CN108068904A - A kind of gardens operation walking robot - Google Patents
A kind of gardens operation walking robot Download PDFInfo
- Publication number
- CN108068904A CN108068904A CN201711243628.4A CN201711243628A CN108068904A CN 108068904 A CN108068904 A CN 108068904A CN 201711243628 A CN201711243628 A CN 201711243628A CN 108068904 A CN108068904 A CN 108068904A
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- gear
- rotation axis
- rack
- shaft
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- 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
-
- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
- C09D191/00—Coating compositions based on oils, fats or waxes; Coating compositions based on derivatives thereof
-
- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
- C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
- C09D5/08—Anti-corrosive paints
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
- C08K3/20—Oxides; Hydroxides
- C08K3/22—Oxides; Hydroxides of metals
- C08K2003/2237—Oxides; Hydroxides of metals of titanium
- C08K2003/2241—Titanium dioxide
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Materials Engineering (AREA)
- Wood Science & Technology (AREA)
- Organic Chemistry (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gardens operation walking robots, including rack, it is equipped with the first rotation axis in the rack successively along the direction from front to back of same level, second rotation axis, 3rd rotation axis, 4th rotation axis, first rotation axis, the one side of second rotation axis is connected with first walking mechanism, opposite side is connected with the second walking mechanism, 3rd rotation axis, the one side of 4th rotation axis 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 rotation axis one end, it is vertically connected at second crank of second rotation axis 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 can realize walking function by the output of single motor, reasonable in design；Robot device movement variation, can meet several work demand.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of gardens operation walking robot.
Background technology
The walking mechanism complex structural designs of the prior art could drive robot to advance, it is necessary to which multiple motors coordinate, into
This height；In addition manipulator flexibility is inadequate, and structure design is unreasonable, it is difficult to adapt to job task.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of gardens operation walking robot, to solve the prior art
Middle walking mechanism complex structural designs could drive robot to advance, it is necessary to which multiple motors coordinate, of high cost；In addition manipulator spirit
Active inadequate, structure design is unreasonable, it is difficult to the technical issues of adapting to job task.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of gardens operation walking robot, including machine
Frame, be equipped with successively along the direction from front to back of same level in the rack the first rotation axis, the second rotation axis, the 3rd turn
Moving axis, the 4th rotation axis, first rotation axis, the one side of the second rotation axis are connected with first walking mechanism, opposite side connection
There is the second walking mechanism, the 3rd rotation axis, the one side of the 4th rotation axis 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 that are vertically connected at first rotation axis one end
The second crank in second rotation axis 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
It states 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
It states second connecting rod to be located above first connecting rod, the preceding rocking bar is close to rack front end, and the middle part of the second connecting rod is vertically downward
Supporting rod is connected with, landing part, the knot of first, second, third, fourth walking mechanism are connected at the supporting rod 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 rack front end, second row
It walks and is connected in the middle part of the preceding rocking bar in mechanism by the second guide rod at rack front end, described the third line is walked in the rear rocking bar in mechanism
Portion is connected to rack 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 rack rear end, the central rack is equipped with movable motor, and the output terminal of the movable motor is connected to by belt wheel transmission
Second, third rotation axis, second rotation axis are connected to the first rotation axis by belt wheel transmission, and the 3rd rotation axis passes through
Belt wheel transmission is connected to the 4th rotation axis；
Anti-rust metal coating is coated in the frame surface, the anti-rust metal coating includes the original of following parts by weight meter
Material：It is 20 parts of ammonium lauryl sulfate, 10 parts of ribonucleoside triphosphote, 35 parts of titanium dioxide, 25 parts of polyethylene polyamine, 5 parts of sebacic acid, different
15 parts of Propanolamine, 40 parts of sulfited oil, 25 parts of octadecyl alcolol phosphoric acid ester sodium, 10 parts of polyester urethane, divinyl four
30 parts of amine, 30 parts of tertiary butyl anthraquinone, 20 parts of surfactant, surfactant is petroleum sodium sulfonate.
