CN107298138A - One kind building town road robot - Google Patents
One kind building town road robot Download PDFInfo
- Publication number
- CN107298138A CN107298138A CN201710611891.8A CN201710611891A CN107298138A CN 107298138 A CN107298138 A CN 107298138A CN 201710611891 A CN201710611891 A CN 201710611891A CN 107298138 A CN107298138 A CN 107298138A
- Authority
- CN
- China
- Prior art keywords
- frame
- support arm
- motor
- hollow shaft
- solid shafting
- 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.)
- Pending
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind building town road robot, 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 machinery equipment technical field, a kind of building town road robot 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；Other existing robot is needed without what can be walked but also can fly not only
Improve；The plumb joint malfunction filled in existing robot is, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of building town road robot, to solve prior art
Middle robot can not adapt to complicated landform and can walking robot can not fly, and the technical problem of plumb joint malfunction.
In order to solve the above technical problems, embodiments of the invention provide a kind of building town road robot, including machine
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, institute
Walking mechanism is stated including hollow shaft and solid shafting, the hollow shaft sleeve is located at solid shafting outer ring, the hollow shaft and solid shafting it
Between connected by bearing, the hollow shaft outer ring is connected on the side wall of frame by bearing, and the outer ring of the hollow shaft is located at
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 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 respectively, described
The outer end of 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
There is the 4th support arm, the other end of the 3rd support arm is connected with the other end of the 4th support arm by rotating shaft,
First gear is provided with being located in the hollow shaft on the inside of frame, the side wall of the frame is provided with the first motor, described first
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, institute
State and the second motor is additionally provided with the side wall of frame, second motor is by meshed transmission gear in second gear；
The corner of the frame upper end is respectively provided with a rotor driver, and the rotor driver includes the 5th electricity in frame
Machine, the rotor and the slip ring located at rotor border being connected with the 5th motor, it is described between slip ring and rotor have gap, it is described
5th motor drives rotor rotational, and the slip ring is provided with multiple assembly pulleys, and the assembly pulley includes two cunnings being correspondingly arranged
Wheel, the pulley is provided with annular groove, and the internal diameter formation rolling of the wherein annular groove of a pulley and the slip ring of the assembly pulley rubs
Wipe, the external diameter formation rolling friction of the annular groove and slip ring of another pulley, the pulley is connected on vertical pivot by bearing, described
Vertical pivot is in frame；
The front of the frame is provided with manipulator, and the manipulator is included in the housing being installed in frame, the housing
The 3rd motor and the 4th motor are installed with, the manipulator also includes a U-shaped frame, and the both ends of the U-shaped frame are laterally
Socket part is respectively extended vertically, shell one end portion both sides are rotationally connected with two socket parts of the U-shaped frame by bearing
Lateral surface on, described two socket part medial surfaces are rotatably connected to rotary shaft by bearing, and the rotary shaft is provided with actively
Rotated on gear, the middle part of the U-shaped frame and be provided with mechanical arm rotating shaft, the mechanical arm pivoted axis is located at same with U-shaped frame
In plane, the medial extremity in the mechanical arm rotating shaft positioned at U-shaped frame is used to be meshed with the driving gear provided with driven gear,
Outboard end in the mechanical arm rotating shaft positioned at U-shaped frame is provided with L-type mechanical arm, and the outer end of the L-type mechanical arm is provided with plumb joint,
Be additionally provided with the first belt pulley on the socket part, the 3rd motor by belt transmission in the first belt pulley, the rotary shaft
On be additionally provided with the second belt pulley, the 4th motor is by belt transmission in the second belt pulley.
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；Rotor driver is further provided with, robot flight use is available for, furthermore in rotor driver
Provided with slip ring, slip ring is that rotor can be protected not damaged, and can play correcting when walking to robot again, will not be direct
Go to hit wall；Due to provided with can flexible rotating manipulator be used for weld job, with practicality.
Brief description of the drawings
Fig. 1 is stereogram 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 the structure chart of the rotor driver of the present invention.
