CN107097204A - Solar-energy machine people is used in a kind of architectural engineering - Google Patents
Solar-energy machine people is used in a kind of architectural engineering Download PDFInfo
- Publication number
- CN107097204A CN107097204A CN201710491225.5A CN201710491225A CN107097204A CN 107097204 A CN107097204 A CN 107097204A CN 201710491225 A CN201710491225 A CN 201710491225A CN 107097204 A CN107097204 A CN 107097204A
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- frame
- support arm
- rotary shaft
- hollow shaft
- shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Photovoltaic Devices (AREA)
Abstract
Solar-energy machine people is used the invention discloses a kind of architectural engineering, including frame, the frame is provided with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides, it is characterized in that, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is located at solid shafting outer ring, connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is connected on the side wall of frame by bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the two ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, first support arm and the second support arm are located at the both sides of hollow shaft axis respectively.The present invention can be achieved the walking of robot and run to jump by four groups of walking mechanisms, and adapt to complicated landform, and each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, frame can be by the regulation of walking mechanism come adjustable height, with practicality.
Description
Technical field
The present invention relates to robotic technology field, a kind of architectural engineering solar-energy machine people is particularly related to.
Background technology
The walking of the robot of prior art can be realized in several ways, but the equal Shortcomings in flexibility
Part, it is impossible to adapt to complicated landform, easily tumble；Existing robot needs lithium battery etc. to power, and cruising time is short, it is necessary to change
Enter；Existing robot is small using scope, lacks the power tool of specialty.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of architectural engineering solar-energy machine people, to solve existing skill
Shu Zhong robots can not adapt to complicated landform, and cruising time is short and lacks the technical problem of the power tool of specialty.
In order to solve the above technical problems, embodiments of the invention, which provide a kind of architectural engineering, uses solar-energy machine people, including
Frame, the frame is provided with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides,
The walking mechanism includes hollow shaft and solid shafting, and the hollow shaft sleeve is located at solid shafting outer ring, the hollow shaft and solid shafting
Between connected by bearing, the hollow shaft outer ring is connected on the side wall of frame by bearing, the outer ring of hollow shaft position
Be connected the first support arm at shell outside, and the two ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting is located at machine
Frame outside is provided with the second support arm, and first support arm and the second support arm are located at the both sides of hollow shaft axis, institute respectively
The outer end for stating the first support arm is connected with the 3rd support arm by rotating shaft, and the outer end of second supporting part is connected by rotating shaft
The 4th support arm is connected to, the other end and the other end of the 4th support arm of the 3rd support arm pass through rotating shaft phase
Even, place on the inside of frame is located in the hollow shaft and is provided with first gear, the side wall of the frame is provided with the first motor, described the
One motor is by meshed transmission gear in first gear, and the end that the solid shafting is located at on the inside of frame is provided with second gear,
The second motor is additionally provided with the side wall of the frame, second motor is by meshed transmission gear in second gear；
The medium position of the frame upper end is provided with solar energy equipment, and the solar energy equipment includes the rotation in frame
Rotating shaft, the rotary shaft, which is provided with above mounting bracket, the mounting bracket, is provided with the first connection unit, and first connection unit leads to
Cross the first connecting shaft and rotate one solar energy mounting blocks of connection, the solar energy mounting blocks lower section is additionally provided with sliding axle mounting bracket, institute
Sliding axle mounting bracket is stated provided with sliding axle, the sliding axle is provided with sliding sleeve, the mounting bracket side is installed provided with lift arm
