CN106926909A - Robot crawler-type mobile chassis - Google Patents
Robot crawler-type mobile chassis Download PDFInfo
- Publication number
- CN106926909A CN106926909A CN201511004933.9A CN201511004933A CN106926909A CN 106926909 A CN106926909 A CN 106926909A CN 201511004933 A CN201511004933 A CN 201511004933A CN 106926909 A CN106926909 A CN 106926909A
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- affixed
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- column
- aluminium sheet
- wheel mechanism
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- 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
Robot crawler-type mobile chassis, it relate to a kind of investigation rescue robot mobile chassis, with very strong by property, can go deep into carrying out investigation and rescue work in hazardous environment instead of the mankind.The present invention be directed to existing investigation and rescue robot walking mechanism is expensive, system complex, poor reliability, it is difficult in maintenance the shortcomings of, it is proposed that a kind of brand-new, investigation and medical aid mobile underpan with powerful obstacle climbing ability.The present invention is non-stressed body structure, using crawler type walking mechanism, by brand-new chassis design, improves the obstacle climbing ability and handling capacity of robot, it is ensured that it can pass through complicated landform and reach the scene of the accident, realizes investigation and rescue function.
Description
Technical field
The present invention relates to one kind investigation rescue robot mobile chassis, with very strong by property, can go deep into instead of the mankind
Carry out investigation and rescue work in hazardous environment.
Background technology
Army of the country such as Anglo-American Law moral is successively equipped with some for detection, the mobile robot in the field such as get rid of the danger in recent years
PackBot510 series reconnaissance robots are first elected in system, most the working as of most representative and equipment, and United States Forces are also wide in addition
It is general to be equipped with the mechanisms such as a kind of slightly larger Talonbo reconnaissance robots of volume, upper dress mechanical arm, camera, paw, can be to front
Position is scouted and dangerous material disposal.U.S. army's medical research also have developed one kind with goods and materials strategic plan office (USAMRMC)
JAUS robots, are equipped with coring life detection system, and coring life detection sensor is loaded on the mechanical arm of JAUS robots.
CAMELEON types chemistry, biology, radioactivity, core and the unmanned ground location of explosive disposal that company of French ECA robots researches and develops
Vehicle, by integrated different task module, can at the same time or separately carry out anti-improvised explosive devices, metaplasia detection, cleaning land mine
And the task such as marking contaminated region.
Medical aid robot technology is collection medical science, biomethanics, mechanics, Mechanics of Machinery, materialogy, computer graphical
The novel crossed research field that the subjects such as, computer vision, mathematical analysis, robot are integrated, grinds with important
Study carefully value, have a wide range of applications on dual-use, be a study hotspot of current robot field.Therapeutic machine
Device people is mainly used in rescue and transhipment of the sick and wounded etc., and such robot is guided by Remote, so that it is guaranteed that passing through complexity
The wounded are transported to base hospital by landform in time, its appearance, by the injures and deaths probability of significant reduction battlefield medical personnel.Except
Outside military first aid, this robot can be used for many occasions, particularly be let out in generation earthquake, core biological and chemical attack or harmful substance
In the hazardous environment of dew, medical aid robot can be by outstanding lifting capacity and the exrending boxing pin of toughness one.
China the reason such as is started late due to the research of robot, design, manufacture in movable reconnaissance robot and should
With etc. aspect still have a certain distance with developed country, represent domestic robot research level surely belongs to Harbin Institute of Technology's machine
Device people institute, robot of Shanghai Communications University and Shenyang Inst of Automation, Chinese Academy of Sciences robotics state key experiment
Room, Harbin Institute of Technology have developed a " anti-terrorism robot ", and structural principle is sufficiently close to the Pacbot Series machine people of U.S. army, but outward
Annular volume is slightly larger, and Shenyang Institute of Automation also have developed a " anti-terrorism explosion prevention robot ", and one is used in the design of walking mechanism
The mode of variant wheel is planted, " anti-terrorism robot " developed with Harbin Institute of Technology is slightly different.Both robots are used equally to radioactivity
Material treatment, Resident Evil disposal, explosive disposal etc., can realize the work of getting rid of the danger under complicated terrain environment under personnel's remote control
Industry.