Fig. 9 is the structure chart of the manipulator of the present invention.
Figure 10 is the part-structure figure one of the manipulator of the present invention.
Figure 11 is the part-structure figure two of the manipulator of the present invention.
Figure 12 is the part-structure figure three of the manipulator 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, the embodiment of the present invention provides a kind of building town road robot, including horizontally disposed
Frame 1, the frame 1 is provided with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on the front and rear of the both sides of frame 1
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, institute
Stating 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 21
It is connected between solid shafting 22 by bearing (not shown), bearing is connected as prior art, and therefore not to repeat here, is connected by bearing
Connecing achievable hollow shaft 21 and solid shafting 22 and being coaxially disposed can mutually relatively rotate, and be independent of each other, the outer ring of hollow shaft 21 passes through
Bearing is connected on the side wall of frame 1, and the hollow shaft 21 is horizontally disposed with solid shafting 22, and the outer ring of the hollow shaft 21 is located at
The outside of frame 1 is connected the first support arm 23, and the two ends of the solid shafting 22 grow hollow shaft 21, the outer ring of the solid shafting 22
The second support arm 24 is provided with positioned at the outside of frame 1, the support arm 24 of the first support arm 23 and second is located at hollow shaft respectively
The both sides of 21 axis, the outer end of first support arm 23 is connected with the 3rd support arm 25, second support by rotating shaft 3
The outer end in portion 24 is connected with the 4th support arm 26, the other end and the described 4th of the 3rd support arm 25 by rotating shaft 3
The other end of support arm 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 be provided with the first motor 4, first motor 4 by meshed transmission gear in first gear 27, it is described
The end that solid shafting 22 is located at the inner side of frame 1 is provided with second gear 28, the side wall of the frame 1 and is additionally provided with the second motor 5,
Second motor 5 is by meshed transmission gear in second gear 28.First support arm 23, the support of the second support arm the 24, the 3rd
Arm 25, the 4th support arm 26 constitute the walking mechanism of a quadrangle, the connection of the 3rd support arm 25 and the 4th support arm 26
Locate as 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 be done
It is in the arc-shaped, it is more smooth when walking mechanism is touched with ground.
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 illustrated in figures 1 and 8, the corner of the upper end of frame 1 is respectively provided with a rotor driver 7, and the rotor driver 7 includes
The 5th motor 71 in frame 1, the rotor 72 and the slip ring 73 located at the border of rotor 72 being connected with the 5th motor 71, institute
Stating has gap between slip ring 73 and rotor 72, slip ring 73 is used to protect rotor 72 without damage, and the 5th motor 71 drives
Rotor 72 rotates makes frame 1 go up to the air so as to produce lift, and the slip ring 73 is provided with multiple assembly pulleys, at least shown in Fig. 8
2 groups, can also be more than 3 groups to improve stability, frame 1 can also not be the hollow frame structure shown on figure,
It can be a plate profile structure, therefore more assembly pulleys can be arranged in the upper surface of frame 1, the assembly pulley includes two
The pulley 74 being correspondingly arranged, the pulley 74 is provided with annular groove 741, the annular groove and cunning of a wherein pulley for the assembly pulley
The internal diameter formation rolling friction of ring 73, the annular groove of another pulley and the external diameter formation rolling friction of slip ring 73, the pulley 74
It is connected to by bearing on vertical pivot 75, the vertical pivot 75 is in frame 1.The pulley 74 of the assembly pulley is at grade.
The setting of slip ring 73 can prevent direct collision wall so that frame plays correcting in ground motion, when contacting wall,
Slip ring can be rolled, and can also play a part of protecting rotor in addition.
