CN107826174A - A kind of afforestation walking robot - Google Patents
A kind of afforestation walking robot Download PDFInfo
- Publication number
- CN107826174A CN107826174A CN201711243536.6A CN201711243536A CN107826174A CN 107826174 A CN107826174 A CN 107826174A CN 201711243536 A CN201711243536 A CN 201711243536A CN 107826174 A CN107826174 A CN 107826174A
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- China
- Prior art keywords
- gear
- rotating shaft
- rotary shaft
- rocking bar
- frame
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of afforestation walking robot, including frame, the first rotary shaft is sequentially provided with direction from front to back along same level in the frame, second rotary shaft, 3rd rotary shaft, 4th rotary shaft, first rotary shaft, the side of second rotary shaft is connected with first walking mechanism, opposite side is connected with the second walking mechanism, 3rd rotary shaft, the side of 4th rotary shaft is connected with the third line and walks mechanism, opposite side is connected with fourth line and walks mechanism, the first walking mechanism includes being vertically connected at first crank of first rotary shaft one end, it is vertically connected at second crank of second rotary shaft one end, first crank, second crank is isometric and parallel, the other end of first crank and the second crank is connected by first connecting rod.The robot of the present invention realizes walking function by the output can of single motor, reasonable in design；Robot device motion variation, can meet several work demand.
Description
Technical field
The present invention relates to robotic technology field, particularly relates to a kind of afforestation walking robot.
Background technology
The walking mechanism complex structural designs of prior art could drive robot to advance, it is necessary to which multiple motors coordinate, into
This height；Other manipulator flexibility is inadequate, and structure design is unreasonable, it is difficult to adapts to job task.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of afforestation walking robot, to solve prior art
Middle walking mechanism complex structural designs could drive robot to advance, it is necessary to which multiple motors coordinate, and cost is high；Other manipulator spirit
Active inadequate, structure design is unreasonable, it is difficult to adapts to the technical problem of job task.
In order to solve the above technical problems, embodiments of the invention provide a kind of afforestation walking robot, including machine
Frame, in the frame along same level be sequentially provided with from front to back on direction the first rotary shaft, the second rotary shaft, the 3rd turn
Moving axis, the 4th rotary shaft, first rotary shaft, the side of the second rotary shaft are connected with first walking mechanism, opposite side connection
There is the second walking mechanism, the 3rd rotary shaft, the side of the 4th rotary shaft are connected with the third line and walk mechanism, and opposite side is connected with
Fourth line walks mechanism, and the first walking mechanism includes the first crank, the vertical connection for being vertically connected at first rotary shaft one end
The second crank in second rotary shaft one end, first crank, the second crank are isometric and parallel, first crank and second
The other end of crank is connected by first connecting rod, and the both ends of the first connecting rod are also rotatably connected to preceding rocking bar and rear rocking bar, institute
State preceding rocking bar and rear rocking bar is isometric and be arranged in parallel, the preceding rocking bar is connected with the other end of rear rocking bar by second connecting rod, institute
State second connecting rod to be located above first connecting rod, the preceding rocking bar is close to frame front end, and the middle part of the second connecting rod is vertically downward
Support bar is connected with, landing part, the knot of first, second, third, fourth walking mechanism are connected with the support bar lower end
Structure is identical, is connected in the middle part of the preceding rocking bar in the first walking mechanism by the first guide rod at frame front end, second row
Walk and be connected in the middle part of the preceding rocking bar in mechanism by the second guide rod at frame front end, described the third line is walked in the rear rocking bar in mechanism
Portion is connected to frame rear end by the 3rd guide rod, and the fourth line is walked to be connected in the middle part of the rear rocking bar in mechanism by the 4th guide rod