The content of the invention
The purpose of the present invention be directed to existing investigation and rescue robot walking mechanism is expensive, system complex, can
By property it is poor, it is difficult in maintenance the shortcomings of, it is proposed that a kind of brand-new, investigation and medical aid robot with powerful obstacle climbing ability
Mobile chassis.The present invention is to carry out the mobile chassis device of environment investigation and wounded's rescue for carrying robot, is non-bearing
Formula body construction, using crawler type walking mechanism, by brand-new chassis design, improves the obstacle climbing ability of robot and by energy
Power, it is ensured that it can pass through complicated landform and reach the scene of the accident, realizes investigation and rescue function.The present invention is by vehicle body frame, right shoe
Belt wheel mechanism and left Athey wheel mechanism constitute, and vehicle body frame is made up of car body superstructure, car body understructure, robot crawler belt
Formula mobile chassis use crawler type walking mechanism, and right-hand track chiain wheel mechanism and left Athey wheel mechanism respectively have a driving wheel two driven
Wheel, the drive shaft of right-hand track chiain wheel mechanism is affixed with right wheel universal joint output end, the drive shaft and revolver of the left Athey wheel mechanism
Universal joint output end is affixed.Present invention design is simple, and reliability is high, complete function, excellent performance, can pass through meadow, snowfield, mud
The complicated landform such as ground, desert, sandstone ground.
Brief description of the drawings
Fig. 1 is entirety shaft side figure of the invention.
Fig. 2 is integrally-built decomposing schematic representation of the invention.
Fig. 3 is the structural representation of right-hand track chiain wheel mechanism 104-1 and left Athey wheel mechanism 104-2.
Fig. 4 is the shaft side figure of vehicle body frame 103.
Fig. 5 is the structural decomposition diagram of vehicle body frame 103.
Fig. 6 is upper strata vehicle body frame 103-1 structural representations.
Fig. 7 is lower floor's vehicle body frame 103-2 structural representations.
Fig. 8 is lower floor's vehicle body frame front end 103-2-1 structural representations.
Fig. 9 is lower floor's vehicle body frame rear end 103-2-2 structural representations.
Specific embodiment
Main parts size of the present invention：
The 103. left Athey wheel mechanisms of vehicle body frame 104-1. right-hand track chiain wheels mechanism 104-2.
103-1. upper stratas vehicle body frame 103-2. lower floors vehicle body frame 103-2-1. lower floor's vehicle body frames front end
The driving wheel of 1. crawler belt of 103-2-2. lower floors vehicle body frame rear end 4.
The right side track wheel drive motor of 36. left track wheel drive motor 37.
Specific embodiment one：As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 9, the robot crawler-type mobile chassis includes car
Body framework 103, right-hand track chiain wheel mechanism 104-1 and left Athey wheel mechanism 104-2, the first crossbeam 22 of the vehicle body frame 103
One end is affixed with the inner bracing piece 2 and outer support bar 3 of right-hand track chiain wheel mechanism 104-1, the second cross beam 34 of the vehicle body frame 103
One end it is affixed with the inner bracing piece 2 and outer support bar 3 of right-hand track chiain wheel mechanism 104-1, right-hand track chiain wheel mechanism 104-1 is installed solid
The right side of vehicle body frame 103 is scheduled on, the other end of the first crossbeam 22 of the vehicle body frame 103 is with left Athey wheel mechanism 104-2's
Inner bracing piece 2 and outer support bar 3 are affixed, the other end of the second cross beam 34 of the vehicle body frame 103 and left Athey wheel mechanism
The inner bracing piece 2 and outer support bar 3 of 104-2 are affixed, and left Athey wheel mechanism 104-2 is fixed on into the left side of vehicle body frame 103.
The right-hand track chiain wheel mechanism 104-1 and left Athey wheel mechanism 104-2 by crawler belt 1, inner bracing piece 2, outer support bar 3, driving wheel 4,
First driven pulley 5, the second driven pulley 6, drive shaft 7, the first wheel shaft 8, the second wheel shaft 9 are constituted, and the drive shaft 7 is fixed in driving
Bearing 10-1 and bearing 10-2 is inserted at the shaft core position of wheel 4, the two ends of the drive shaft 7 respectively, and the bearing 10-1 pedestals are fixed
In the back segment of inner bracing piece 2, the bearing 10-2 pedestals are fixed on the back segment of outer support bar 3, first wheel shaft 8 be arranged on first from
Bearing 10-3 and bearing 10-4 is inserted at the shaft core position of driving wheel 5, the two ends of the first wheel shaft 8 respectively, and the bearing 10-3 pedestals are consolidated
The stage casing of inner bracing piece 2 is scheduled on, the bearing 10-4 pedestals are fixed on the stage casing of outer support bar 3, and second wheel shaft 9 is arranged on second
Bearing 10-5 and bearing 10-6, the bearing 10-5 pedestals are inserted in respectively in the shaft core position of driven pulley 6, the two ends of the second wheel shaft 9
It is fixed on the leading portion of inner bracing piece 2, the bearing 10-6 pedestals are fixed on the leading portion of outer support bar 3, the crawler belt 1 is by driving wheel 4,
One driven pulley 5 and the second driven pulley 6 are surrounded, and it is contacted with the inner surface of crawler belt 1, the drive of the right-hand track chiain wheel mechanism 104-1
Moving axis 7 is affixed with the output end of right wheel universal joint 45, and the drive shaft 7 of the left Athey wheel mechanism 104-2 is defeated with revolver universal joint 44
Go out and hold affixed.
Specific embodiment two：As shown in Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, the vehicle body frame 103 includes equipment
Case 11, car body superstructure 103-1, car body understructure 103-2, the two ends of aluminium sheet 18 of car body superstructure 103-1 respectively with
First aluminium sheet 38 of car body understructure 103-2, the rear end of the second aluminium sheet 39 are affixed, the tail trimmer 16 of car body superstructure 103-1
Two ends the first column 25 respectively with car body understructure 103-2, the upper end of the second column 23 are affixed.The car body superstructure
103-1 is by panel 12, the first longeron 13, the second longeron 14, tail trimmer 15,16, aluminium sheet 18, part 17,21, reinforcing member 19,20
Composition, the both sides of the panel 12 are respectively and fixedly connected with the first longeron 13, the top of the second longeron 14.The front end of first longeron 13 passes through
Right-angle connector is vertical affixed with tail trimmer 15,16, and the front end of the second longeron 14 is by right-angle connector and tail trimmer 15,16
Vertical affixed, the rear end of the first longeron 13, part 17, the one end of aluminium sheet 18 are sequentially overlapped affixed, the affixed aluminium in the one end of reinforcing member 19
Plate 18, the affixed rear end of first longeron 13 of the other end, the rear end of the second longeron 14, part 21, the other end of aluminium sheet 18 are sequentially overlapped
It is affixed, the affixed aluminium sheet 18 in the one end of reinforcing member 20, the affixed rear end of second longeron 14 of the other end.The car body understructure 103-2 bags
Include the first aluminium sheet 38, second aluminium sheet 39 of front end frame 103-2-1 and rearward end frame 103-2-2, the rearward end frame 103-2-2
It is respectively and fixedly connected with the bottom of entablature 31 of front end frame 103-2-1.
The front end frame 103-2-1 by the first column 25, the second column 23, first crossbeam 22, second cross beam 34, it is preceding plus
Strong part 24, right strengthening part 26, left strengthening part 27, rear strengthening part 35, the 3rd column 30, the 4th column 33, entablature
31st, support member 32, base plate 21 are constituted, and the first crossbeam 22 is fixed in the middle part of base plate 21, first column 25, the second column
23 lower ends are respectively and fixedly connected with the same side of first crossbeam 22, and described one end of preceding strengthening part 24 is fixed in the upper end of the first column 25,
The other end is fixed in the lower end of the second column 23, and the right strengthening part 26, the one end of left strengthening part 27 are respectively and fixedly connected with horizontal in first
The same side of beam 22, the other end of right strengthening part 26 is fixed in the upper end of the 3rd column 30, and the left strengthening part 27 is another
End is fixed in the upper end of the 4th column 33, and the bottom of the right support frame 28 is fixed in the upper end of the 3rd column 30, the left support frame 29
Bottom is fixed in the upper end of the 4th column 33, and the 3rd column 30, the lower end of the 4th column 33 are respectively perpendicular and are fixed in second cross beam
34 tops, the two ends of the entablature 31 are respectively perpendicular and are fixed in the 3rd column 30, the middle part of the 4th column 33, the support member
32nd, the two ends of rear strengthening part 35 are respectively perpendicular and are fixed in entablature 31, the middle part of second cross beam 34, under the second cross beam 34
Portion is affixed with the rear end of base plate 21.
The rearward end frame 103-2-2 is by the first aluminium sheet 38, the second aluminium sheet 39, rear cross beam 40, the first support column 41, second
Support column 42, electric machine support 43, right wheel universal joint 45, revolver universal joint 44, right wheel motor 37, revolver motor 36 are constituted, described
First aluminium sheet 38, the rear end of the second aluminium sheet 39 are fixed in the top at the two ends of rear cross beam 40, the middle part side of the rear cross beam 40 affixed
One support column 41, the upper end of the second support column 42, affixed motor branch between the lower end of 41 and second support column of the first support column 42
The one end of frame 43, the base of right wheel motor 37 is fixed in the front lower portion of the second aluminium sheet 39, and the front portion of right wheel motor 37 is fixed in
At the arc gap of electric machine support 43, the rotary shaft of right wheel motor 37 is affixed with the one end of right wheel universal joint 45, and the right wheel is universal
One end of drive shaft 7 of the affixed right-hand track chiain wheel mechanism 104-1 of the other end of section 45, the base of the revolver motor 36 is fixed in the first aluminium
The front lower portion of plate 38, the front portion of the revolver motor 36 is fixed at the arc gap of electric machine support 43, and the revolver motor 36 is rotated
Axle is affixed with the one end of revolver universal joint 44, the driving of the affixed left Athey wheel mechanism 104-2 of the other end of the revolver universal joint 44
The one end of axle 7.
Claims (4)
1. a kind of robot crawler-type mobile chassis, the mobile chassis of environment investigation and wounded's rescue are carried out for carrying robot
Device, is made up of vehicle body frame (103), right-hand track chiain wheel mechanism (104-1) and left Athey wheel mechanism (104-2)；
It is characterized in that：
Robot crawler-type mobile chassis is non-stressed body structure, and vehicle body frame (103) is by car body superstructure (103-
1), car body understructure (103-2) composition, robot crawler-type mobile chassis uses crawler type walking mechanism, right-hand track chiain turbine
Respectively there are (4) two driven pulleys (5,6) of a driving wheel in structure (104-1) and left Athey wheel mechanism (104-2).
2. robot crawler-type mobile chassis according to claim 1, it is characterised in that：The vehicle body frame (103)
One end of first crossbeam (22) is affixed with the inner bracing piece (2) and outer support bar (3) of right-hand track chiain wheel mechanism (104-1), the car
One end of the second cross beam (34) of body framework (103) and the inner bracing piece (2) of right-hand track chiain wheel mechanism (104-1) and outer support bar
(3) it is affixed, right-hand track chiain wheel mechanism (104-1) is fixed on vehicle body frame (103) right side, the vehicle body frame (103)
The other end of first crossbeam (22) is affixed with the inner bracing piece (2) and outer support bar (3) of left Athey wheel mechanism (104-2), described
The inner bracing piece (2) and outer support of the other end of the second cross beam (34) of vehicle body frame (103) and left Athey wheel mechanism (104-2)
Bar (3) is affixed, and left Athey wheel mechanism (104-2) is fixed on into vehicle body frame (103) left side.
3. robot crawler-type mobile chassis according to claim 1, it is characterised in that：The right-hand track chiain wheel mechanism
The drive shaft (7) of (104-1) and left Athey wheel mechanism (104-2) is fixed in the shaft core position of driving wheel (4), the drive shaft
(7) bearing (10-1,10-2) is inserted at two ends respectively, and bearing (the 10-1,10-2) pedestal is fixed on inner bracing piece (2) and outer branch
Strut (3) back segment, first wheel shaft (8) is installed in the first driven pulley (5) shaft core position, the first wheel shaft (8) two ends point
Bearing (10-3,10-4) is not inserted in, and bearing (the 10-3,10-4) pedestal is fixed in inner bracing piece (2) and outer support bar (3)
Section, second wheel shaft (9) is inserted in bearing respectively installed in the second driven pulley (6) shaft core position, the second wheel shaft (9) two ends
(10-5,10-6), bearing (the 10-5,10-6) pedestal is fixed on inner bracing piece (2) and outer support bar (3) leading portion, the shoe
Band (1) surrounds driving wheel (4), the first driven pulley (5) and the second driven pulley (6), it is contacted with crawler belt (1) inner surface,
The drive shaft (7) of the right-hand track chiain wheel mechanism (104-1) is affixed with right wheel universal joint (45) output end, the left Athey wheel mechanism
The drive shaft (7) of (104-2) is affixed with revolver universal joint (44) output end.
4. robot crawler-type mobile chassis according to claim 1, it is characterised in that：Car body superstructure (103-1)
Aluminium sheet (18) two ends the first aluminium sheet (38) respectively with car body understructure (103-2), the second aluminium sheet (39) rear end it is affixed, car
Tail trimmer (16) two ends of body superstructure (103-1) respectively with the first column (25), second of car body understructure (103-2)
Column (23) upper end is affixed, and panel (12) both sides are respectively and fixedly connected with the first longeron (13), the second longeron (14) top, described
First longeron (13) front end is vertical affixed with tail trimmer (15,16) by right-angle connector, and the second longeron (14) front end leads to
Cross right-angle connector vertical affixed with tail trimmer (15,16), the first longeron (13) rear end, part (17), aluminium sheet (18)
End is sequentially overlapped affixed, the affixed aluminium sheet in reinforcing member (19) one end (18), affixed first longeron (13) rear end of the other end, described second
Longeron (14) rear end, part (21), aluminium sheet (18) other end are sequentially overlapped affixed, the affixed aluminium sheet in reinforcing member (20) one end (18),
Affixed second longeron (14) rear end of the other end, the car body understructure (103-2) includes front end frame (103-2-1) and rear end
Framework (103-2-2), first aluminium sheet (38) of the rearward end frame (103-2-2), the second aluminium sheet (39) are respectively and fixedly connected with front end
Entablature (31) bottom of framework (103-2-1), the first crossbeam (22) is fixed in base plate (21) middle part, first column
(25), the second column (23) lower end is respectively and fixedly connected with first crossbeam (22) same side, and described preceding strengthening part (24) one end is solid
The first column (25) upper end is connected to, the other end is fixed in the second column (23) lower end, the right strengthening part (26), left rib
Part (27) one end is respectively and fixedly connected with first crossbeam (22) same side, and right strengthening part (26) other end is fixed in the 3rd and stands
Post (30) upper end, left strengthening part (27) other end is fixed in the 4th column (33) upper end, the 3rd column (30),
Four columns (33) lower end is respectively perpendicular and is fixed in second cross beam (34) top, and entablature (31) two ends are respectively perpendicular and are fixed in
3rd column (30), the 4th column (33) middle part, the support member (32), rear strengthening part (35) two ends are respectively perpendicular solid
Entablature (31), second cross beam (34) middle part are connected to, second cross beam (34) bottom is affixed with base plate (21) rear end, institute
State the first aluminium sheet (38), the second aluminium sheet (39) rear end and be fixed in the top at rear cross beam (40) two ends, rear cross beam (40) middle part
Affixed first support column (41) in side, the second support column (42) upper end, first support column (41) and the second support column (42)
Affixed electric machine support (43) one end between lower end, right wheel motor (37) base is fixed in the second aluminium sheet (39) front lower portion,
Right wheel motor (37) front portion is fixed at electric machine support (43) arc gap, right wheel motor (37) rotary shaft and right wheel
Universal joint (45) one end is affixed, the drive shaft of the affixed right-hand track chiain wheel mechanism (104-1) of the other end of the right wheel universal joint (45)
(7) one end, revolver motor (36) base is fixed in the first aluminium sheet (38) front lower portion, and the revolver motor (36) is anterior solid
It is connected at electric machine support (43) arc gap, revolver motor (36) rotary shaft is affixed with revolver universal joint (44) one end, institute
State drive shaft (7) one end of the affixed left Athey wheel mechanism (104-2) of the other end of revolver universal joint (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004933.9A CN106926909A (en) | 2015-12-30 | 2015-12-30 | Robot crawler-type mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004933.9A CN106926909A (en) | 2015-12-30 | 2015-12-30 | Robot crawler-type mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106926909A true CN106926909A (en) | 2017-07-07 |
Family
ID=59458381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511004933.9A Withdrawn CN106926909A (en) | 2015-12-30 | 2015-12-30 | Robot crawler-type mobile chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926909A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153063A (en) * | 2019-06-06 | 2019-08-23 | 深圳怪虫机器人有限公司 | A kind of bridge type is worked continuously photovoltaic clean robot |
| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| CN110882968A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot |
| CN110882969A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically walking along bridge floor |
| CN112606921A (en) * | 2020-12-10 | 2021-04-06 | 辽宁工程技术大学 | Articulated crawler motion chassis of coal mine search and rescue robot |
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| JP2005119497A (en) * | 2003-10-16 | 2005-05-12 | Rikogaku Shinkokai | Steering mechanism for crawler type traveling vehicle |
| CN103963860A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Differential connecting rod type crawler chassis of robot |
| CN204658433U (en) * | 2015-05-14 | 2015-09-23 | 中国人民解放军装甲兵工程学院 | A kind of multi-function robot being applicable to army and police and fire-fighting task |
| CN105171751A (en) * | 2015-09-07 | 2015-12-23 | 北京中泰恒通科技有限公司 | MK6 comprehensive anti-explosion robot |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005119497A (en) * | 2003-10-16 | 2005-05-12 | Rikogaku Shinkokai | Steering mechanism for crawler type traveling vehicle |
| CN103963860A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Differential connecting rod type crawler chassis of robot |
| CN204658433U (en) * | 2015-05-14 | 2015-09-23 | 中国人民解放军装甲兵工程学院 | A kind of multi-function robot being applicable to army and police and fire-fighting task |
| CN105171751A (en) * | 2015-09-07 | 2015-12-23 | 北京中泰恒通科技有限公司 | MK6 comprehensive anti-explosion robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153063A (en) * | 2019-06-06 | 2019-08-23 | 深圳怪虫机器人有限公司 | A kind of bridge type is worked continuously photovoltaic clean robot |
| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| CN110882968A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot |
| CN110882969A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically walking along bridge floor |
| CN112606921A (en) * | 2020-12-10 | 2021-04-06 | 辽宁工程技术大学 | Articulated crawler motion chassis of coal mine search and rescue robot |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170707 |
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| WW01 | Invention patent application withdrawn after publication |