CN107972004A - Law enforcement field gathers mobile robot - Google Patents
Law enforcement field gathers mobile robot Download PDFInfo
- Publication number
- CN107972004A CN107972004A CN201711457726.8A CN201711457726A CN107972004A CN 107972004 A CN107972004 A CN 107972004A CN 201711457726 A CN201711457726 A CN 201711457726A CN 107972004 A CN107972004 A CN 107972004A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixedly connected
- gear
- bevel gear
- law enforcement
- 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.)
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Classifications
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of law enforcement field to gather mobile robot, including bottom plate, the lower surface of the bottom plate is fixedly connected with two the first fixed links, and the opposite face of two the first fixed links is fixedly connected with the left and right sides of first driving means respectively, the first driving means are engaged with second bevel gear, the inner surface of second bevel gear is connected with first rotating shaft, the surface of first rotating shaft is connected with two runners, and two runners are located at the left and right sides of second bevel gear respectively, the surface of first rotating shaft is socketed with two clutch shaft bearings, and two clutch shaft bearings are respectively engaged with the opposite face of two baffles.The law enforcement field gathers mobile robot, pass through the mutual cooperation between the first motor, first bevel gear, second bevel gear, first rotating shaft, runner, the second motor, first gear, second gear, the second shaft, movable plate and camera, law enforcement field is acquired so that robot moves, so as to facilitate the work of staff.
Description
Technical field
The present invention relates to robotic technology field, is specially a kind of law enforcement field collection mobile robot.
Background technology
Robot is the installations of automated execution work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, such as production industry, construction industry and the work of danger.
With the development of science and technology, robot is gradually applied in every field, the collection of traditional law enforcement field is all work people
Member holds camera and scene is acquired, and this mode is time-consuming and laborious, not only increases the working strength of staff, also drops
The low work efficiency of staff, so that the work to staff is made troubles, therefore, work can be substituted by being badly in need of one kind
The robot of the law enforcement field collection movement of person works.
The content of the invention
(1) technical problem solved
In view of the deficiencies of the prior art, the present invention provides a kind of law enforcement field gather mobile robot, solve with
The development of science and technology, robot is gradually applied in every field, and the collection of traditional law enforcement field is all that staff holds camera
Scene is acquired, this mode is time-consuming and laborious, not only increases the working strength of staff, also reduces staff
Work efficiency so that the work to staff is made troubles, therefore, be badly in need of a kind of to substitute holding for staff's work
The problem of robot of method collection in worksite movement.
(2) technical solution
To achieve the above object, the present invention provides following technical solution：A kind of law enforcement field gathers mobile robot, including
Bottom plate, the lower surface of the bottom plate are fixedly connected with two the first fixed links, and the opposite face of two the first fixed links respectively with
The left and right sides of first driving means are fixedly connected, and the first driving means are engaged with second bevel gear, second cone
The inner surface of gear is connected with first rotating shaft, and the surface of the first rotating shaft is connected with two runners, and two runner difference positions
In the left and right sides of second bevel gear, the surface of the first rotating shaft is socketed with two clutch shaft bearings, and two clutch shaft bearings point
The opposite face of two baffles is not connected to, and the upper surface of two baffles is fixedly connected with the lower surface of bottom plate, the bottom plate
Upper surface be fixedly connected with two the second fixed links, and the opposite face of two the second fixed links respectively with the second driving device
Left and right sides are fixedly connected, and second driving device is engaged with second gear, and the inner surface of the second gear is connected with
Second shaft, the surface of second shaft are respectively sleeved on second bearing and 3rd bearing, and the second bearing is connected to bottom
The upper surface of plate, the 3rd bearing are connected to the lower surface of fixed plate, and the lower surface of the fixed plate passes through supporting rod and bottom
The upper surface of plate is fixedly connected, and the top of second shaft is fixedly connected with movable plate, and the upper surface of the movable plate is fixed
Robot body is connected with, the lower surface of the movable plate is fixedly connected with camera, and the camera is located at the right side of fixed plate
Side, the lower surface of the bottom plate are fixedly connected with pulley, and the pulley is located at the front of first driving means.
Preferably, the first driving means include the first motor, the left and right sides difference of first motor body
It is fixedly connected with the opposite face of two the first fixed links, the output shaft of first motor is fixedly connected with first bevel gear, institute
First bevel gear is stated to engage with second bevel gear.