In frame rear end, the central rack is provided with movable motor, and the output end of the movable motor is connected to by belt wheel transmission
Second, third rotary shaft, second rotary shaft are connected to the first rotary shaft by belt wheel transmission, and the 3rd rotary shaft passes through
Belt wheel transmission is connected to the 4th rotary shaft；
Monitor camera device is additionally provided with the frame, the monitor camera device includes shell, camera, fixed bottom
Plate, camera locking nut, the first trace, Circular Sliding groove, the first locking rotating shaft, the first locking knob, connection rotating shaft, the
Two locking rotating shafts, the second locking knob, the second trace, fixing nut, ball chain connect, support chassis；The support chassis is fixed
Installation is connect by ball chain in frame, in the support chassis and is provided with the second trace, second trace with it is described
Fixing nut is provided between support chassis to be used to lock the second trace；Second trace is connected with by connection rotating shaft
One trace, the one end of first trace away from the connection rotating shaft, which is fixedly mounted, is provided with shell, and the enclosure is consolidated
Dingan County is equiped with camera, is fixedly connected between the shell and first trace provided with fixed bottom plate, the fixed bottom
It is fixedly connected between plate and first trace provided with camera locking nut；The first lock is provided with the middle part of first trace
Tight rotating shaft, the second trace middle part are provided with the second locking rotating shaft, connected in the first locking rotating shaft and the second locking rotating shaft
Circular Sliding groove is connected to, is locked between the first locking rotating shaft and Circular Sliding groove by the first locking knob, described second
Lock used second locking knob locking between rotating shaft and Circular Sliding groove.
The frame front end is provided with robot device, and the robot device includes the rotating shaft installation being fixed in frame
, rotated successively from outside to inside in the rotating shaft mounting seat and be socketed with first rotating shaft, the second rotating shaft, the 3rd rotating shaft, described first
The front end of rotating shaft is provided with runing rest, and the both ends of the runing rest are rotatably connected to first gear and second gear respectively, institute
It is parallel with second gear and be oppositely arranged to state first gear, the front end of second rotating shaft is fixedly connected with the 3rd gear, described
3rd gear and the perpendicular setting of first gear and engaged transmission, the first gear is identical with the 3rd gear shape, and described the
The front end of three rotating shafts is fixedly connected with the 4th gear, the 4th gear and the perpendicular setting of second gear and engaged transmission, institute
The bottom for stating first gear is connected with manipulator rotary shaft rack, and the 4th rotating shaft is rotatably connected on the manipulator rotary shaft rack,
The medial extremity of 4th rotating shaft is provided with the 5th gear, and outboard end is provided with manipulator, and the 5th gear mutually hangs down with second gear
Straight to set and engaged transmission, the second gear, the 4th gear, the 5th gear shape are identical, the first rotating shaft, second turn
Axle, the rear end of the 3rd rotating shaft are respectively equipped with a travelling gear, and each travelling gear engages a driving rack, each biography
Carry-over bar is driven by a cylinder so that the driving rack moves along a straight line back and forth.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, robot of the invention realizes walking function, structure design by the output can of single motor
Rationally；Robot device motion variation, can meet several work demand.
Brief description of the drawings
Fig. 1 is the state diagram one of the walking mechanism of the present invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the part-structure figure one of the walking mechanism of the present invention.
Fig. 4 is the part-structure figure two of the walking mechanism of the present invention.
Fig. 5 is the state diagram two of the walking mechanism of the present invention.
Fig. 6 is the state diagram three of the walking mechanism of the present invention.
Fig. 7 is the movement locus figure of the walking mechanism of the present invention.
Fig. 8 is the robot device of the present invention and the installation diagram of reducing mechanism.
Fig. 9 is the structure chart of the robot device of the present invention.
Figure 10 is the Structure explosion diagram of the robot device of the present invention.