Frame, the lift arm mounting bracket is provided with lift arm, and the lift arm upper end is provided with the second connection unit, and second connection is single
Member is rotationally connected with the both sides of sliding sleeve by two the second connecting shafts, and the solar energy mounting blocks are provided with solar panels；
Device is beaten in the front of the frame provided with top, and device is beaten on the top includes the installing plate in frame and connection
Plate, the installing plate is connected with the first rotary shaft, first rotary shaft by bearing and is provided with runner, and the runner includes
Mutually close upper runner and lower runner, the upper runner is rotationally connected with the first rotary shaft by bearing, the lower runner with
First rotary shaft formation tight fit, the lower end of the lower runner is provided with stage portion, and the radial direction anchor ring of the stage portion is provided with outer
Screw thread, the lower runner, which is additionally provided with multiple the first through-hole being radially arranged, each first through-hole, is provided with the first bullet
Spring and the steel ball abutted against with first spring, a part for the steel ball stretch out the end face of first through-hole,
Spring bearer plate is arranged with the stage portion of the lower runner, the spring bearer plate is provided with the projection stretched into the first through-hole,
Latch, spring bearer plate described in the latch contact are also bolted with the stage portion so that projection to spring press, it is described
Upper runner is provided with the shallow hole being engaged with the steel ball with the one side that lower runner mutually reclines；
The top surface of the installing plate provided with two parallel rectangular-shaped grooves, each described groove one end and installing plate
A rectangular block is provided with one side flush, each groove, the top surface of each rectangular block is rotated provided with one second
Axle, the connecting plate is that the center both sides on elongate in shape, the length direction of the connecting plate are provided with symmetrical bar shaped groove, often
Bar shaped groove described in one is sheathed on described in one in second rotary shaft, and the middle part of the connecting plate is rotated by the 3rd rotary shaft to be connected
In on the installing plate；The upper runner upper surface at outer rim be provided with the 4th rotary shaft, the 4th rotary shaft with wherein
Second rotary shaft described in one is connected by connecting rod；The rectangular block includes the slow pressure cylinder that slip shaft and two ends are closed, described
End face in slow pressure cylinder is provided with second spring, and other end is provided with the second through-hole, and the slip shaft leads to through described second
Open-work, the part that the slip shaft is located in slow pressure cylinder is provided with abutment plate, and the abutment plate is resisted against in second spring.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the present invention can be achieved the walking of robot and run to jump, and adapt to multiple by four groups of walking mechanisms
Miscellaneous landform, each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, frame can pass through walking mechanism
Regulation carrys out adjustable height, with practicality；Due to the solar energy equipment provided with adjustable-angle, efficiently charging, continuation of the journey can be achieved
Time is long；Due to beating device provided with top, various tasks are can perform, it is wide using scope.
Brief description of the drawings
Fig. 1 is stereogram one of the invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the schematic diagram of the touchdown point of the walking mechanism of the present invention.
Change schematic diagram one when Fig. 4 is the walking of the walking mechanism of the present invention.
Change schematic diagram two when Fig. 5 is the walking of the walking mechanism of the present invention.
Change schematic diagram three when Fig. 6 is the walking of the walking mechanism of the present invention.
Change schematic diagrams of the Fig. 7 for walking mechanism of the invention when being adjusted for bracket height.
Fig. 8 is stereogram two of the invention.
Fig. 9 is the stereogram of the solar energy equipment of the present invention.
Figure 10 plays the structure chart of device for the top of the present invention.
Figure 11 is the sectional view of the runner of the present invention.
Figure 12 is the sectional view of the rectangular block of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, after right direction is.
