CN106627829A - Assistant wheel type lifting obstacle-crossing robot - Google Patents
Assistant wheel type lifting obstacle-crossing robot Download PDFInfo
- Publication number
- CN106627829A CN106627829A CN201611084386.4A CN201611084386A CN106627829A CN 106627829 A CN106627829 A CN 106627829A CN 201611084386 A CN201611084386 A CN 201611084386A CN 106627829 A CN106627829 A CN 106627829A
- Authority
- CN
- China
- Prior art keywords
- lifting
- vehicle frame
- support
- walking mechanism
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses an assistant wheel type lifting obstacle-crossing robot which comprises a frame. Two front driving wheels are mounted on two side portions at the front end of the frame, two rear driving wheels are mounted on two side portions at the rear end of the frame, and two front assistant wheels and two rear assistant wheels are mounted on the side portions at the front and rear ends of the frame respectively and positioned between the front driving wheels and the rear driving wheels; a guide supporting frame is mounted on the frame, a lifting and advancing mechanism capable of lifting and advancing independently is mounted at each of the front and rear ends of the guide supporting frame, the lifting and advancing mechanism at the front end is positioned between the front driving wheels and the front assistant wheels, and the lifting and advancing mechanism at the rear end is positioned between the rear assistant wheels and the rear driving wheels. The frame can be lifted up or put down to realize a function of ascending and descending stairs through cooperation of the front and rear lifting and advancing mechanisms. The assistant wheel type lifting obstacle-crossing robot has the advantages of simple structure, low cost, easiness in manufacturing, flexibility in operation and high obstacle-crossing ability.
Description
Technical field
The invention mainly relates to barrier-surpassing robot field, more particularly to a kind of auxiliary wheel lifting barrier-surpassing robot.
Background technology
In actual application, mobile robot is frequently necessary to overcome the obstacle of upper and lower step.In this kind of robot
The precision equipment of carrying, often requires that at work holding attitude is constant.Existing barrier-surpassing robot, such as with the shoe for swinging fin
Belt robot, obstacle climbing ability is limited, and chassis inclines seriously during obstacle detouring, not only affects the normal work of carrying equipment, and
And be easily caused robot and topple.Existing barrier-surpassing robot, the such as legged mobile robot of bionical class, though there is preferable obstacle detouring energy
Power, but structure and control are complicated, be difficult to, and also it is with high costs.Existing barrier-surpassing robot, it is such as wheeled with rocking arm
Robot, though having adaptive advantage, obstacle climbing ability is limited, and upper and lower step obstacle ability is mismatched.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, there is provided a kind of simple structure, with low cost,
It is easy to making, operating flexibility, obstacle climbing ability is strong and the auxiliary wheel of chassis level can be kept to lift obstacle detouring during obstacle detouring
Robot.
To solve above-mentioned technical problem, the present invention is employed the following technical solutions：
A kind of auxiliary wheel lifts barrier-surpassing robot, including vehicle frame, and the vehicle frame is equiped with two forerunners in the both sides of front end
Driving wheel, vehicle frame is equiped with two rear drive sprockets in the both sides of rear end, and the vehicle frame is also installed respectively in the both sides of front and back end
Have an auxiliary wheel after two front auxiliary wheels and two, the front auxiliary wheel and rear auxiliary wheel be located at front driving wheel and rear drive sprocket it
Between, guide support frame is equiped with the vehicle frame, the front and back end of the guide support frame is equiped with can independent-lifting and traveling
Lifting walking mechanism, the lifting walking mechanism of front end is located between front driving wheel and front auxiliary wheel, the lifting traveling machine of rear end
Structure is located between rear auxiliary wheel and rear drive sprocket.
As the further improvement of above-mentioned technical proposal：
The guide support frame includes support and vertical guide, and the support is packed on vehicle frame, and the vertical guide is divided in
The rear and front end of support, the lifting walking mechanism of rear and front end slips respectively with the vertical guide of respective end.
The support includes column and crossbeam, and the column is packed on vehicle frame, and the crossbeam is fixedly mounted with column top, described
Vertical guide is divided in the rear and front end of crossbeam.
The lifting walking mechanism includes driver part, elevating lever and support wheel, and the driver part is installed in vertically leads
On rail, the elevating lever is slided and is mounted in vertical guide and is connected with driver part, and the support wheel is installed in elevating lever bottom.
The elevating lever includes vertical rod and cross bar, and the vertical rod is slided and is mounted in vertical guide and is connected with driver part, institute
State cross bar and be packed in bottom of upright rod, the support wheel is divided in the both ends of cross bar.