Figure 11 is the structure chart of the reducing mechanism 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 side is in Fig. 1, after right side is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of afforestation walking robot, including frame 100,
The first rotary shaft 31, the second rotary shaft 32, are sequentially provided with direction from front to back along same level in the frame 100
Three rotary shafts 33, the 4th rotary shaft 34, first rotary shaft 31, the side of the second rotary shaft 32 are connected with first walking mechanism
35, opposite side is connected with the second walking mechanism 36, and the 3rd rotary shaft 33, the side of the 4th rotary shaft 34 are connected with the third line
Mechanism 37 is walked, opposite side is connected with fourth line and walks mechanism 38, and the first walking mechanism 35 includes being vertically connected at the first rotation
First crank 41 of the one end of axle 31, the second crank 42 for being vertically connected at the one end of the second rotary shaft 32, first crank 41,
Two cranks 42 are isometric and parallel, and first crank 41 is connected with the other end of the second crank 42 by first connecting rod 43, described
The both ends of first connecting rod 43 are also rotatably connected to preceding rocking bar 44 and rear rocking bar 45, and the preceding rocking bar 44 and rear rocking bar 45 are isometric and flat
Row is set, and the preceding rocking bar 44 is connected with the other end of rear rocking bar 45 by second connecting rod 46, and the second connecting rod 46 is located at the
The top of one connecting rod 43, the preceding rocking bar 44 are connected with branch vertically downward close to the front end of frame 100, the middle part of the second connecting rod 46
Strut 47, landing part 48 is connected with the lower end of support bar 47；The structure of first, second, third, fourth walking mechanism
Identical, the middle part of preceding rocking bar 44 in the first walking mechanism 35 is connected at the front end of frame 100 by the first guide rod 51, described
The middle part of preceding rocking bar 44 in second walking mechanism 36 is connected at the front end of frame 100 by the second guide rod 52, and described the third line is walked
The middle part of rear rocking bar 45 in mechanism 37 is connected to the rear end of frame 100 by the 3rd guide rod 53, and the fourth line is walked in mechanism 38
The middle part of rear rocking bar 45 rear end of frame 100 is connected to by the 4th guide rod 54, crank and rotary shaft are fixedly linked, connecting rod, led
Bar both ends are rotation connection, and the middle part of frame 100 is provided with movable motor 30, and the output end of the movable motor 30 passes through band
Wheel is connected is connected to the first rotary shaft 31, institute in second, third rotary shaft, second rotary shaft 32 by belt wheel transmission
State the 3rd rotary shaft 33 and the 4th rotary shaft 34, therefore first, second, third and fourth rotary shaft synchronous axial system are connected to by belt wheel transmission；
The length of four guide rods is identical, and the length of preceding rocking bar 44 is more than the length of the first guide rod 51, and the length of the first guide rod 51 is more than the
The length of one connecting rod 43, the length of first connecting rod 43 are more than the length of the first crank 41.First guide rod length is the one of preceding rocking bar
Half.The initial rotation angle that first walking mechanism and the third line walk mechanism is identical, and the second walking mechanism and fourth line walk mechanism
Initial rotation angle is identical, and the initial rotation angle of first walking mechanism and the second walking mechanism differs 180 °.
Line, the first crank, the second crank, first connecting rod between first rotary shaft and the second rotary shaft form one and put down
Row quadrangular mechanism, first connecting rod, the first rocking bar, the second rocking bar, second connecting rod form another parallel-crank mechanism.
As shown in figure 1, being shown as first walking mechanism and fourth line walks that mechanism is liftoff, and the second walking mechanism and the third line are walked
Mechanism lands；As shown in figure 5, movable motor drives each rotary shaft to rotate counterclockwise, the landing part in four walking mechanisms is same
When it is of short duration contact to earth, complete alternating movement, the walking manner of similar doggie realized, as shown in fig. 6, the second walking mechanism and the 3rd
Walking mechanism is liftoff, and first walking mechanism and fourth line are walked mechanism and landed.
As shown in fig. 7, dotted line is the movement locus of landing part in figure, mark 49 is ground, and single landing part 48 is landing
Move from the front to the back afterwards, drive frame 100 to advance, then liftoff soar travels forward at rear, and forefront lands again.
