, connecting rod 14, electric-control system 15, lithium battery group 16, guide pillar 17, interior Hexagonal jacket 18, video camera 19,
One servomotor 20, the 4th joint 21, the 4th electric cylinders 22, the 3rd joint 23, the 3rd electric cylinders 24, second joint 25, the second electric cylinders
26th, the first joint 27, the first electric cylinders 28, rotating turret 29, worm gear 30, the second servomotor 31, the 5th electric cylinders 32, the second spherosome
33rd, the first spherosome 34, jointed shaft 35, worm screw 36, universal wheel 37, described forebay 10 and afer bay 6 are semicircle arcuation, preceding
Frame 10 and afer bay 6 respectively have 2, and the afer bay 6 of its middle and lower part is fixedly connected with the bottom of guide pillar 17, the afer bay 6 on top
It is slidably mounted on guide pillar 17, described forebay 10 is connected by jointed shaft 35 with afer bay 6, in described forebay 10
Between position set one piece of riser, in described riser medial surface, the first swinging mounting 1001 and the second swinging mounting are set respectively
1002, the second swinging mounting 1002 is arranged on the surface of the first swinging mounting 1001, sets the 3rd to rotate at the top of riser
Support 1003, the 4th swinging mounting 1005 is set in the end sides of forebay 10；Described handle 9 is rotatably installed in the 4th turn
On dynamic support 1005, described hanger 8 is hinged on the middle part of handle 9, and described hook 7 is arranged on the side of afer bay 6, utilizes hook
7 and hanger 8 forebay 10 and afer bay 6 can be fixed together；Described one end of articulated stand 12 is hinged on the second rotation
On support 1002, the other end sets the first spherosome 34, and the angle between articulated stand 12 and riser is 45 °；Described spring
13 one end are hinged on the first swinging mounting 1001, and the other end of spring 13 is hinged on the bottom of articulated stand 12；Described second
Spherosome 33 is symmetricly set on the inner side of afer bay 6；Described electromagnet 11 is fixed in electromagnet mounting bracket 1004, in electromagnetism
The armature top of iron 11 sets a straight pin, and described connecting rod 14 is rotatably installed on the 3rd swinging mounting 1003, connecting rod 14
Lateral ends are provided with chute, and the armature of the electromagnet 11 is slidably mounted on by the straight pin on top in the chute of connecting rod 14,
The inner opposite end of connecting rod 14 sets Tri-ball body；Described walking servomotor 4 is symmetrical arranged after following afer bay 6
Portion, rear wheel 5 is set in the output shaft end of servomotor；The 5th described electric cylinders 32 are arranged between two afer bays 6；
Described rotating turret 29 is rotatablely installed on the rear portion installing plate of superincumbent afer bay 6, in the rotary shaft of rotating turret 29
Bottom be provided with worm gear 30, worm gear 30 side set the servomotor 31 of worm screw 36 and second, the second described servo electricity
The output shaft of machine 31 is connected with worm screw 36；The described end of the first joint 27 is rotatably installed in that rotating turret 29 is anterior, and described the
One electric cylinders 28 are arranged between the first joint 27 and rotating turret 29；The end of described second joint 25 is rotatably installed in the first pass
The end of section 27, the second described electric cylinders 26 are arranged between the joint 27 of second joint 25 and first；The 3rd described joint 23
End be rotatably installed in the end of second joint 25, the 3rd described electric cylinders 24 are arranged on the 3rd joint 23 and second joint 25
Between；The end in the 4th described joint 21 is rotatably installed in the end in the 3rd joint 23, and the 4th described electric cylinders 22 are arranged on
Between 4th joint 21 and the 3rd joint 23；In described the first servomotor of end set 20 of the 4th joint 21 and video camera
19, the Hexagonal jacket 18 in the output shaft end of the first servomotor 20 is set；Described electric-control system 15 and lithium battery group 16
The rear portion of afer bay 6 being arranged above, described lithium battery group 16 are that electric-control system 15 is powered, and described electric-control system 15 is distinguished
By circuit and electromagnet 11, the first servomotor 20, video camera 19, the 4th electric cylinders 22, the 3rd electric cylinders 24, the 5th electric cylinders 32,
Second servomotor 31, the first electric cylinders 28, the second electric cylinders 26 are connected；Described universal wheel 37 is arranged on following forebay 10
Bottom.
Wireless telecommunications system built in described electric-control system 15, robot can utilize wireless telecommunications system and terrestrial operation
Personnel carry out real-time communication.
Described the first spherosome 34 and the second spherosome 33 is fluorubber material.