As shown in Figures 1 to 6, a kind of architectural engineering of offer of the embodiment of the present invention uses solar-energy machine people, including level to set
The frame 1 put, the frame 1 is provided with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on before the both sides of frame 1
Afterwards at position, position is respectively front left side, forward right side, left rear side, the right lateral side of frame 1, similar to automobile four-wheel installation site,
The walking mechanism 2 includes hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on the outer ring of solid shafting 22, the hollow shaft
By bearing connection (not shown) between 21 and solid shafting 22, bearing is connected as prior art, and therefore not to repeat here, passes through bearing
The achievable hollow shaft 21 of connection is coaxially disposed with solid shafting 22 and can mutually relatively rotated, and is independent of each other, the outer ring of hollow shaft 21 leads to
Cross bearing to be connected on the side wall of frame 1, the hollow shaft 21 is horizontally disposed with solid shafting 22, the outer ring position of the hollow shaft 21
In connected first support arm 23 in the outside of frame 1, the two ends of the solid shafting 22 are grown outside hollow shaft 21, the solid shafting 22
Circle is located at the outside of frame 1 and is provided with the second support arm 24, and first support arm 23 is located at hollow respectively with the second support arm 24
The both sides of the axis of axle 21, the outer end of first support arm 23 is connected with the 3rd support arm 25, described second by rotating shaft 3
The outer end of support part 24 is connected with the 4th support arm 26 by rotating shaft 3, the other end of the 3rd support arm 25 and described the
The other end of four support arms 26 is connected by rotating shaft 3, is located in the hollow shaft 21 at the inner side of frame 1 and is provided with first gear
27, the side wall of the frame 1 is provided with the first motor 4, first motor 4 by meshed transmission gear in first gear 27,
The end that the solid shafting 22 is located at the inner side of frame 1, which is provided with second gear 28, the side wall of the frame 1, is additionally provided with the second electricity
Machine 5, second motor 5 is by meshed transmission gear in second gear 28.First support arm 23, the second support arm the 24, the 3rd
Support arm 25, the 4th support arm 26 constitute the walking mechanism of a quadrangle, the 3rd support arm 25 and the 4th support arm 26
Junction is touchdown point 6 (as shown in Figure 3), therefore the end that can touch the 3rd support arm 25 and the 4th support arm 26 with ground
Portion does in the arc-shaped, more smooth when walking mechanism is touched with ground.The solid shafting 22 is made up of aluminium alloy.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is shown in solid line position in figure,
Four walking mechanisms 2 drive hollow shaft 21 to rotate to drive the first support arm 23 in the counterclockwise direction to turn by the first motor 4
Move to shown position, the first motor 4 driving hollow shaft 21 rotation be the motion with acceleration, the second motor 5 do not rotate from
And the second support arm 24 is remained stationary as, therefore touchdown point 6 is moved to the obliquely downward of rear side, therefore has given frame one forward and up
Driving force, as shown in figure 5, then the first motor 4 is rotated clockwise so as to driving the first support arm 23 to turn along clockwise direction
Move to shown position, the second motor 5 rotates counterclockwise to drive the second support arm 24 to turn to diagram position in the counterclockwise direction
Put, touchdown point 6 is moved to the oblique upper of front side, touchdown point 6 is liftoff, frame is soared liftoff, as shown in fig. 6, then the first electricity
Machine 4 is rotated counterclockwise so as to drive the first support arm 23 to turn to shown position in the counterclockwise direction, and the second motor 5 turns clockwise
Move to drive the second support arm 24 to be rotated in the clockwise direction to shown position, touchdown point 6 is oliquely downward moved forward, landed
Point is contacted with ground, completes a period of motion, and the step can make robot bound forward.Other similar walkings, running
Step will not be repeated here.
The walking mechanism for the quadrangle being made up of 4 support arms, as long as the first support arm and second by motor control
The position of support arm, the position of that touchdown point is what is be to determine, therefore can realize accurate motion.
As shown in fig. 7, walking mechanism 2 can also be by the way that the first motor 4 be rotated clockwise, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, the starting point of rear 6 touchdown point as motion will be moved up, can thus realize frame 1 from
Ground level have adjusted.
As shown in Figure 8 and Figure 9, the medium position of the upper end of frame 1 is provided with solar energy equipment 7, the solar energy equipment 7
Including the rotary shaft 71 in frame 1, the rotary shaft 71 is provided with mounting bracket 72, and the top of mounting bracket 72 is provided with first
Connection unit 73, first connection unit 73 by the first connecting shaft 74 rotate connection one solar energy mounting blocks 75, it is described too
Positive to be additionally provided with sliding axle mounting bracket 76 below mounting blocks 75, the sliding axle mounting bracket 76 is provided with sliding axle 77, the cunning
Moving axis 77 is provided with sliding sleeve 78, and the side of mounting bracket 72 is provided with lift arm mounting bracket 79, the lift arm mounting bracket 79 and set
There is lift arm 60, the upper end of lift arm 60 is provided with the second connection unit 61, and second connection unit 61 passes through two second
Connecting shaft 62 is rotationally connected with the both sides of sliding sleeve 78, and the second connecting shaft 62 does not penetrate sliding sleeve 78, therefore not relevant with sliding axle 77
Relate to, the solar energy mounting blocks 75 are provided with solar panels 63.The connection battery of solar panels 63 (not shown) is described to store
Battery is powered to each motor in robot, and the lifting campaign of lift arm 60 can be driven by the 4th motor, is no longer gone to live in the household of one's in-laws on getting married herein
State.The rotatable angle of pitch for adjusting solar panels by the lifting of lift arm so as to drive solar panels to rotate of rotary shaft, because
This can realize being rotated without dead angle for solar panels, so as to improve the utilization ratio of solar energy.