Preferably, second driving device includes the second motor, the left and right sides difference of second motor body
It is fixedly connected with the opposite face of two the second fixed links, the output shaft of second motor is fixedly connected with first gear, described
First gear is engaged with second gear.
Preferably, the quantity of the supporting rod is four, and four supporting rods are located at the corner of fixed plate lower surface respectively
Place.
Preferably, the upper surface of the bottom plate is respectively arranged with storage battery and switch, and the upper surface of the storage battery is with opening
The lower surface of pass is fixedly connected.
Preferably, the output terminal of the storage battery is electrically connected with the input terminal switched, the output terminal of the switch respectively with
The input terminal of first motor and the second motor is electrically connected.
(3) beneficial effect
The present invention provides a kind of law enforcement field to gather mobile robot, possesses following beneficial effect：
(1), law enforcement field collection mobile robot, passes through the first motor, first bevel gear, second bevel gear, first
Mutual cooperation between shaft, runner, the second motor, first gear, second gear, the second shaft, movable plate and camera, makes
Obtaining the work of the second motor drives first gear to rotate, and first gear drives second gear rotation, and second gear passes through the second shaft
Movable plate and camera is driven to rotate, after camera is regulated so that the work of the first motor drives first bevel gear to rotate, the
One bevel gear drives second bevel gear to rotate, and second bevel gear drives runner to rotate by first rotating shaft, so that robot
Move and law enforcement field is acquired, so as to facilitate the work of staff.
(2), law enforcement field collection mobile robot, passes through the phase interworking between first rotating shaft, clutch shaft bearing and runner
Close so that first rotating shaft rotates more steady in clutch shaft bearing, so that first rotating shaft drives runner to rotate more
Steadily.
(3), law enforcement field collection mobile robot, by the mutual cooperation between the first fixed link and the first motor,
So that the fixation of the first motor is more stablized, the rotation of fuselage when working so as to avoid the first motor, so that the first electricity
The working status of machine is more stablized, and which has a compact structure and a reasonable design of the present invention, highly practical.
Brief description of the drawings
Fig. 1 is the cross-sectional view that the present invention faces；
Fig. 2 is the structure diagram that the present invention faces.
In figure：1 bottom plate, 2 first fixed links, 3 first driving means, 31 first motors, 32 first bevel gears, 4 second cones
Gear, 5 first rotating shafts, 6 runners, 7 clutch shaft bearings, 8 baffles, 9 second fixed links, 10 second driving devices, 101 second motors,
102 first gears, 11 second gears, 12 second shafts, 13 second bearings, 14 3rd bearings, 15 fixed plates, 16 supporting rods, 17
Movable plate, 18 cameras, 19 robot bodies, 20 storage batteries, 21 switches, 22 pulleys.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
As shown in Figs. 1-2, the present invention provides a kind of technical solution：A kind of law enforcement field gathers mobile robot, including bottom
Plate 1, the lower surface of bottom plate 1 are fixedly connected with two the first fixed links 2, and the opposite face of two the first fixed links 2 is respectively with
The left and right sides of one driving device 3 are fixedly connected, and by the mutual cooperation between the first fixed link 2 and the first motor 31, are made
The fixation for obtaining the first motor 31 is more stablized, the rotation of fuselage when working so as to avoid the first motor 31, so that first
The working status of motor 31 is more stablized, and first driving means 3 are engaged with second bevel gear 4, and first driving means 3 include first
Motor 31, the opposite face of the left and right sides of 31 fuselage of the first motor respectively with two the first fixed links 2 are fixedly connected, the first electricity
The output shaft of machine 31 is fixedly connected with first bevel gear 32, and first bevel gear 32 is engaged with second bevel gear 4, by setting first
Driving device 3 so that the work of the first motor 31 drives first bevel gear 32 to rotate, and first bevel gear 32 drives second bevel gear 4
Rotate, second bevel gear 4 drives runner 6 to rotate by first rotating shaft 5, and law enforcement field is carried out so that robot moves