As shown in Fig. 1, Fig. 9 to Figure 12, the front of the frame 1 is provided with manipulator 8, and the manipulator 8 includes being installed on
The 3rd motor 82 and the 4th motor 83 are installed with housing 81 in frame 1, the housing 81, the manipulator 8 is also wrapped
A U-shaped frame 84 is included, the both ends of the U-shaped frame 84 have respectively extended vertically socket part 841, the one end two of housing 81 laterally
Side is rotationally connected with by bearing on the lateral surface of two socket parts 841 of the U-shaped frame 84, in described two socket parts 841
Side is rotatably connected to rotary shaft 85 by bearing, and the rotary shaft 85 is provided with driving gear 86, the middle part of the U-shaped frame 84
Upper rotate is provided with mechanical arm rotating shaft 87, and the axis of the mechanical arm rotating shaft 87 is generally aligned in the same plane interior, the machinery with U-shaped frame 84
Medial extremity in arm rotating shaft 87 positioned at U-shaped frame 84 is used to be meshed with the driving gear 86 provided with driven gear 88, the machine
Outboard end in tool arm rotating shaft 87 positioned at U-shaped frame 84 is provided with L-type mechanical arm 89, and the outer end of the L-type mechanical arm 89 is provided with welding
First 90, the first belt pulley 91 is additionally provided with the socket part 841, and the 3rd motor 82 is by belt transmission in the first belt pulley
91, the second belt pulley 92 is additionally provided with the rotary shaft 85, and the 4th motor 83 is by belt transmission in the second belt pulley 92.
The output end of 3rd motor 82 and the 4th motor 83 is located at phase heteropleural, in order to avoid interference.
Robot work principle is as follows：4th motor 83 drives driving wheel to rotate, and the 3rd motor 82 is remained stationary as, driving tooth
Wheel 86, which engages driven gear 88, rotates driven gear 88, therefore mechanical arm is rotated around mechanical arm pivoted axis；3rd motor
82 drive U-shaped frame 84 to rotate, and the 4th motor 83 is remained stationary as, and U-shaped frame driving mechanical arm rotating shaft is rotated around the axis of rotary shaft, together
When driven gear rotated by being influenceed under the pressure of fixed driving gear engagement so that mechanical arm rotating shaft is around its own axle
Line rotates；When the 3rd motor and the 4th motor synchronous axial system, i.e., when angular speed is identical, mechanical arm rotating shaft is only around rotary shaft
Axis rotate.Therefore it is engaged by the 3rd motor 82 and the 4th motor 83, achievable mechanical arm is spatially flexible
Motion.
Manipulator is installed in frame, and the operation of freedom and flexibility can be achieved, can reduce that instrument in traditional work is various to ask
Topic, with the feature of environmental protection.
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. one kind building town road robot, including frame, the frame is provided with four groups of walking mechanisms, row described in four groups
Walk mechanism to be 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 shafting,
The hollow shaft sleeve is located at solid shafting outer ring, is connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring
It is connected to by bearing on the side wall of frame, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, described
The two ends of 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 first
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
There is the 3rd support arm, the outer end of second supporting part is connected with the 4th support arm by rotating shaft, the 3rd support arm
The other end is connected with the other end of the 4th support arm by rotating shaft, is located in the hollow shaft at frame inner side and is provided with
First gear, the side wall of the frame is provided with the first motor, first motor by meshed transmission gear in first gear,
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, institute
The second motor is stated by meshed transmission gear in second gear；
The corner of the frame upper end is respectively provided with a rotor driver, the rotor driver include the 5th motor in frame,
The rotor and the slip ring located at rotor border being connected with the 5th motor, it is described that there is gap, described the between slip ring and rotor
Five motors drive rotor rotational, and the slip ring is provided with multiple assembly pulleys, and the assembly pulley includes two pulleys being correspondingly arranged,
The pulley is provided with annular groove, and the internal diameter of the wherein annular groove of a pulley and the slip ring of the assembly pulley forms rolling friction,