As shown in Fig. 1, Figure 10 to Figure 12, device 8 is beaten in the front of the frame 1 provided with top, and device is beaten on the top to be included setting
In installing plate 81 and connecting plate 82 in frame 1, the installing plate 81 is connected with first rotating shaft 83, described first turn by bearing
The axis of axle 83 and installing plate 81 are perpendicular, and runner 84 is provided with first rotary shaft 83, and the runner 84 includes mutually leaning on
Near upper runner 841 and lower runner 842, the upper runner 841 is rotationally connected with the first rotary shaft 83 by bearing, it is described under
The rotary shaft 83 of runner 842 and first formation tight fit, the lower end of the lower runner 842 is provided with stage portion 843, the stage portion
843 radial direction anchor ring is provided with external screw thread 8431, and the lower runner 842 is additionally provided with the first through-hole 844 of multiple radial directions, multiple
First through-hole 844 is led to a diameter of axis of the lower runner 842 along the circumferential direction uniform array, each described first
Provided with the first spring 845 and the steel ball 846 abutted against with first spring 845, the one of the steel ball 846 in open-work 844
Part, which is stretched out in the end face of first through-hole 844, the stage portion 843 of the lower runner 842, is arranged with spring bearer plate
847, the spring bearer plate 847 is provided with the projection 8471 stretched into the first through-hole 844, the stage portion 843 and is also spirally connected
There are latch 848, spring bearer plate 847 described in the contact of latch 848 so that 8471 pair of first spring 845 of projection presses, institute
State runner 841 and be provided with the shallow hole 849 being engaged with the steel ball 846 with the one side that lower runner 842 mutually reclines.
The top surface of the installing plate 81 is provided with two parallel rectangular-shaped grooves 85, each described one end of groove 85 and peace
The one side flush of plate 81 is filled so that the one side of the groove 85 is communicated with the external world, provided with a square in each groove 85
Shape block 86, the top surface of each rectangular block 86 is provided with one second rotary shaft 87, the axis and peace of second rotary shaft 87
Dress plate 81 is perpendicular, and the second rotary shaft 87 is connected on rectangular block 86 by bearing, and the connecting plate 82 is elongate in shape, described
Center both sides on the length direction of connecting plate 82 are provided with symmetrical bar shaped groove 88, and each bar shaped groove 88 is sheathed on one
In second rotary shaft 87, second rotary shaft 87 coordinates with the formation of bar shaped groove 88 gap, in the connecting plate 82
Portion is rotationally connected with the installing plate 81 by the 3rd rotary shaft 89；3rd rotary shaft 89 is located at two grooves 85
On the center of the vertical connection lines at middle part.
The 4th rotary shaft 90, the axis and peace of the 4th rotary shaft 90 are provided with the upper runner 841 at outer rim
Dress plate 81 is perpendicular, and the 4th rotary shaft 90 is connected on upper runner 841 by bearing, the 4th rotary shaft 90 and wherein one institute
State the second rotary shaft 87 by connecting rod 91 to be connected, the 4th rotary shaft 90 and the second rotary shaft 87 rotation connection wherein described in one
In on connecting rod 91, the 4th rotary shaft 90 and coupled wherein one second rotary shaft 87 are positioned at the same side of installing plate 81
So that the runner 84 drives rectangular block 86 and connecting plate 82 to move by connecting rod 91.