The front and rear part of the vehicle frame offers the hollow out relief portion passed through for the lifting walking mechanism of front and back end.
Compared with prior art, it is an advantage of the current invention that：
1st, auxiliary wheel of the present invention of the invention lifting barrier-surpassing robot, as long as the height for lifting walking mechanism in front and back is suitable, no
Need to adjust other structures or size, can just cross over the step and obstacle of various height, its obstacle performance is projected；
2nd, auxiliary wheel of the present invention of the invention lifting barrier-surpassing robot, with the equal energy for overcoming upper and lower step obstacle
Power, strong adaptability.
3rd, auxiliary wheel of the present invention of the invention lifting barrier-surpassing robot, can remain vehicle frame water during obstacle detouring
It is flat, it is ensured that the equipment normal work that robot is carried.
4th, auxiliary wheel of the present invention of the invention lifting barrier-surpassing robot, using front auxiliary wheel and rear auxiliary during obstacle detouring
Wheel causes vehicle frame to there are 2 points of supports all the time without toppling over, and without turning to up/down steps can be completed, and improves
Obstacle detouring flexibility；
5th, auxiliary wheel of the present invention of the invention lifting barrier-surpassing robot, overall structure is very simple, function reliability, low cost
It is honest and clean, it is easy to make.
Description of the drawings
Fig. 1 is the dimensional structure diagram that auxiliary wheel of the present invention lifts barrier-surpassing robot.
Fig. 2 is the present invention looks up structural representation that auxiliary wheel of the present invention lifts barrier-surpassing robot.
Fig. 3 is the main structure diagram that auxiliary wheel of the present invention lifts barrier-surpassing robot.
Fig. 4 is the view of vehicle frame lifting in auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 5 is the view that front end lifts walking mechanism lifting in auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 6 is the view that the rear end of auxiliary wheel lifting barrier-surpassing robot of the present invention lifts walking mechanism lifting.
Fig. 7 is the schematic flow sheet that auxiliary wheel of the present invention lifts barrier-surpassing robot top bar.
Fig. 8 is the schematic flow sheet that auxiliary wheel lifting barrier-surpassing robot of the present invention is got out of a predicament or an embarrassing situation.
Each label is represented in figure：
1st, vehicle frame；11st, hollow out relief portion；2nd, front driving wheel；3rd, rear drive sprocket；4th, front auxiliary wheel；5th, rear auxiliary wheel；6th, it is oriented to and props up
Support；61st, support；611st, column；612nd, crossbeam；62nd, vertical guide；7th, walking mechanism is lifted；71st, driver part；72nd, lift
Bar；721st, vertical rod；722nd, cross bar；73rd, support wheel.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Fig. 1 to Fig. 8 shows that auxiliary wheel of the present invention lifts a kind of embodiment of barrier-surpassing robot, the barrier-surpassing robot bag
Vehicle frame 1 is included, vehicle frame 1 is equiped with two front driving wheels 2 in the both sides of front end, and vehicle frame 1 is equiped with two in the both sides of rear end
Rear drive sprocket 3, vehicle frame 1 is also equiped with respectively auxiliary wheel 5 after two front auxiliary wheels 4 and two in the both sides of front and back end, front auxiliary
Help wheel 4 and rear auxiliary wheel 5 to be located between front driving wheel 2 and rear drive sprocket 3, guide support frame 6 is equiped with vehicle frame 1, be oriented to and prop up
The front and back end of support 6 be equiped with can independent-lifting and the lifting walking mechanism 7 advanced, the lifting walking mechanism 7 of front end is located at
Between front driving wheel 2 and front auxiliary wheel 4, the lifting walking mechanism 7 of rear end is located between rear auxiliary wheel 5 and rear drive sprocket 3.Use
When, when the robot is in grading operation, the lifting walking mechanism 7 at two ends departs from a high position with ground, when needing to cross platform
During the obstacles such as rank, the lifting walking mechanism 7 at two ends is contacted along the decline of guide support frame 6 with ground, can be reverse when further declining
Order about guide support frame 6 along lifting the lifting upwards of walking mechanism 7, so as to drive the lifting of vehicle frame 1, when front driving wheel 2 and step it is same
Gao Shi, lifting walking mechanism 7 is advanced forward and drives vehicle frame 1 front driving wheel 2 is contacted with step, now, the lifting row of front end
Enter mechanism 7 and rise to initial position, further rear drive sprocket 3 is contacted with step to traveling, now, the lifting traveling machine of rear end
Structure 7 rises to initial position, and so as to realize top bar, when getting out of a predicament or an embarrassing situation, then continuing to advance forward hangs front end lifting walking mechanism 7
Sky, and front auxiliary wheel 4 is formed and supported, and is then operated by the inverse process of top bar.The robot of the present invention, as long as rising in front and back
The height of drop walking mechanism 7 is suitable, just can be across various steps and obstacle, and its obstacle performance is projected；Make use of during obstacle detouring
The Wheel structure and lifting walking mechanism 7 of front driving wheel 2 and the composition of rear drive sprocket 3 from traveling ability, have preferably motor-driven
Property；Cause vehicle frame 1 to have all the time at 2 points using front auxiliary wheel 4 and rear auxiliary wheel 5 during obstacle detouring to support without toppling over,
Up/down steps can be completed without turning to, obstacle detouring flexibility is improve；The robot of the present invention, overall structure is very simple
It is single compact, it is with low cost, it is easy to make.