The rack front end is equipped with robot device, and the robot device includes the shaft being fixed in rack installation
, it is rotated successively from outside to inside in the shaft mounting base and is socketed with first rotating shaft, the second shaft, the 3rd shaft, described first
The front end of shaft is equipped 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 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 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 shaft is rotatably connected on the manipulator rotary shaft rack,
The inner end of 4th shaft is equipped with the 5th gear, and outboard end is equipped 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
Axis, the rear end of the 3rd shaft are respectively equipped with a transmission gear, and each transmission 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 said program, robot of the invention can realize walking function, structure design by the output of single motor
Rationally；Robot device movement variation, can meet several work demand.
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 installation diagram of the robot device of the present invention.
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.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached 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 gardens operation walking robot, including rack 100,
It is equipped with the first rotation axis 31, the second rotation axis 32, the in the rack 100 successively along the direction from front to back of same level
Three rotation axis 33, the 4th rotation axis 34, first rotation axis 31, the one side of the second rotation axis 32 are connected with first walking mechanism
35, opposite side is connected with the second walking mechanism 36, and the 3rd rotation axis 33, the one side of the 4th rotation axis 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 31 one end of axis, the second crank 42 for being vertically connected at 32 one end of the second rotation axis, 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 positioned at the
One connecting rod, 43 top, the preceding rocking bar 44 are connected with branch vertically downward close to 100 front end of rack, the middle part of the second connecting rod 46
Strut 47 is connected with landing part 48 at 47 lower end of supporting rod；The structure of first, second, third, fourth walking mechanism
Identical, 44 middle part of preceding rocking bar in the first walking mechanism 35 is connected to by the first guide rod 51 at 100 front end of rack, described
44 middle part of preceding rocking bar in second walking mechanism 36 is connected to by the second guide rod 52 at 100 front end of rack, and described the third line is walked
45 middle part of rear rocking bar in mechanism 37 is connected to 100 rear end of rack by the 3rd guide rod 53, and the fourth line is walked in mechanism 38
The middle part of rear rocking bar 45 100 rear end of rack is connected to by the 4th guide rod 54, crank and rotation axis are fixedly linked, and connecting rod is led
Bar both ends are rotation connection, and 100 middle part of rack is equipped with movable motor 30, and the output terminal of the movable motor 30 passes through band
Wheel is sequentially connected in second, third rotation axis, and second rotation axis 32 is connected to the first rotation axis 31, institute by belt wheel transmission
It states the 3rd rotation axis 33 and the 4th rotation axis 34 is connected to by belt wheel transmission, therefore first, second, third and fourth rotation axis rotates synchronously；
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 rotation axis and the second rotation axis form one and put down
Row quadrangular mechanism, first connecting rod, the first rocking bar, the second rocking bar, second connecting rod form another parallelogram 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 rotation axis 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 walk mechanism and land.
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
It moves from the front to the back afterwards, rack 100 is driven to advance, then liftoff soar travels forward at rear, and forefront lands again.