Collection, the inner surface of second bevel gear 4 are connected with first rotating shaft 5, and the surface of first rotating shaft 5 is connected with two runners 6, and two
Runner 6 is located at the left and right sides of second bevel gear 4 respectively, and the surface of first rotating shaft 5 is socketed with two clutch shaft bearings 7, and two
Clutch shaft bearing 7 is respectively engaged with the opposite face of two baffles 8, by mutual between first rotating shaft 5, clutch shaft bearing 7 and runner 6
Coordinate so that first rotating shaft 5 rotates more steady in clutch shaft bearing 7, so that first rotating shaft 5 drives runner 6 to rotate
It is more steady, and lower surface of the upper surface of two baffles 8 with bottom plate 1 is fixedly connected, and the upper surface of bottom plate 1 is fixedly connected
There are two the second fixed links 9, and left and right sides of the opposite face of two the second fixed links 9 respectively with the second driving device 10 are consolidated
Fixed connection, passes through the mutual cooperation between the second fixed link 9 and the second motor 101 so that the fixation of the second motor 101 is more steady
It is fixed, the rotation of fuselage when working so as to avoid the second motor 101, so that the working status of the second motor 101 is more steady
Fixed, the second driving device 10 is engaged with second gear 11, and the second driving device 10 includes the second motor 101,101 machine of the second motor
Opposite face of the left and right sides of body respectively with two the second fixed links 9 is fixedly connected, and the output shaft of the second motor 101, which is fixed, to be connected
First gear 102 is connected to, first gear 102 is engaged with second gear 11, by setting the second driving device 10 so that the second electricity
The work of machine 101 drives first gear 102 to rotate, and first gear 102 drives second gear 11 to rotate, and second gear 11 passes through second
Shaft 12 drives movable plate 17 and camera 18 to rotate, so as to camera 18 be adjusted, the inner surface card of second gear 11
The second shaft 12 is connected to, the surface of the second shaft 12 is respectively sleeved on second bearing 13 and 3rd bearing 14, and second bearing 13 is blocked
The upper surface of bottom plate 1 is connected on, 3rd bearing 14 is connected to the lower surface of fixed plate 15, passes through the second shaft 12, second bearing 13
Mutual cooperation between 3rd bearing 14 so that the second shaft 12 rotates more in second bearing 13 and 3rd bearing 14
Steadily, so that the second shaft 12 drives the more steady of the rotation of movable plate 17, the lower surface of fixed plate 15 passes through supporting rod
16 are fixedly connected with the upper surface of bottom plate 1, and the quantity of supporting rod 16 is four, and four supporting rods 16 are located at fixed plate 15 respectively
The four corners of lower surface, by setting supporting rod 16 so that the fixation of fixed plate 15 is more stablized, and the top of the second shaft 12 is consolidated
Surely movable plate 17 is connected with, the upper surface of movable plate 17 is fixedly connected with robot body 19, and the lower surface of movable plate 17 is fixed
Camera 18 is connected with, camera 18 is located at the right side of fixed plate 15, and the lower surface of bottom plate 1 is fixedly connected with pulley 22, pulley
22 are located at the front of first driving means 3, and the upper surface of bottom plate 1 is respectively arranged with storage battery 20 and switch 21, is opened by setting
Close 21 so that control of the staff to 101 working status of the first motor 31 and the second motor is more convenient, storage battery 20 it is upper
Surface is fixedly connected with the lower surface of switch 21, and the output terminal of storage battery 20 is electrically connected with the input terminal of switch 21, switchs 21
Input terminal of the output terminal respectively with the first motor 31 and the second motor 101 is electrically connected.
In use, pass through Operation switch 21 so that the work of the second motor 101 drives first gear 102 to rotate, first gear
102 drive second gears 11 rotate, and second gear 11 drives movable plate 17 and camera 18 to rotate by the second shaft 12, works as tune
After having saved camera 18, pass through Operation switch 21 so that the second motor 101 is stopped, then passes through Operation switch 21 so that the
The work of one motor 31 drives first bevel gear 32 to rotate, and first bevel gear 32 drives second bevel gear 4 to rotate, second bevel gear 4
Drive runner 6 to rotate by first rotating shaft 5, law enforcement field is acquired so that robot moves, when collection is completed
Afterwards, Operation switch 21 is passed through so that the first motor 31 is stopped.