As shown in Fig. 8 to Figure 10, the front end of frame 100 is provided with robot device 10, and the robot device 10 includes
The rotating shaft mounting seat 11 being fixed in frame 100, rotate successively from outside to inside in the rotating shaft mounting seat 11 and be socketed with first turn
Axle 12, the second rotating shaft 13, the 3rd rotating shaft 14, i.e. first rotating shaft 12, the second rotating shaft 13, the 3rd rotating shaft 14 are coaxially disposed, the 3rd turn
Axle 14 is rotated and is arranged in the second rotating shaft 13, and the second rotating shaft 13 is rotated and is arranged in first rotating shaft 12, and first rotating shaft 12 is rotated and set
Be placed in rotating shaft mounting seat 11, between the 3rd rotating shaft 14 and the second rotating shaft 13, between the second rotating shaft 13 and first rotating shaft 12, first
Can be rotatedly connected between rotating shaft 12 and rotating shaft mounting seat 11 by bearing (not shown) so that first rotating shaft 12, the second rotating shaft 13,
The rotation of 3rd rotating shaft 14 is non-interference, and the length of the 3rd rotating shaft 14 is more than the length of the second rotating shaft 13, the length of the second rotating shaft 13
For degree more than the length of first rotating shaft 12, the front end of the first rotating shaft 12 is provided with runing rest 15, and the two of the runing rest 15
End is rotatably connected to first gear 16 and second gear 17 respectively, and the first gear 16 is parallel with second gear 17 and sets relatively
To put, the front end of second rotating shaft 13 is fixedly connected with the 3rd gear 18, i.e. the second rotating shaft 13 and the synchronous axial system of the 3rd gear 18,
3rd gear 18 and 16 perpendicular setting of first gear and engaged transmission, the first gear 16 and the shape of the 3rd gear 18
Identical, the front end of the 3rd rotating shaft 14 is fixedly connected with the 4th gear 19, i.e. the 3rd rotating shaft 14 and synchronous turn of the 4th gear 19
Dynamic, the 4th gear 19 and 17 perpendicular setting of second gear and engaged transmission, the bottom of the first gear 16 is connected with
Manipulator rotary shaft rack 20, manipulator rotary shaft rack 20 and the synchronous axial system of first gear 16, on the manipulator rotary shaft rack 20
The 4th rotating shaft 21 is rotatably connected to, the 4th rotating shaft 21 is coaxially disposed with the 3rd rotating shaft 14, and the medial extremity of the 4th rotating shaft 21 is set
There is the 5th gear 22, outboard end is provided with manipulator 23, the 5th gear 22 setting perpendicular with second gear 17 and engages biography
Dynamic, the second gear 17, the 4th gear 19, the shape of the 5th gear 22 are identical, the first rotating shaft 12, the second rotating shaft 13, the
The rear end of three rotating shafts 14 is respectively equipped with a travelling gear 24, and each travelling gear 24 engages a driving rack 25, Mei Yisuo
Driving rack 25 is stated by cylinder driving (not shown) so that the driving rack 25 moves along a straight line back and forth.Motion principle is as follows：
When three axis of rotation is operated alone, by the transmission of the 4th gear, second gear, the 5th next round, make the 4th rotating shaft rotation, its
Rotation direction is opposite with the rotation direction of the 3rd rotating shaft；When the second axis of rotation is operated alone, pass through the 3rd gear, first gear
Transmission, and second gear, the engagement of the 5th gear, the 4th rotating shaft is moved on horizontal plane direction and make the 4th rotating shaft from
Turn；When first rotating shaft rotation is operated alone, runing rest rotates, and drives second gear motion, passes through second gear, the 5th
The transmission of gear, makes the 4th rotating shaft move obliquely upward, is concurrently born from and turns；, can when driving the 3rd rotating shaft and the second rotating shaft simultaneously
The 4th rotating shaft is moved on horizontal plane direction, and rotation does not occur；Therefore robot device motion variation, can meet a variety of
Job requirements.Manipulator can have beta pruning instrument, picker etc. multiple types of tools, and this is not restricted.