The external diameter formation rolling friction of the annular groove and slip ring of another pulley, the pulley is connected on vertical pivot by bearing, described perpendicular
It is located in frame；
The front of the frame is provided with manipulator, and the manipulator includes fixed in the housing being installed in frame, the housing
3rd motor and the 4th motor are installed, the manipulator also includes a U-shaped frame, and the both ends of the U-shaped frame are each laterally to hang down
Straight to be extended with socket part, shell one end portion both sides are rotationally connected with the outer of two socket parts of the U-shaped frame by bearing
On side, described two socket part medial surfaces are rotatably connected to rotary shaft by bearing, and the rotary shaft is provided with driving gear,
Rotated on the middle part of the U-shaped frame and be provided with mechanical arm rotating shaft, the mechanical arm pivoted axis is generally aligned in the same plane with U-shaped frame
Interior, the medial extremity in the mechanical arm rotating shaft positioned at U-shaped frame is used to be meshed with the driving gear provided with driven gear, described
Outboard end in mechanical arm rotating shaft positioned at U-shaped frame is provided with L-type mechanical arm, and the outer end of the L-type mechanical arm is provided with plumb joint, described
The first belt pulley is additionally provided with socket part, the 3rd motor, in the first belt pulley, is gone back by belt transmission in the rotary shaft
Provided with the second belt pulley, the 4th motor is by belt transmission in the second belt pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611891.8A CN107298138A (en) | 2017-07-25 | 2017-07-25 | One kind building town road robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611891.8A CN107298138A (en) | 2017-07-25 | 2017-07-25 | One kind building town road robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107298138A true CN107298138A (en) | 2017-10-27 |
Family
ID=60133988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710611891.8A Pending CN107298138A (en) | 2017-07-25 | 2017-07-25 | One kind building town road robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107298138A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217314A (en) * | 2019-07-03 | 2019-09-10 | 广东仙童智能机器人科技有限公司 | A kind of robot |
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| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN102107688A (en) * | 2011-03-24 | 2011-06-29 | 天津理工大学 | Dual-leg travelling mechanism with adjustable joint length |
| 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 |
| CN105196281A (en) * | 2015-11-11 | 2015-12-30 | 欢颜自动化设备（上海）有限公司 | Industrial six-axis robot terminal structure |
| CN105479482A (en) * | 2015-12-30 | 2016-04-13 | 大族激光科技产业集团股份有限公司 | Wrist of six-axis robot arm |
| CN105730173A (en) * | 2016-05-06 | 2016-07-06 | 吉林大学 | Water, land, air and wall type quadruple robot |
| CN205438611U (en) * | 2015-12-24 | 2016-08-10 | 欢颜自动化设备（上海）有限公司 | Terminal structure of industrial six axis robot |
| CN205554361U (en) * | 2016-05-06 | 2016-09-07 | 吉林大学 | Modularization flight wall climbing robot |
| CN205632713U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Active planetary gear train hinders robot chassis more |
| CN205968396U (en) * | 2016-08-10 | 2017-02-22 | 东莞市家宝园林绿化有限公司 | Engine dismouting upset anchor clamps |
-
2017
- 2017-07-25 CN CN201710611891.8A patent/CN107298138A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN102107688A (en) * | 2011-03-24 | 2011-06-29 | 天津理工大学 | Dual-leg travelling mechanism with adjustable joint length |
| 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 |
| CN105196281A (en) * | 2015-11-11 | 2015-12-30 | 欢颜自动化设备（上海）有限公司 | Industrial six-axis robot terminal structure |
| CN205438611U (en) * | 2015-12-24 | 2016-08-10 | 欢颜自动化设备（上海）有限公司 | Terminal structure of industrial six axis robot |
| CN105479482A (en) * | 2015-12-30 | 2016-04-13 | 大族激光科技产业集团股份有限公司 | Wrist of six-axis robot arm |
| 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 |
| CN205554361U (en) * | 2016-05-06 | 2016-09-07 | 吉林大学 | Modularization flight wall climbing robot |
| CN205968396U (en) * | 2016-08-10 | 2017-02-22 | 东莞市家宝园林绿化有限公司 | Engine dismouting upset anchor clamps |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217314A (en) * | 2019-07-03 | 2019-09-10 | 广东仙童智能机器人科技有限公司 | A kind of robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171027 |
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| RJ01 | Rejection of invention patent application after publication |