Can to sum up obtain, 1, the law enforcement field collection mobile robot, pass through the first motor 31, first bevel gear 32, second
Bevel gear 4, first rotating shaft 5, runner 6, the second motor 101, first gear 102, second gear 11, the second shaft 12, movable plate
Mutual cooperation between 17 and camera 18 so that the work of the second motor 101 drives first gear 102 to rotate, first gear 102
Second gear 11 is driven to rotate, second gear 11 drives movable plate 17 and camera 18 to rotate by the second shaft 12, works as adjusting
After good camera 18 so that the work of the first motor 31 drives first bevel gear 32 to rotate, and first bevel gear 32 drives the second cone tooth
Wheel 4 rotates, and second bevel gear 4 drives runner 6 to rotate by first rotating shaft 5, so that robot is moved to law enforcement field
It is acquired, so as to facilitate the work of staff.
2nd, law enforcement field collection mobile robot, passes through the phase interworking between first rotating shaft 5, clutch shaft bearing 7 and runner 6
Close so that first rotating shaft 5 rotates more steady in clutch shaft bearing 7, so that first rotating shaft 5 drives what runner 6 rotated
It is more steady.
3rd, law enforcement field collection mobile robot, by the mutual cooperation between the first fixed link 2 and the first motor 31,
So that the fixation of the first motor 31 is more stablized, the rotation of fuselage when working so as to avoid the first motor 31, so that the
The working status of one motor 31 is more stablized, and which has a compact structure and a reasonable design of the present invention, highly practical.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of law enforcement field gathers mobile robot, including bottom plate (1), it is characterised in that：The lower surface of the bottom plate (1) is consolidated
Surely be connected with two the first fixed links (2), and the opposite face of two the first fixed links (2) respectively with first driving means (3)
Left and right sides are fixedly connected, and the first driving means (3) are engaged with second bevel gear (4), the second bevel gear (4)
Inner surface is connected with first rotating shaft (5), and the surface of the first rotating shaft (5) is connected with two runners (6), and two runners (6)
It is located at the left and right sides of second bevel gear (4) respectively, the surface of the first rotating shaft (5) is socketed with two clutch shaft bearings (7), and
Two clutch shaft bearings (7) are respectively engaged with the opposite face of two baffles (8), and the upper surface of two baffles (8) with bottom plate (1)
Lower surface be fixedly connected, the upper surface of the bottom plate (1) is fixedly connected with two the second fixed links (9), and two second are solid
Left and right sides of the opposite face of fixed pole (9) respectively with the second driving device (10) are fixedly connected, second driving device
(10) engaged with second gear (11), the inner surface of the second gear (11) is connected with the second shaft (12), described second turn
The surface of axis (12) is respectively sleeved on second bearing (13) and 3rd bearing (14), and the second bearing (13) is connected to bottom plate
(1) upper surface, the 3rd bearing (14) are connected to the lower surface of fixed plate (15), and the lower surface of the fixed plate (15) leads to
The upper surface that supporting rod (16) is crossed with bottom plate (1) is fixedly connected, and the top of second shaft (12) is fixedly connected with movable plate
(17), the upper surface of the movable plate (17) is fixedly connected with robot body (19), and the lower surface of the movable plate (17) is consolidated
Surely camera (18) is connected with, the camera (18) is located at the right side of fixed plate (15), and the lower surface of the bottom plate (1) is fixed
Pulley (22) is connected with, the pulley (22) is located at the front of first driving means (3).
2. law enforcement field according to claim 1 gathers mobile robot, it is characterised in that：The first driving means
(3) include the first motor (31), the left and right sides of the first motor (31) fuselage respectively with two the first fixed links (2)
Opposite face is fixedly connected, and the output shaft of first motor (31) is fixedly connected with first bevel gear (32), the first cone tooth
Wheel (32) is engaged with second bevel gear (4).
3. law enforcement field according to claim 1 gathers mobile robot, it is characterised in that：Second driving device
(10) include the second motor (101), the left and right sides of the second motor (101) fuselage respectively with two the second fixed links
(9) opposite face is fixedly connected, and the output shaft of second motor (101) is fixedly connected with first gear (102), and described first
Gear (102) is engaged with second gear (11).
4. law enforcement field according to claim 1 gathers mobile robot, it is characterised in that：The number of the supporting rod (16)
Measure as four, and four supporting rods (16) are located at the four corners of fixed plate (15) lower surface respectively.