As shown in Figure 8 and Figure 11, reducing mechanism 7 is additionally provided with the frame 100, the reducing mechanism 7 includes being located at machine
Bottom plate 71 on frame 100, the upside of the bottom plate 71 are provided with motor supporting table 72, and the upper end of the motor supporting table 72 is provided with
Motor 73 is crushed, the upside of the bottom plate 71 is additionally provided with some pillars 74, and the upper end of the pillar 74 is provided with crush box 75, described
The downside of crush box 75 is provided with discharging opening 76, and uviol lamp 77, the discharging opening are provided with left and right sides of the inside of the discharging opening 76
76 lower end is provided with material storing box 78, and the upper and lower part of the crush box 75 is equipped with a crushing rotating shaft 79, the powder of bottom
Broken one end of rotating shaft 79 is connected with crushing the output end of motor 73, and the crushing rotating shaft 79 on top is electric with crushing by conveyer belt 80
Machine 73 connects, and two outsides for crushing rotating shaft 79 are equipped with some crushing knife tools 81, the crushing rotating shaft 79 on top
Crushing knife tool 81 and the crushing knife tool 81 of the crushing rotating shaft 79 of bottom shift to install, the top of the crush box 75 be provided with into
Expects pipe 82, the upper end of the feed pipe 82 are provided with feed hopper 83.The crushing knife tool shifted to install can crush more thoroughly, carry
High crush efficiency.
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 (2)
1. a kind of afforestation walking robot, including frame, it is characterised in that in the frame along same level from
Rear is gone to be sequentially provided with the first rotary shaft, the second rotary shaft, the 3rd rotary shaft, the 4th rotary shaft upwards, described first rotates
Axle, the side of the second rotary shaft are connected with first walking mechanism, and opposite side is connected with the second walking mechanism, and the described 3rd rotates
Axle, the side of the 4th rotary shaft are connected with the third line and walk mechanism, and opposite side is connected with fourth line and walks mechanism, first vehicle with walking machine
Structure includes the first crank for being vertically connected at first rotary shaft one end, the second crank for being vertically connected at second rotary shaft one end,
First crank, the second crank are isometric and parallel, and the other end of first crank and the second crank passes through first connecting rod phase
Even, the both ends of the first connecting rod are also rotatably connected to preceding rocking bar and rear rocking bar, and the preceding rocking bar is isometric and parallel with rear rocking bar
Setting, the preceding rocking bar is connected with the other end of rear rocking bar by second connecting rod, and the second connecting rod is located above first connecting rod,
The preceding rocking bar is connected with support bar, the support bar lower end vertically downward close to frame front end, the middle part of the second connecting rod
Place is connected with landing part, and the structure of first, second, third, fourth walking mechanism is identical, in the first walking mechanism
It is connected in the middle part of preceding rocking bar by the first guide rod at frame front end, passes through second in the middle part of the preceding rocking bar in second walking mechanism
Guide rod is connected at frame front end, and the rear rocking bar middle part that described the third line is walked in mechanism is connected to frame rear end by the 3rd guide rod
Place, the rear rocking bar middle part that the fourth line is walked in mechanism are connected to frame rear end by the 4th guide rod, and the central rack is set
There is movable motor, the output end of the movable motor is connected to second, third rotary shaft by belt wheel transmission, and described second rotates
Axle is connected to the first rotary shaft by belt wheel transmission, and the 3rd rotary shaft is connected to the 4th rotary shaft by belt wheel transmission；
Reducing mechanism is additionally provided with the frame, the reducing mechanism includes the bottom plate in frame, the upside of the bottom plate
Provided with motor supporting table, the upper end of the motor supporting table is provided with crushing motor, if being additionally provided with the Heavenly Stems and Earthly Branches on the upside of the bottom plate
Post, the upper end of the pillar are provided with crush box, and the downside of the crush box is provided with discharging opening, the inside of the discharging opening or so two
Side is provided with uviol lamp, and the lower end of the discharging opening is provided with material storing box, and the upper and lower part of the crush box is equipped with a crushing and turned
Axle, described crushing rotating shaft one end of bottom are connected with crushing the output end of motor, and the crushing rotating shaft on top passes through conveyer belt
With crushing motor connection, two described crush are equipped with some crushing knife tools on the outside of rotating shaft, the crushing rotating shaft on top
The crushing knife tool of the crushing rotating shaft of crushing knife tool and bottom shifts to install, and the top of the crush box is provided with feed pipe, institute
The upper end for stating feed pipe is provided with feed hopper.