Operation principle of the present invention：The present invention can be voluntarily up on road surface by two rear wheels 5 and a universal wheel 37
Walk, the connection between hanger 8 and hook 7 is released first by handle 9 when needing to climb electric pole 1, before entering electric pole 1
Between frame 10 and afer bay 6, then forebay 10 and afer bay 6 are linked together using handle 9, after the completion of connection because
There is the support force of spring 13, so the second spherosome 33 and the first spherosome 34 contact with electric pole 1, because the circle of connection first
The articulated stand 12 of spheroid 34 is inclined, so articulated stand 12 constitutes self-locking mechanism with electric pole 1, in electromagnet 11
The 5th electric cylinders 32 are allowed ceaselessly to be stretched in the case of cold, robot will more ascend height, and robot climbs to basis behind top
The information independence that video camera 19 gathers judges the position of nut 3, and is screwed nut 3 using interior Hexagonal jacket 18, under robot
The intervention by two electromagnet 11 is needed when drop, armature stretches out and promotes connecting rod 14 after electromagnet 11 is powered, connecting rod 14
By articulated stand 12, top is opened downwards, releases self-locking, but can not be allowed and two electromagnet 11 while be powered, and otherwise robot can be fallen down
Go, two electromagnet 11 are needed to coordinate the flexible order of the 5th electric cylinders 32 to carry out alternate energisation, and robot security is dropped into ground
On.
Claims (3)
1. a kind of power equipment mounting robot, including walking servomotor（4）, rear wheel（5）, afer bay（6）, its feature exists
In：Also include hook（7）, hanger（8）, handle（9）, forebay（10）, electromagnet（11）, spring（13）, articulated stand（12）、
Connecting rod（14）, electric-control system（15）, lithium battery group（16）, guide pillar（17）, interior Hexagonal jacket（18）, video camera（19）, first watch
Take motor（20）, the 4th joint（21）, the 4th electric cylinders（22）, the 3rd joint（23）, the 3rd electric cylinders（24）, second joint（25）、
Second electric cylinders（26）, the first joint（27）, the first electric cylinders（28）, rotating turret（29）, worm gear（30）, the second servomotor（31）、
5th electric cylinders（32）, the second spherosome（33）, the first spherosome（34）, jointed shaft（35）, worm screw（36）, universal wheel（37）, institute
The forebay stated（10）And afer bay（6）For semicircle arcuation, forebay（10）And afer bay（6）Respectively there are 2, behind its middle and lower part
Frame（6）With guide pillar（17）Bottom be fixedly connected, the afer bay on top（6）It is slidably mounted on guide pillar（17）On, before described
Frame（10）Pass through jointed shaft（35）With afer bay（6）Connection, described forebay（10）Middle part set one piece of riser,
In described riser medial surface, the first swinging mounting is set respectively（1001）With the second swinging mounting（1002）, the second swinging mounting
（1002）It is arranged on the first swinging mounting（1001）Surface, riser top set the 3rd swinging mounting（1003）,
Forebay（10）End sides set the 4th swinging mounting（1005）；Described handle（9）It is rotatably installed in the 4th rotation branch
Frame（1005）On, described hanger（8）It is hinged on handle（9）Middle part, described hook（7）It is arranged on afer bay（6）Side, profit
With hook（7）And hanger（8）Can be forebay（10）And afer bay（6）It is fixed together；Described articulated stand（12）One
End is hinged on the second swinging mounting（1002）On, the other end sets the first spherosome（34）, articulated stand（12）Between riser
Angle be 45 °；Described spring（13）One end is hinged on the first swinging mounting（1001）On, spring（13）The other end be hinged
In articulated stand（12）Bottom；The second described spherosome（33）It is symmetricly set on afer bay（6）Inner side；Described electromagnet
（11）It is fixed on electromagnet mounting bracket（1004）On, in electromagnet（11）Armature top set a straight pin, it is described
Connecting rod（14）It is rotatably installed in the 3rd swinging mounting（1003）On, connecting rod（14）Lateral ends are provided with chute, the electromagnet
（11）Armature connecting rod is slidably mounted on by the straight pin on top（14）Chute in, connecting rod（14）Inner opposite end set the
Tri-ball body；Described walking servomotor（4）It is symmetrical arranged in following afer bay（6）Rear portion, in the defeated of servomotor
Go out shaft end and rear wheel is set（5）；The 5th described electric cylinders（32）It is arranged on two afer bays（6）Between；
Described rotating turret（29）It is rotatablely installed superincumbent afer bay（6）Rear portion installing plate on, in rotating turret（29）Rotation
The bottom of axle is provided with worm gear（30）, in worm gear（30）Side set worm screw（36）With the second servomotor（31）, it is described
Second servomotor（31）Output shaft and worm screw（36）Connection；The first described joint（27）End is rotatably installed in rotating turret
（29）Front portion, the first described electric cylinders（28）It is arranged on the first joint（27）And rotating turret（29）Between；Described second joint
（25）End be rotatably installed in the first joint（27）End, the second described electric cylinders（26）It is arranged on second joint（25）With
First joint（27）Between；The 3rd described joint（23）End be rotatably installed in second joint（25）End, it is described
3rd electric cylinders（24）It is arranged on the 3rd joint（23）And second joint（25）Between；The 4th described joint（21）End rotate
Installed in the 3rd joint（23）End, the 4th described electric cylinders（22）It is arranged on the 4th joint（21）With the 3rd joint（23）It
Between；In the 4th described joint（21）The servomotor of end set first（20）And video camera（19）, in the first servomotor
（20）Output shaft end set in Hexagonal jacket（18）；Described electric-control system（15）And lithium battery group（16）It is arranged above
Afer bay（6）Rear portion, described lithium battery group（16）For electric-control system（15）Power supply, described electric-control system（15）Lead to respectively
Cross circuit and electromagnet（11）, the first servomotor（20）, video camera（19）, the 4th electric cylinders（22）, the 3rd electric cylinders（24）, the 5th
Electric cylinders（32）, the second servomotor（31）, the first electric cylinders（28）, the second electric cylinders（26）It is connected；Described universal wheel（37）Peace
Mounted in following forebay（10）Bottom.