In the present embodiment, guide support frame 6 includes support 61 and vertical guide 62, and support 61 is packed on vehicle frame 1, vertically
Guide rail 62 is divided in the rear and front end of support 61, the lifting walking mechanism 7 of rear and front end respectively with the vertical guide 62 of respective end
It is sliding.In the structure, support 61 is used as lifting walking mechanism 7 and the main carrying basis of the lifting of vehicle frame 1, and vertical guide 62 is then
Ensure that the smoothness and agility of lifting walking mechanism 7 and the lifting of vehicle frame 1.
In the present embodiment, support 61 includes column 611 and crossbeam 612, and column 611 is packed on vehicle frame 1, and crossbeam 612 is consolidated
The top of dress column 611, vertical guide 62 is divided in the rear and front end of crossbeam 612.In the structure, using column 611 and crossbeam 612
The support 61 of composition, its simple and stable structure, and, processing of drawing materials is very easy to.
In the present embodiment, lifting walking mechanism 7 includes driver part 71, elevating lever 72 and support wheel 73, driver part 71
It is installed in vertical guide 62, elevating lever 72 is slided and is mounted in vertical guide 62 and is connected with driver part 71, and support wheel 73 is installed
In the bottom of elevating lever 72.In the structure, driver part 71 can order about elevating lever 72 and make elevating movement, when support wheel 73 and ground connect
When tactile, driver part 71 can drive vehicle frame 1 to make elevating movement by guide support frame 6 again；Support wheel 73 equipped with motor,
By the traveling of support wheel 73 vehicle frame 1 can be driven to advance, its simple structure, design are ingenious.
In the present embodiment, elevating lever 72 includes vertical rod 721 and cross bar 722, vertical rod 721 slide be mounted in vertical guide 62 and with
Driver part 71 connects, and cross bar 722 is packed in the bottom of vertical rod 721, and support wheel 73 is divided in the both ends of cross bar 722.In structure,
Elevating lever 72 drives cross bar 722 to make elevating movement, and the one side of cross bar 722 is used as the installation foundation of support wheel 73, on the other hand,
It is located at the lower section of vertical guide 62, can form positioning to the rising of elevating lever 72 and the decline of vehicle frame 1.
In the present embodiment, the front and rear part of vehicle frame 1 offers the hollow out passed through for the lifting walking mechanism 7 of front and back end and avoids
Portion 11.The hollow out relief portion 11 is used for lifting walking mechanism 7 in lifting process and passes through, and on the one hand avoids the formation of interference；Separately
On the one hand consumptive material can be saved.
Although the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention.It is any to be familiar with ability
The technical staff in domain, in the case of without departing from technical solution of the present invention scope, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible variations and modification, or the Equivalent embodiments for being revised as equivalent variations.Therefore, it is every
Without departing from the content of technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments,
Equivalent variations and modification, all should fall in the range of technical solution of the present invention protection.
Claims (7)
1. a kind of auxiliary wheel lifts barrier-surpassing robot, including vehicle frame（1）, the vehicle frame（1）It is equiped with the both sides of front end
Two front driving wheels（2）, vehicle frame（1）Two rear drive sprockets are equiped with the both sides of rear end（3）, it is characterised in that：The car
Frame（1）Two front auxiliary wheels are also equiped with respectively in the both sides of front and back end（4）With two after auxiliary wheel（5）, the front auxiliary
Wheel（4）With rear auxiliary wheel（5）Positioned at front driving wheel（2）And rear drive sprocket（3）Between, the vehicle frame（1）On be equiped with guiding
Support（6）, the guide support frame（6）Front and back end be equiped with can independent-lifting and advance lifting walking mechanism（7）, it is front
The lifting walking mechanism at end（7）Positioned at front driving wheel（2）With front auxiliary wheel（4）Between, the lifting walking mechanism of rear end（7）It is located at
Auxiliary wheel afterwards（5）And rear drive sprocket（3）Between.