The rectangular block 86 is included in the slow pressure cylinder 862 that slip shaft 861 and two ends are closed, the slow pressure cylinder 862
End face is provided with second spring 863, and other end is provided with the second through-hole 864, and the slip shaft 861 is penetrating through described second
Hole 864, the part that the slip shaft 861 is located in slow pressure cylinder 862 is provided with abutment plate 866, and the abutment plate 866 is resisted against second
On spring 863.
Also include the 3rd motor 97 being fixed on installing plate 81, the 3rd motor 97 is driven to drive by belt 98
Dynamic first rotary shaft 83 is so as to drive the lower runner 842 to rotate, and rectangular block 86 described in two is alternately past by the driving of the 3rd motor 97
It is protruding on the length direction of groove 85 again to play operation to carry out top.
When something unexpected happened, such as when rectangular block is stuck inactive, the steel ball on lower runner will be sliding out
Shallow slot on runner, and then electric signal can be sent to the 3rd motor, it is convenient to carry out shutdown inspection to fix a breakdown.As failure row
After removing, the 3rd motor works on, and the runner of lower runner can slip into the shallow slot of runner again, can continue normal work.
The motion that device coordinates robot is played on top, it is possible to achieve such as compression can be by compressor, due to being set in rectangular block
There is slow pressure cylinder, flexible top can be achieved and plays operation, protects by compressor, reduce it and damage probability, what alternately the top mode of beating was produced shakes
Dynamic effect can also make, by compressor more consolidation, to exclude unnecessary space；It can also realize and such as tenon is pressed into mortise,
More smooth in process of press in.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of architectural engineering solar-energy machine people, including frame, the frame is provided with four groups of walking mechanisms, described in four groups
Walking mechanism is respectively arranged at the front and back position of frame both sides, it is characterised in that the walking mechanism includes hollow shaft and solid
Axle, the hollow shaft sleeve is located at solid shafting outer ring, is connected between the hollow shaft and solid shafting by bearing, outside the hollow shaft
Circle is connected on the side wall of frame by bearing, and the outer ring of the hollow shaft is located at shell outside first support arm that is connected, institute
The two ends for stating solid shafting grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, and described the
One support arm and the second support arm are located at the both sides of hollow shaft axis respectively, and the outer end of first support arm is connected by rotating shaft
The 3rd support arm is connected to, the outer end of second supporting part is connected with the 4th support arm, the 3rd support arm by rotating shaft
The other end be connected with the other end of the 4th support arm by rotating shaft, in the hollow shaft be located at frame on the inside of at set
There is first gear, the side wall of the frame is provided with the first motor, and first motor is by meshed transmission gear in the first tooth
Wheel, the end that the solid shafting is located at on the inside of frame is provided with second gear, the side wall of the frame and is additionally provided with the second motor,
Second motor is by meshed transmission gear in second gear；
The medium position of the frame upper end is provided with solar energy equipment, and the solar energy equipment includes the rotation in frame
Axle, the rotary shaft is provided with above mounting bracket, the mounting bracket and is provided with the first connection unit, and first connection unit passes through
First connecting shaft rotates and is additionally provided with sliding axle mounting bracket below one solar energy mounting blocks of connection, the solar energy mounting blocks, described
Sliding axle mounting bracket is provided with sliding axle, and the sliding axle is provided with sliding sleeve, and the mounting bracket side is provided with lift arm mounting bracket,
The lift arm mounting bracket is provided with lift arm, and the lift arm upper end is provided with the second connection unit, second connection unit
The both sides of sliding sleeve are rotationally connected with by two the second connecting shafts, the solar energy mounting blocks are provided with solar panels.