A kind of 2. power equipment mounting robot according to claim 1, it is characterised in that：Described electric-control system（15）
Built-in wireless telecommunications system, robot can carry out real-time communication using wireless telecommunications system and ground handling operator.
A kind of 3. power equipment mounting robot according to claim 1, it is characterised in that：The first described spherosome
（34）With the second spherosome（33）It is fluorubber material.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245689.3A CN105664449B (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
| CN201711059633.XA CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245689.3A CN105664449B (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059633.XA Division CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105664449A CN105664449A (en) | 2016-06-15 |
| CN105664449B true CN105664449B (en) | 2017-12-15 |
Family
ID=56310072
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059633.XA Withdrawn CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
| CN201610245689.3A Active CN105664449B (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059633.XA Withdrawn CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107802995A (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002924B (en) * | 2016-07-20 | 2018-05-22 | 饶文福 | A kind of Intelligent Mobile Robot |
| CN106426220B (en) * | 2016-12-03 | 2018-09-18 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of intelligent maintaining street lamp robot |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN108100963B (en) * | 2018-01-02 | 2019-11-22 | 深圳市特辰科技股份有限公司 | A kind of mechanical arm mechanical lock and the climbing device using the mechanical arm mechanical lock |
| CN108499783A (en) * | 2018-03-28 | 2018-09-07 | 朱兰英 | A kind of trees automatic spray apparatus |
| CN108515524B (en) * | 2018-05-14 | 2021-04-02 | 柳州中科机器人自动化股份有限公司 | Robot for mounting power equipment |
| CN109866199B (en) * | 2019-03-14 | 2020-10-30 | 胡佳威 | Power distribution cabinet insulation installation robot |
| CN110652707A (en) * | 2019-07-24 | 2020-01-07 | 国网天津市电力公司 | Round telegraph pole climbing device |
| CN111285301B (en) * | 2020-02-21 | 2021-05-28 | 山东同其信息科技有限公司 | Bear formula power maintenance climbing device |
| CN111228755B (en) * | 2020-03-21 | 2021-04-16 | 郑州工业应用技术学院 | High-altitude operation device for electric power construction and use method thereof |
| CN115636029A (en) * | 2022-10-20 | 2023-01-24 | 厦门大学 | Climbing robot and foot wheel thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202743358U (en) * | 2012-08-23 | 2013-02-20 | 辽宁工程技术大学 | Gear oscillating bar type pneumatic spider robot |
| CN105081637A (en) * | 2015-09-01 | 2015-11-25 | 安徽工业大学 | Crane box girder three-degree-of-freedom movable welding robot |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10252142B2 (en) * | 2014-03-05 | 2019-04-09 | Newgy Industries, Inc. | Table tennis robot with improved serving head movement |
-
2016
- 2016-04-20 CN CN201711059633.XA patent/CN107802995A/en not_active Withdrawn
- 2016-04-20 CN CN201610245689.3A patent/CN105664449B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202743358U (en) * | 2012-08-23 | 2013-02-20 | 辽宁工程技术大学 | Gear oscillating bar type pneumatic spider robot |
| CN105081637A (en) * | 2015-09-01 | 2015-11-25 | 安徽工业大学 | Crane box girder three-degree-of-freedom movable welding robot |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107802995A (en) | 2018-03-16 |
| CN105664449A (en) | 2016-06-15 |
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