2. lift barrier-surpassing robot according to claim 1, it is characterised in that：The guide support frame（6）Including
Frame（61）And vertical guide（62）, the support（61）It is packed in vehicle frame（1）On, the vertical guide（62）It is divided in support
（61）Rear and front end, the lifting walking mechanism of rear and front end（7）Respectively with the vertical guide of respective end（62）It is sliding.
3. lift barrier-surpassing robot according to claim 2, it is characterised in that：The support（61）Including column
（611）And crossbeam（612）, the column（611）It is packed in vehicle frame（1）On, the crossbeam（612）It is fixedly mounted with column（611）Top,
The vertical guide（62）It is divided in crossbeam（612）Rear and front end.
4. the lift barrier-surpassing robot according to Claims 2 or 3, it is characterised in that：The lifting walking mechanism（7）Bag
Include driver part（71）, elevating lever（72）And support wheel（73）, the driver part（71）It is installed in vertical guide（62）On, institute
State elevating lever（72）Cunning is mounted in vertical guide（62）Interior and and driver part（71）Connection, the support wheel（73）It is installed in lifting
Bar（72）Bottom.
5. lift barrier-surpassing robot according to claim 4, it is characterised in that：The elevating lever（72）Including vertical rod
（721）And cross bar（722）, the vertical rod（721）Cunning is mounted in vertical guide（62）Interior and and driver part（71）Connection, the horizontal stroke
Bar（722）It is packed in vertical rod（721）Bottom, the support wheel（73）It is divided in cross bar（722）Both ends.
6. the lift barrier-surpassing robot according to Claims 2 or 3, it is characterised in that：The vehicle frame（1）Front and rear part open
It is provided with the lifting walking mechanism for front and back end（7）The hollow out relief portion for passing through（11）.
7. lift barrier-surpassing robot according to claim 5, it is characterised in that：The vehicle frame（1）Front and rear part open up
There is the lifting walking mechanism for front and back end（7）The hollow out relief portion for passing through（11）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084386.4A CN106627829B (en) | 2016-11-30 | 2016-11-30 | Auxiliary wheel lifts barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084386.4A CN106627829B (en) | 2016-11-30 | 2016-11-30 | Auxiliary wheel lifts barrier-surpassing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627829A true CN106627829A (en) | 2017-05-10 |
| CN106627829B CN106627829B (en) | 2018-09-28 |
Family
ID=58813425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611084386.4A Active CN106627829B (en) | 2016-11-30 | 2016-11-30 | Auxiliary wheel lifts barrier-surpassing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627829B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107157408A (en) * | 2017-06-23 | 2017-09-15 | 黄娉 | A kind of strong Intelligent sweeping machine device people of traveling ability based on Internet of Things |
| CN107264669A (en) * | 2017-06-26 | 2017-10-20 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring moving trolley |
| CN107288166A (en) * | 2017-08-16 | 2017-10-24 | 徐州乐泰机电科技有限公司 | Transport transhipment loads forklift |
| CN109229224A (en) * | 2018-09-20 | 2019-01-18 | 深圳大学 | A kind of control system and control method of full-automatic steps climbing robot |
| CN109850029A (en) * | 2019-02-28 | 2019-06-07 | 深圳大学 | A kind of stair climbing robot and its stair climbing control method |
| CN112829844A (en) * | 2021-01-05 | 2021-05-25 | 中国长江电力股份有限公司 | Intelligent stair climbing carrying robot and method |
| CN113086883A (en) * | 2021-03-31 | 2021-07-09 | 安徽中致物流发展有限公司 | Movable freight transport elevating platform |
| CN113247142A (en) * | 2021-06-01 | 2021-08-13 | 哈尔滨工业大学 | Step class robot is strideed across to telescopic high efficiency |
| CN113615419A (en) * | 2021-10-12 | 2021-11-09 | 徐州帝威伦新型建材有限公司 | Take branch and leaf to collect gardens step operation device for afforestation construction of function |
| CN113895537A (en) * | 2021-10-15 | 2022-01-07 | 山东科技大学 | Wheel-foot type obstacle crossing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202191423U (en) * | 2011-08-26 | 2012-04-18 | 张秀川 | Wheel chair capable of climbing stairs |