Device is beaten in the front of the frame provided with top, and device is beaten on the top includes the installing plate and connecting plate in frame, institute
State installing plate and be connected with by bearing in the first rotary shaft, first rotary shaft and runner is installed, the runner includes mutually leaning on
Near upper runner and lower runner, the upper runner is rotationally connected with the first rotary shaft by bearing, the lower runner and first
Rotary shaft formation tight fit, the lower end of the lower runner is provided with stage portion, and the radial direction anchor ring of the stage portion is provided with external screw thread,
The lower runner is additionally provided with multiple the first through-hole being radially arranged, in each first through-hole provided with the first spring and
The steel ball abutted against with first spring, the part of the steel ball stretches out the end face of first through-hole, it is described under
Spring bearer plate is arranged with the stage portion of runner, the spring bearer plate is provided with the projection stretched into the first through-hole, described
Latch, spring bearer plate described in the latch contact are also bolted with rank portion so that projection is to spring pressure, the upper runner
The shallow hole being engaged with the steel ball is provided with the one side that lower runner mutually reclines；
The top surface of the installing plate is provided with the side of two parallel rectangular-shaped grooves, each described groove one end and installing plate
A rectangular block is provided with face flush, each groove, the top surface of each rectangular block is provided with one second rotary shaft, institute
Connecting plate is stated for elongate in shape, the center both sides on the length direction of the connecting plate are provided with symmetrical bar shaped groove, Mei Yisuo
State bar shaped groove to be sheathed on described in one in second rotary shaft, the middle part of the connecting plate is rotationally connected with institute by the 3rd rotary shaft
State on installing plate；The upper runner upper surface is provided with the 4th rotary shaft, the 4th rotary shaft and wherein one institute at outer rim
The second rotary shaft is stated by connecting rod to be connected；The rectangular block includes the slow pressure cylinder that slip shaft and two ends are closed, the slow pressure
End face in cylinder is provided with second spring, and other end is provided with the second through-hole, and the slip shaft passes through second through-hole,
The part that the slip shaft is located in slow pressure cylinder is provided with abutment plate, and the abutment plate is resisted against in second spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491225.5A CN107097204B (en) | 2017-06-26 | 2017-06-26 | Solar robot for building engineering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491225.5A CN107097204B (en) | 2017-06-26 | 2017-06-26 | Solar robot for building engineering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107097204A true CN107097204A (en) | 2017-08-29 |
| CN107097204B CN107097204B (en) | 2021-07-30 |
Family
ID=59663461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710491225.5A Active CN107097204B (en) | 2017-06-26 | 2017-06-26 | Solar robot for building engineering |
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| Country | Link |
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| CN (1) | CN107097204B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109226419A (en) * | 2018-10-17 | 2019-01-18 | 徐玲莉 | A kind of construction material processing multifunction environment-protection type equipment |
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| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| KR20020011709A (en) * | 2000-08-04 | 2002-02-09 | 김동훈 | multiple-legged walking apparatus |
| US20110240381A1 (en) * | 2008-03-18 | 2011-10-06 | Sarjoun Skaff | Efficient actuation and selective engaging and locking clutch mechanisms for reconfiguration and multiple-behavior locomotion of an at least two-appendage robot |
| CN103085070A (en) * | 2013-01-15 | 2013-05-08 | 上海交通大学 | Quadruped robot motion planning method for facing complex terrain |
| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| CN105730173A (en) * | 2016-05-06 | 2016-07-06 | 吉林大学 | Water, land, air and wall type quadruple robot |
| CN105856250A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Four-foot walking robot |
| CN205632713U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Active planetary gear train hinders robot chassis more |
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2017
- 2017-06-26 CN CN201710491225.5A patent/CN107097204B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| KR20020011709A (en) * | 2000-08-04 | 2002-02-09 | 김동훈 | multiple-legged walking apparatus |
| US20110240381A1 (en) * | 2008-03-18 | 2011-10-06 | Sarjoun Skaff | Efficient actuation and selective engaging and locking clutch mechanisms for reconfiguration and multiple-behavior locomotion of an at least two-appendage robot |
| CN103085070A (en) * | 2013-01-15 | 2013-05-08 | 上海交通大学 | Quadruped robot motion planning method for facing complex terrain |
| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| CN205632713U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Active planetary gear train hinders robot chassis more |
| CN105730173A (en) * | 2016-05-06 | 2016-07-06 | 吉林大学 | Water, land, air and wall type quadruple robot |
| CN105856250A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Four-foot walking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109226419A (en) * | 2018-10-17 | 2019-01-18 | 徐玲莉 | A kind of construction material processing multifunction environment-protection type equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107097204B (en) | 2021-07-30 |
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