2. frame according to claim 1, it is characterised in that the frame front end is provided with robot device, the machinery
Arm device includes the rotating shaft mounting seat being fixed in frame, is rotated successively from outside to inside in the rotating shaft mounting seat and is socketed with first
Rotating shaft, the second rotating shaft, the 3rd rotating shaft, the front end of the first rotating shaft are provided with runing rest, the both ends difference of the runing rest
First gear and second gear are rotatably connected to, the first gear is parallel with second gear and is oppositely arranged, described second turn
The front end of axle is fixedly connected with the 3rd gear, the 3rd gear and the perpendicular setting of first gear and engaged transmission, and described the
One gear and the 3rd gear shape are identical, and the front end of the 3rd rotating shaft is fixedly connected with the 4th gear, the 4th gear and
The perpendicular setting of second gear and engaged transmission, the bottom of the first gear are connected with manipulator rotary shaft rack, the machinery
The 4th rotating shaft is rotatably connected on hand rotary shaft rack, the medial extremity of the 4th rotating shaft is provided with the 5th gear, and outboard end is provided with machine
Tool hand, the 5th gear and the perpendicular setting of second gear and engaged transmission, the second gear, the 4th gear, the 5th tooth
Wheel shape is identical, and the first rotating shaft, the second rotating shaft, the rear end of the 3rd rotating shaft are respectively equipped with a travelling gear, each biography
Moving gear engage a driving rack, each driving rack drive by a cylinder so that the driving rack back and forth straight line fortune
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243536.6A CN107826174A (en) | 2017-11-30 | 2017-11-30 | A kind of afforestation walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243536.6A CN107826174A (en) | 2017-11-30 | 2017-11-30 | A kind of afforestation walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107826174A true CN107826174A (en) | 2018-03-23 |
Family
ID=61646945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711243536.6A Withdrawn CN107826174A (en) | 2017-11-30 | 2017-11-30 | A kind of afforestation walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107826174A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111302004A (en) * | 2020-03-06 | 2020-06-19 | 熊星 | Movable automatic cement pouring device based on conveyor belt |
| CN115653316A (en) * | 2022-11-15 | 2023-01-31 | 中铁九局集团有限公司 | Reinforcing mesh binding robot and binding method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203831396U (en) * | 2014-05-12 | 2014-09-17 | 台州学院 | Mechanical arm device |
| CN205146367U (en) * | 2015-08-31 | 2016-04-13 | 李和良 | Pulverizer |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
-
2017
- 2017-11-30 CN CN201711243536.6A patent/CN107826174A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203831396U (en) * | 2014-05-12 | 2014-09-17 | 台州学院 | Mechanical arm device |
| CN205146367U (en) * | 2015-08-31 | 2016-04-13 | 李和良 | Pulverizer |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111302004A (en) * | 2020-03-06 | 2020-06-19 | 熊星 | Movable automatic cement pouring device based on conveyor belt |
| CN115653316A (en) * | 2022-11-15 | 2023-01-31 | 中铁九局集团有限公司 | Reinforcing mesh binding robot and binding method thereof |
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| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180323 |
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| DD01 | Delivery of document by public notice |
Addressee: Ding Xiu Zhen Document name: Notification of Approving Refund |