| CN104207899A (en) * | 2014-03-27 | 2014-12-17 | 刘继伦 | Stair climbing wheelchair |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN105293371A (en) * | 2015-11-30 | 2016-02-03 | 杭州西湖电子研究所 | Method of maneuvering getting-on and getting-off of parent car by detecting trolley Method for flexibly getting on or off parent car of detecting trolley |
-
2016
- 2016-11-30 CN CN201611084386.4A patent/CN106627829B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202191423U (en) * | 2011-08-26 | 2012-04-18 | 张秀川 | Wheel chair capable of climbing stairs |
| CN104207899A (en) * | 2014-03-27 | 2014-12-17 | 刘继伦 | Stair climbing wheelchair |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN105293371A (en) * | 2015-11-30 | 2016-02-03 | 杭州西湖电子研究所 | Method of maneuvering getting-on and getting-off of parent car by detecting trolley Method for flexibly getting on or off parent car of detecting trolley |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107157408A (en) * | 2017-06-23 | 2017-09-15 | 黄娉 | A kind of strong Intelligent sweeping machine device people of traveling ability based on Internet of Things |
| CN107264669A (en) * | 2017-06-26 | 2017-10-20 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring moving trolley |
| CN107288166A (en) * | 2017-08-16 | 2017-10-24 | 徐州乐泰机电科技有限公司 | Transport transhipment loads forklift |
| CN109229224B (en) * | 2018-09-20 | 2023-09-05 | 深圳大学 | Control system and control method of full-automatic ladder climbing robot |
| CN109229224A (en) * | 2018-09-20 | 2019-01-18 | 深圳大学 | A kind of control system and control method of full-automatic steps climbing robot |
| CN109850029A (en) * | 2019-02-28 | 2019-06-07 | 深圳大学 | A kind of stair climbing robot and its stair climbing control method |
| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN112829844A (en) * | 2021-01-05 | 2021-05-25 | 中国长江电力股份有限公司 | Intelligent stair climbing carrying robot and method |
| CN113086883A (en) * | 2021-03-31 | 2021-07-09 | 安徽中致物流发展有限公司 | Movable freight transport elevating platform |
| CN113247142B (en) * | 2021-06-01 | 2022-09-16 | 哈尔滨工业大学 | Step class robot is strideed across to telescopic high efficiency |
| CN113247142A (en) * | 2021-06-01 | 2021-08-13 | 哈尔滨工业大学 | Step class robot is strideed across to telescopic high efficiency |
| CN113615419A (en) * | 2021-10-12 | 2021-11-09 | 徐州帝威伦新型建材有限公司 | Take branch and leaf to collect gardens step operation device for afforestation construction of function |
| CN113895537A (en) * | 2021-10-15 | 2022-01-07 | 山东科技大学 | Wheel-foot type obstacle crossing robot |
| CN113895537B (en) * | 2021-10-15 | 2022-10-14 | 山东科技大学 | Wheel-foot type obstacle crossing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627829B (en) | 2018-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627829A (en) | Assistant wheel type lifting obstacle-crossing robot | |
| CN106741260A (en) | Lift barrier-surpassing robot | |
| CN106741275B (en) | Sliding type lifting barrier-surpassing robot | |
| CN202379448U (en) | 180 degree turn-over machine of tires | |
| CN106904227B (en) | Obstacle-crossing mobile robot | |
| CN205706733U (en) | Stair climbing multi-functional express delivery dolly | |
| CN106627828B (en) | Swinging lift barrier-surpassing robot | |
| WO2008119239A1 (en) | A lifter with linking rod transmission | |
| CN105599663A (en) | Movable type automobile maintenance station | |
| CN108058736A (en) | A kind of push-down stair climbing power-assisted trolley | |
| CN206168631U (en) | General type skid of delivery automobile body | |
| CN204454464U (en) | A kind of elevator gear | |
| CN204938060U (en) | The heap de-stacking device of conveying sledge | |
| CN210117955U (en) | Movable bicycle garage | |
| CN111056257A (en) | Folding material platform | |
| CN204186104U (en) | Without the drive unit of dodging multi-storied garage | |
| CN102824260A (en) | Trolley driver capable of climbing stairs up and down | |
| CN215284983U (en) | Width-variable stair-climbing transportation robot | |
| CN2579867Y (en) | Lift for automobile repair | |
| CN209274758U (en) | The horizontal attitude loading stair climbing robot of wheel-leg combined type | |
| CN205045781U (en) | Three portal reclaimers | |
| CN209853743U (en) | Intelligent salt activating machine | |
| CN108657057A (en) | Car transporter | |
| CN113428810A (en) | Press from both sides formula vehicle transport AGV that lifts | |
| CN207794719U (en) | Rotation moves stereo garage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |