CN106926911A - A kind of self-locking robot capable of climbing trees and its method of climbing tree - Google Patents
A kind of self-locking robot capable of climbing trees and its method of climbing tree Download PDFInfo
- Publication number
- CN106926911A CN106926911A CN201710130273.1A CN201710130273A CN106926911A CN 106926911 A CN106926911 A CN 106926911A CN 201710130273 A CN201710130273 A CN 201710130273A CN 106926911 A CN106926911 A CN 106926911A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- self
- climbs
- solid mechanical
- arm
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
Abstract
The present invention discloses a kind of self-locking robot capable of climbing trees and its method of climbing tree, robot includes vehicle body frame, solid mechanical arm, mobile machine arm and the actuating unit that climbs, on vehicle body frame, solid mechanical arm and mobile machine arm are connected the actuating unit that climbs with the actuating unit that climbs respectively.Its method is to hold trunk tightly by solid mechanical arm and mobile machine arm alternating contractions, the actuating unit that climbs is recycled to drive the mobile machine arm in deployed condition or the solid mechanical arm in deployed condition to climb upwards, when solid mechanical arm climbs upwards, vehicle body frame is driven also to climb upwards.The principle of the invention is simple, and realizes the wide variation that trunk diameter is adapted to using locking phenomenon, expands the use scope of robot capable of climbing trees.
Description
Technical field
The present invention relates to field of tool of climbing tree, more particularly to a kind of self-locking robot capable of climbing trees and its method of climbing tree.
Background technology
At present, existing robot capable of climbing trees is all that the trees climbed it using one or more pairs of mechanical arms are clasped and applied
Plus after the pressure of horizontal direction is clamped, the frictional force between the paired mechanical arm of recycling and trunk comes the position of stationary machines people simultaneously
Carry out the climbing motion of next step.The robot capable of climbing trees of which may be only available for the more homogeneous trunk of diameter, but in reality
In, very woody diameter is not homogeneous from top to bottom, and difference in diameter is bigger toward contact, and trunk top is excessively fine
Thin and bottom but it is excessively sturdy.The mechanical arm for clamping trunk which results in paired utilization horizontal pressure force was often running into
During thin or excessively thick trunk, the diameter change of trunk will be not suitable with, so as to produce paired mechanical arm to be unable to reach optimal embracing
Hold position and corresponding pressure cannot be produced to trunk, cause the frictional force between mechanical arm and trunk not enough and cause robot
Follow-up climbing motion cannot be completed.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of simple structure, and using locking phenomenon
Adapt to the self-locking robot capable of climbing trees of trunk diameter wide variation.
Another object of the present invention is to provide a kind of method of climbing tree realized by above-mentioned self-locking robot capable of climbing trees.
The technical scheme is that：A kind of self-locking robot capable of climbing trees, including vehicle body frame, solid mechanical arm, moving machine
Tool arm and climb actuating unit, the actuating unit that climbs on vehicle body frame, solid mechanical arm and mobile machine arm respectively with climb
Actuating unit is connected.
The solid mechanical arm is identical with mobile machine arm configuration, respectively including holding portion, connecting portion, first electronic
Push rod and sleeve, holding portion are fixedly connected with sleeve, and connecting portion is connected with the first electric pushrod, the end of the first electric pushrod
End and sleeve connection, form the adjustable arc-shaped of diameter between holding portion and connecting portion.Wherein, in the first electric pushrod
In flexible process, sleeve is used to entangling the part that the first electric pushrod stretches out and is slided along the first electric pushrod.
The medial surface in the holding portion is provided with rubber strip.I.e. holding portion is provided with rubber strip with the contact surface of trunk, can
The frictional force between holding portion and trunk is effectively increased, it is improved and is held clamping effect tightly.
First electric pushrod is pen type electric push rod.
The solid mechanical arm is parallel with mobile machine arm on the actuating unit that climbs, and solid mechanical arm is fixed on and climbs
One end of actuating unit.
The actuating unit that climbs includes first end support, the second end support, the second electric pushrod, flexible connection
Part, fixedly connected part and guide rod, first end support and the second end support are fixedly connected with vehicle body frame respectively, first end branch
Between frame and the second end support by a pair of guide rods connect, guide rod be provided with connection mobile machine arm active connection and
Be connected the fixedly connected part of mechanical arm, and fixedly connected part is also fixedly connected with the second end support, the second electric pushrod
Two ends are connected with active connection and fixedly connected part respectively.Wherein, active connection is identical with fixedly connected part structure, is all provided with
Fluted structure, mobile machine arm is realized being hinged by the groove structure and active connection, and solid mechanical arm passes through the groove
Structure and fixedly connected part are realized being hinged, i.e., mobile machine arm and solid mechanical arm be capable of achieving in horizontality or in
The angled state of horizontal plane.In the contraction of the second electric pushrod or stretching process, active connection can be along its both sides
Guide rail enter line slip, and fixedly connected part is then maintained static.
Pressure sensor is further respectively had in the active connection and fixedly connected part.Can be real-time by pressure sensor
The pressure that corresponding mobile machine arm or solid mechanical arm are formed to trunk is detected, so that the electric pushrod of precise control first is stretched
Exhibition or retraction stroke.
The vehicle body frame includes vertical supporting bar and cross connecting plate, and each vertical supporting bar be arranged in parallel, two neighboring vertical
It is fixedly connected by cross connecting plate between support bar, forms rectangular-shaped structure, the first end in the actuating unit that climbs
Portion's support and the second end support are individually fixed on cross connecting plate, and each guide rod is parallel with vertical supporting bar.
The quantity of the vertical supporting bar is at least two, and the quantity of cross connecting plate is also at least two.
In above-mentioned robot architecture, in addition to the first electric pushrod and the second electric pushrod, other building blocks can be adopted
It is made of aluminium.
The present invention can realize that a kind of self-locking is climbed tree method by above-mentioned robot, the method be by solid mechanical arm with
Mobile machine arm alternating contractions hold trunk tightly, recycle the actuating unit that climbs to drive mobile machine arm or place in deployed condition
Climbed upwards in the solid mechanical arm of deployed condition, when solid mechanical arm climbs upwards, drive vehicle body frame also to climb upwards.
When above-mentioned self-locking robot capable of climbing trees and its method for climbing tree are used, its principle is：First, the second electric pushrod is in
Be contracted to most short state, the first electric pushrod on solid mechanical arm and mobile machine arm shrinks, make solid mechanical arm and
Mobile machine arm is tightened up and embraces trunk, when solid mechanical arm or the corresponding pressure sensor of mobile machine arm detect pressure
After value, corresponding first electric pushrod stops shrinking, and fixes the crook of the arm internal diameter formed between holding portion and connecting portion, this
When due to vehicle body frame and the robot being installed on vehicle body frame gravity in itself so that solid mechanical arm and mobile machine arm are by level
It is changed into from the horizontal by certain angle, due to the frictional force effect between trunk and holding portion, connecting portion, solid mechanical
Arm and mobile machine arm realize self-locking, and vehicle body frame and the robot being installed on vehicle body frame are fixed on trunk.Climbing
When, the holding portion of mobile machine arm and sleeve open in the presence of the first electric pushrod, due to the mobile machine arm weight of itself
The limitation that power is acted on and active connection coordinates with the sunk structure in the portion that is fixedly connected, now mobile machine arm is in horizontal
State, and after maximum position is opened up into, the first electric pushrod stops stretching；Then the second electric pushrod climbed in actuating unit
Stretch, now solid mechanical arm is still because be fixed on trunk for vehicle body frame and robot by self-locking, when the second electric pushrod will
After mobile machine arm is sent to extreme higher position, the first electric pushrod in mobile machine arm shrinks, and tightens up its holding portion, right at its
After the pressure sensor answered detects pressure value, the first electric pushrod in mobile machine arm stops shrinking, now mobile machine
Arm holds trunk tightly, and due to the frictional force effect between trunk and holding portion, connecting portion, mobile machine arm realizes self-locking；So
The first electric pushrod in solid mechanical arm opens afterwards, due to vehicle body frame and the Action of Gravity Field of robot itself, solid mechanical arm
It is changed into straight at certain angle state on the upper side from horizontality, the second electric pushrod in the actuating unit that climbs shrinks, band
Motor-car stature, robot, solid mechanical arm climb；After the second electric pushrod is contracted to most short position, in solid mechanical arm
First electric pushrod shrinks, and tightens up the holding portion of solid mechanical arm, after its corresponding pressure sensor detects pressure value,
The first electric pushrod in solid mechanical arm stops shrinking, and solid mechanical arm is also held trunk tightly, so far completes the row that once climbs
Journey.
The present invention has the advantages that relative to prior art：
The principle of this self-locking robot capable of climbing trees and its method of climbing tree is relatively simple, mainly passes through mobile machine arm and fixation
The alternating movement of mechanical arm acts and realizes auto-lock function completing climbing for robot, while be independently arranged using it first
Electric pushrod, coordinates the use of pressure sensor, and the crook of the arm diameter for being formed mobile machine arm and solid mechanical arm is adjustable, with
Friction force value between trunk is also adjustable, therefore is applicable to the wide variation of trunk diameter, relative to traditional machine of climbing tree
Device people, its range of application is wider.
In this self-locking robot capable of climbing trees, mobile machine arm is identical with the structure of solid mechanical arm, can be with general, therefore can
To realize batch micro operations, facilitate the maintenance of robot, also reduce manufacturing cost.
Brief description of the drawings
Fig. 1 is the overall structure diagram of this self-locking robot capable of climbing trees.
Fig. 2 is the structural representation of mobile machine arm or solid mechanical arm in Fig. 1.
Fig. 3 is the structural representation of the actuating unit that climbed in Fig. 1.
Fig. 4 is the structural representation of vehicle body frame in Fig. 1.
Specific embodiment
With reference to embodiment, the present invention is described in further detail, but embodiments of the present invention not limited to this.
Embodiment
A kind of self-locking robot capable of climbing trees of the present embodiment, as shown in figure 1, including vehicle body frame 1, solid mechanical arm 2, moving machine
Tool arm 3 and climb actuating unit 4, the actuating unit that climbs on vehicle body frame, solid mechanical arm and mobile machine arm respectively with climb
Rise actuating unit connection.
As shown in Fig. 2 solid mechanical arm is identical with mobile machine arm configuration, respectively including holding portion 5, connecting portion 6,
First electric pushrod 7 and sleeve 8, holding portion are fixedly connected with sleeve, and connecting portion is connected with the first electric pushrod, the first electricity
The end of dynamic push rod and sleeve connection, form the adjustable arc-shaped of diameter between holding portion and connecting portion.Wherein,
During one electric pushrod is flexible, sleeve is used to entangling the part that the first electric pushrod stretches out and is slided along the first electric pushrod
It is dynamic.The medial surface in holding portion is provided with rubber strip (not shown).I.e. holding portion is provided with rubber strip with the contact surface of trunk,
The frictional force between holding portion and trunk can be effectively increased, it be improved and is held clamping effect tightly.First electric pushrod is pen type electric
Push rod.Solid mechanical arm is parallel with mobile machine arm on the actuating unit that climbs, and solid mechanical arm is fixed on the engine that climbs
One end of structure.
As shown in figure 3, the actuating unit that climbs includes first end support 9, the second end support 10, the second electric pushrod
11st, active connection 12, fixedly connected part 13 and guide rod 14, first end support and the second end support are solid with vehicle body frame respectively
Fixed connection, is connected between first end support and the second end support by a pair of guide rods, and guide rod is provided with connection mobile machine
The fixedly connected part of the active connection of arm and the mechanical arm that is connected, fixedly connected part is also fixed with the second end support
Connection, the second electric pushrod two ends are connected with active connection and fixedly connected part respectively.Wherein, active connection and fixed company
Fitting structure is identical, is equipped with groove structure, and mobile machine arm is realized being hinged by the groove structure and active connection, fixed
Mechanical arm is realized being hinged by the groove structure and fixedly connected part, i.e., mobile machine arm and solid mechanical arm are capable of achieving to be in
Horizontality or in the state with the horizontal certain angle.In the contraction of the second electric pushrod or stretching process, activity
Connector can enter line slip along the guide rail of its both sides, and fixedly connected part is then maintained static.Active connection and fixedly connected part
On further respectively have pressure sensor 15.Can the corresponding mobile machine arm of real-time detection or solid mechanical arm by pressure sensor
The pressure formed to trunk, so that the stretching, extension of the electric pushrod of precise control first or retraction stroke.
As shown in figure 4, vehicle body frame includes vertical supporting bar 16 and cross connecting plate 17, each vertical supporting bar be arranged in parallel,
It is fixedly connected by cross connecting plate between two neighboring vertical supporting bar, forms rectangular-shaped structure, climbs actuating unit
In first end support and the second end support be individually fixed on cross connecting plate, each guide rod is equal with vertical supporting bar
OK.The quantity of vertical supporting bar is two, and the quantity of cross connecting plate is three.
In above-mentioned robot architecture, in addition to the first electric pushrod and the second electric pushrod, other building blocks can be adopted
It is made of aluminium.
The present embodiment can realize that a kind of self-locking is climbed tree method by above-mentioned robot, and the method is by solid mechanical arm
With mobile machine arm alternating contractions hold tightly trunk, recycling climb actuating unit drive in deployed condition mobile machine arm or
Solid mechanical arm in deployed condition climbs upwards, when solid mechanical arm climbs upwards, drives vehicle body frame also to climb upwards.
When above-mentioned self-locking robot capable of climbing trees and its method for climbing tree are used, its principle is：First, the second electric pushrod is in
Be contracted to most short state, the first electric pushrod on solid mechanical arm and mobile machine arm shrinks, make solid mechanical arm and
Mobile machine arm is tightened up and embraces trunk, when solid mechanical arm or the corresponding pressure sensor of mobile machine arm detect pressure
After value, corresponding first electric pushrod stops shrinking, and fixes the crook of the arm internal diameter formed between holding portion and connecting portion, this
When due to vehicle body frame and the robot being installed on vehicle body frame gravity in itself so that solid mechanical arm and mobile machine arm are by level
It is changed into from the horizontal by certain angle, due to the frictional force effect between trunk and holding portion, connecting portion, solid mechanical
Arm and mobile machine arm realize self-locking, and vehicle body frame and the robot being installed on vehicle body frame are fixed on trunk.Climbing
When, the holding portion of mobile machine arm and sleeve open in the presence of the first electric pushrod, due to the mobile machine arm weight of itself
The limitation that power is acted on and active connection coordinates with the sunk structure in the portion that is fixedly connected, now mobile machine arm is in horizontal
State, and after maximum position is opened up into, the first electric pushrod stops stretching；Then the second electric pushrod climbed in actuating unit
Stretch, now solid mechanical arm is still because be fixed on trunk for vehicle body frame and robot by self-locking, when the second electric pushrod will
After mobile machine arm is sent to extreme higher position, the first electric pushrod in mobile machine arm shrinks, and tightens up its holding portion, right at its
After the pressure sensor answered detects pressure value, the first electric pushrod in mobile machine arm stops shrinking, now mobile machine
Arm holds trunk tightly, and due to the frictional force effect between trunk and holding portion, connecting portion, mobile machine arm realizes self-locking；So
The first electric pushrod in solid mechanical arm opens afterwards, due to vehicle body frame and the Action of Gravity Field of robot itself, solid mechanical arm
It is changed into straight at certain angle state on the upper side from horizontality, the second electric pushrod in the actuating unit that climbs shrinks, band
Motor-car stature, robot, solid mechanical arm climb；After the second electric pushrod is contracted to most short position, in solid mechanical arm
First electric pushrod shrinks, and tightens up the holding portion of solid mechanical arm, after its corresponding pressure sensor detects pressure value,
The first electric pushrod in solid mechanical arm stops shrinking, and solid mechanical arm is also held trunk tightly, so far completes the row that once climbs
Journey.
As described above, the present invention can be better realized, above-described embodiment is only presently preferred embodiments of the present invention, is not used
To limit practical range of the invention；I.e. all impartial changes made according to present invention and modification, all for right of the present invention will
Scope required for protection is asked to be covered.
Claims (10)
1. a kind of self-locking robot capable of climbing trees, it is characterised in that including vehicle body frame, solid mechanical arm, mobile machine arm and climb
Actuating unit, on vehicle body frame, solid mechanical arm and mobile machine arm connect the actuating unit that climbs with the actuating unit that climbs respectively
Connect.
2. a kind of self-locking robot capable of climbing trees according to claim 1, it is characterised in that the solid mechanical arm and moving machine
Tool arm configuration is identical, and respectively including holding portion, connecting portion, the first electric pushrod and sleeve, holding portion fixes with sleeve and connects
Connect, connecting portion is connected with the first electric pushrod, the end of the first electric pushrod and sleeve connection, holding portion be connected
The adjustable arc-shaped of diameter is formed between portion.
3. a kind of self-locking robot capable of climbing trees according to claim 2, it is characterised in that set on the medial surface in the holding portion
There is rubber strip.
4. a kind of self-locking robot capable of climbing trees according to claim 2, it is characterised in that first electric pushrod is pen type
Electric pushrod.
5. a kind of self-locking robot capable of climbing trees according to claim 1, it is characterised in that the solid mechanical arm and moving machine
Tool arm is parallel on the actuating unit that climbs, and solid mechanical arm is fixed on the one end for the actuating unit that climbs.
6. a kind of self-locking robot capable of climbing trees according to claim 1, it is characterised in that the actuating unit that climbs includes the
One end support, the second end support, the second electric pushrod, active connection, fixedly connected part and guide rod, first end support
It is fixedly connected with vehicle body frame respectively with the second end support, a pair of guide rods is passed through between first end support and the second end support
Connection, guide rod is provided with the active connection of connection mobile machine arm and the fixedly connected part of the mechanical arm that is connected, Gu
Determine connector to be also fixedly connected with the second end support, the second electric pushrod two ends respectively with active connection and fixedly connected part
Connection.
7. a kind of self-locking robot capable of climbing trees according to claim 6, it is characterised in that the active connection and fixed connect
Pressure sensor is further respectively had on fitting.
8. a kind of self-locking robot capable of climbing trees according to claim 6, it is characterised in that the vehicle body frame includes longitudinal bracing
Bar and cross connecting plate, each vertical supporting bar be arranged in parallel, are carried out by cross connecting plate between two neighboring vertical supporting bar
It is fixedly connected, forms rectangular-shaped structure, first end support and the second end support in the actuating unit that climbs is individually fixed in
On cross connecting plate, each guide rod is parallel with vertical supporting bar.
9. a kind of self-locking robot capable of climbing trees according to claim 8, it is characterised in that the quantity of the vertical supporting bar is
At least two, the quantity of cross connecting plate is also at least two.
10. the robot according to claim any one of 1-9 realizes that a kind of self-locking is climbed tree method, it is characterised in that pass through
Solid mechanical arm and mobile machine arm alternating contractions hold trunk tightly, recycle the actuating unit that climbs to drive the work in deployed condition
Dynamic mechanical arm or the solid mechanical arm in deployed condition climb upwards, when solid mechanical arm climbs upwards, drive vehicle body frame
Also climb upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130273.1A CN106926911B (en) | 2017-03-07 | 2017-03-07 | Self-locking type tree climbing robot and tree climbing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130273.1A CN106926911B (en) | 2017-03-07 | 2017-03-07 | Self-locking type tree climbing robot and tree climbing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106926911A true CN106926911A (en) | 2017-07-07 |
| CN106926911B CN106926911B (en) | 2023-04-21 |
Family
ID=59423444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710130273.1A Active CN106926911B (en) | 2017-03-07 | 2017-03-07 | Self-locking type tree climbing robot and tree climbing method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926911B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825442A (en) * | 2017-09-11 | 2018-03-23 | 华南理工大学 | A kind of self-locking robot capable of climbing trees control circuit |
| CN107985437A (en) * | 2017-12-01 | 2018-05-04 | 云南电网有限责任公司普洱供电局 | One kind transmission of electricity corridor screen of trees cleaning wriggling robot capable of climbing trees |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| US20110100734A1 (en) * | 2008-03-28 | 2011-05-05 | Thales | Robot for Climbing Posts |
| CN203874396U (en) * | 2014-05-29 | 2014-10-15 | 王跃成 | Self-locking-type pole-climbing robot |
| CN105235765A (en) * | 2015-11-05 | 2016-01-13 | 东南大学 | Automatic climbing robot with double mechanical arms |
| CN106112993A (en) * | 2016-08-22 | 2016-11-16 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106314585A (en) * | 2016-09-25 | 2017-01-11 | 郑运长 | Intelligent electric pole climbing robot |
| CN106314586A (en) * | 2016-10-22 | 2017-01-11 | 徐洪恩 | Intelligent Chinese herbal medicine collecting robot |
| CN206561892U (en) * | 2017-03-07 | 2017-10-17 | 华南理工大学 | A kind of self-locking robot capable of climbing trees |
-
2017
- 2017-03-07 CN CN201710130273.1A patent/CN106926911B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| US20110100734A1 (en) * | 2008-03-28 | 2011-05-05 | Thales | Robot for Climbing Posts |
| CN203874396U (en) * | 2014-05-29 | 2014-10-15 | 王跃成 | Self-locking-type pole-climbing robot |
| CN105235765A (en) * | 2015-11-05 | 2016-01-13 | 东南大学 | Automatic climbing robot with double mechanical arms |
| CN106112993A (en) * | 2016-08-22 | 2016-11-16 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106314585A (en) * | 2016-09-25 | 2017-01-11 | 郑运长 | Intelligent electric pole climbing robot |
| CN106314586A (en) * | 2016-10-22 | 2017-01-11 | 徐洪恩 | Intelligent Chinese herbal medicine collecting robot |
| CN206561892U (en) * | 2017-03-07 | 2017-10-17 | 华南理工大学 | A kind of self-locking robot capable of climbing trees |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825442A (en) * | 2017-09-11 | 2018-03-23 | 华南理工大学 | A kind of self-locking robot capable of climbing trees control circuit |
| CN107825442B (en) * | 2017-09-11 | 2023-06-20 | 华南理工大学 | Self-locking type tree climbing robot control circuit |
| CN107985437A (en) * | 2017-12-01 | 2018-05-04 | 云南电网有限责任公司普洱供电局 | One kind transmission of electricity corridor screen of trees cleaning wriggling robot capable of climbing trees |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106926911B (en) | 2023-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107971676B (en) | A kind of weld clamp method of automotive suspension control arm | |
| CN106926911A (en) | A kind of self-locking robot capable of climbing trees and its method of climbing tree | |
| CN206561892U (en) | A kind of self-locking robot capable of climbing trees | |
| CN106829038A (en) | Section bar finished product packing automatic framing machine | |
| CN206716945U (en) | The guiding support mechanism of car door lock rotated riveting device | |
| CN213203792U (en) | Space main cable inspection device for belt maintenance channel | |
| CN205719493U (en) | A kind of cupping machine for reliability detection | |
| CN207158298U (en) | A kind of adjustable decorative panel for building anti-deformation handling device of chucking power | |
| CN204778365U (en) | Bell housing plays tongs | |
| CN206535965U (en) | Electrode tip bending equipment | |
| CN107164938A (en) | A kind of leather sheath skull patch equipment | |
| CN208497026U (en) | A kind of flexible clamping jaw device for rectangular cell and the production line using it | |
| CN208451661U (en) | A kind of more sections of long stroke mechanical arms side-draw | |
| CN207705344U (en) | A kind of lead accumulator Laser Jet line | |
| CN207668552U (en) | Auto parts machinery puncher | |
| ES2104268T3 (en) | IMPROVED APPARATUS AND METHOD FOR WELDING BATTERIES. | |
| CN205289517U (en) | Panel positioner on solar water heater water tank panel punching equipment | |
| CN107052784A (en) | The keycap spacing adjuster of the automatic assembly line of keyboard | |
| CN205733698U (en) | A kind of four station assembly pressing machines | |
| CN108532460B (en) | A kind of catamaran type cable climbing robot | |
| CN113910420A (en) | Mold opening system | |
| CN209871520U (en) | Gear lifting and translating device based on chain transmission | |
| CN207127916U (en) | A kind of detection means of manipulator | |
| CN206314172U (en) | A kind of clamp head mechanism | |
| CN209184122U (en) | Guide vehicle for high pressure GIS conductor installation |
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 |