5. law enforcement field according to claim 1 gathers mobile robot, it is characterised in that：The upper table of the bottom plate (1)
Face is respectively arranged with storage battery (20) and switch (21), and the upper surface and the lower surface of switch (21) of the storage battery (20) are fixed
Connection.
6. law enforcement field according to claim 5 gathers mobile robot, it is characterised in that：The storage battery (20) it is defeated
Outlet with switch (21) input terminal is electrically connected, it is described switch (21) output terminal respectively with the first motor (31) and the second motor
(101) input terminal is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457726.8A CN107972004A (en) | 2017-12-28 | 2017-12-28 | Law enforcement field gathers mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457726.8A CN107972004A (en) | 2017-12-28 | 2017-12-28 | Law enforcement field gathers mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972004A true CN107972004A (en) | 2018-05-01 |
Family
ID=62008146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711457726.8A Pending CN107972004A (en) | 2017-12-28 | 2017-12-28 | Law enforcement field gathers mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972004A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108525321A (en) * | 2018-06-21 | 2018-09-14 | 芜湖易泽中小企业公共服务股份有限公司 | It is a kind of can 360 degree rotation toy robot |
| CN108939739A (en) * | 2018-08-31 | 2018-12-07 | 邵稚超 | A kind of energy-saving duster that dust is collected automatically |
| CN110154014A (en) * | 2019-05-30 | 2019-08-23 | 西安理工大学 | A Waist Drive Mechanism for Dodging Robots |
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| US20050159841A1 (en) * | 2002-10-04 | 2005-07-21 | Fujitsu Limited | Robot system and autonomous mobile robot |
| CN203876899U (en) * | 2014-05-13 | 2014-10-15 | 中国石油大学(华东) | Three-wheeled trolley with motion trail controllable |
| CN205651346U (en) * | 2016-04-10 | 2016-10-19 | 郑州大学 | Novel intelligence electric power overhaul machine people |
| CN206065973U (en) * | 2016-08-30 | 2017-04-05 | 上海昌强重工机械有限公司 | A kind of clematis stem processing tool |
| CN107081093A (en) * | 2017-06-09 | 2017-08-22 | 张思银 | A kind of powder material mixing machines for quickly removing material |
| CN107336214A (en) * | 2017-09-13 | 2017-11-10 | 陕西来复科技发展有限公司 | Safe transfer robot |
| CN107470514A (en) * | 2017-10-11 | 2017-12-15 | 无锡市海升电子科技有限公司 | A kind of bilateral cutter device of electronic component pin |
| CN207669297U (en) * | 2017-12-28 | 2018-07-31 | 成都合能创越软件有限公司 | Law enforcement field acquires mobile robot |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20050159841A1 (en) * | 2002-10-04 | 2005-07-21 | Fujitsu Limited | Robot system and autonomous mobile robot |
| CN203876899U (en) * | 2014-05-13 | 2014-10-15 | 中国石油大学(华东) | Three-wheeled trolley with motion trail controllable |
| CN205651346U (en) * | 2016-04-10 | 2016-10-19 | 郑州大学 | Novel intelligence electric power overhaul machine people |
| CN206065973U (en) * | 2016-08-30 | 2017-04-05 | 上海昌强重工机械有限公司 | A kind of clematis stem processing tool |
| CN107081093A (en) * | 2017-06-09 | 2017-08-22 | 张思银 | A kind of powder material mixing machines for quickly removing material |
| CN107336214A (en) * | 2017-09-13 | 2017-11-10 | 陕西来复科技发展有限公司 | Safe transfer robot |
| CN107470514A (en) * | 2017-10-11 | 2017-12-15 | 无锡市海升电子科技有限公司 | A kind of bilateral cutter device of electronic component pin |
| CN207669297U (en) * | 2017-12-28 | 2018-07-31 | 成都合能创越软件有限公司 | Law enforcement field acquires mobile robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108525321A (en) * | 2018-06-21 | 2018-09-14 | 芜湖易泽中小企业公共服务股份有限公司 | It is a kind of can 360 degree rotation toy robot |
| CN108939739A (en) * | 2018-08-31 | 2018-12-07 | 邵稚超 | A kind of energy-saving duster that dust is collected automatically |
| CN110154014A (en) * | 2019-05-30 | 2019-08-23 | 西安理工大学 | A Waist Drive Mechanism for Dodging Robots |
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| PB01 | Publication | ||
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Application publication date: 20180501 |