As shown in Fig. 8 to Figure 10,100 front end of rack is equipped with robot device 10, and the robot device 10 includes
The shaft mounting base 11 being fixed in rack 100 rotates in the shaft mounting base 11 and is socketed with first turn successively from outside to inside
Axis 12, the second shaft 13, the 3rd shaft 14, i.e. first rotating shaft 12, the second shaft 13, the 3rd shaft 14 are coaxially disposed, the 3rd turn
Axis 14 is rotatably dispose in the second shaft 13, and the second shaft 13 is rotatably dispose in first rotating shaft 12, and the rotation of first rotating shaft 12 is set
Be placed in shaft mounting base 11, between the 3rd shaft 14 and the second shaft 13, between the second shaft 13 and first rotating shaft 12, first
Can be rotatedly connected between shaft 12 and shaft mounting base 11 by bearing (not shown) so that first rotating shaft 12, the second shaft 13,
The rotation of 3rd shaft 14 is non-interference, and the length of the 3rd shaft 14 is more than the length of the second shaft 13, the length of the second shaft 13
For degree more than the length of first rotating shaft 12, the front end of the first rotating shaft 12 is equipped 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
It puts, the front end of second shaft 13 is fixedly connected with the 3rd gear 18, i.e. the second shaft 13 and the 3rd gear 18 rotates synchronously,
3rd gear 18 and 16 perpendicular setting of first gear and engaged transmission, the first gear 16 and 18 shape of the 3rd gear
Identical, the front end of the 3rd shaft 14 is fixedly connected with the 4th gear 19, i.e. the 3rd shaft 14 is synchronous with the 4th gear 19 to be turned
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 first gear 16 rotate synchronously, on the manipulator rotary shaft rack 20
The 4th shaft 21 is rotatably connected to, the 4th shaft 21 is coaxially disposed with the 3rd shaft 14, and the inner end of the 4th shaft 21 is set
There is the 5th gear 22, outboard end is equipped with manipulator 23, and the 5th gear 22 and second gear 17 are perpendicular to be set and engage biography
Dynamic, the second gear 17, the 4th gear 19,22 shape of the 5th gear are identical, the first rotating shaft 12, the second shaft 13, the
The rear end of three shafts 14 is respectively equipped with a transmission gear 24, and each transmission 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 the rotation of the 3rd shaft is operated alone, by the transmission of the 4th gear, second gear, the 5th next round, make the 4th shaft rotation,
Rotation direction is opposite with the rotation direction of the 3rd shaft；When the rotation of the second shaft is operated alone, pass through the 3rd gear, first gear
Transmission and second gear, the engagement of the 5th gear, the 4th shaft is made to be moved upwards in horizontal plane side and make the 4th shaft from
Turn；When first rotating shaft rotation is operated alone, runing rest rotates, and drives second gear movement, passes through second gear, the 5th
The transmission of gear, makes the 4th shaft move obliquely upward, is concurrently born from and turns；It, can when driving the 3rd shaft and the second shaft simultaneously
The 4th shaft is made to be moved upwards in horizontal plane side, and rotation does not occur；Therefore robot device movement 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.
Anti-rust metal coating is coated in the frame surface, the anti-rust metal coating includes the original of following parts by weight meter
Material：It is 20 parts of ammonium lauryl sulfate, 10 parts of ribonucleoside triphosphote, 35 parts of titanium dioxide, 25 parts of polyethylene polyamine, 5 parts of sebacic acid, different
15 parts of Propanolamine, 40 parts of sulfited oil, 25 parts of octadecyl alcolol phosphoric acid ester sodium, 10 parts of polyester urethane, divinyl four
30 parts of amine, 30 parts of tertiary butyl anthraquinone, 20 parts of surfactant, surfactant is petroleum sodium sulfonate.
The molecular weight of polyester urethane is 20000, Tg is 0 DEG C, hydroxyl value 10mgKOH/g.Surfactant is
Petroleum sodium sulfonate.
The preparation method of above-mentioned anti-rust metal coating, comprises the following steps：
(1) ammonium lauryl sulfate, ribonucleoside triphosphote, titanium dioxide, polyethylene polyamine are uniformly mixed, then add in ten
Eight alcohol phosphoric acid ester sodiums, polyester urethane are heated to reacting 20min at 80 DEG C；
(2) sebacic acid, isopropanolamine, sulfited oil, divinyl tetramine, tertiary butyl anthraquinone, surfactant are added in
It is dissolved in 30 DEG C of water, then adds in the mixture of step (1), stir evenly.
The mixing speed of step (2) is 400r/min, mixing time 20min.The rust-preventing characteristic of the anti-rust metal coating
Can be good, good combination property is applied widely.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several 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 gardens operation walking robot, including rack, which is characterized in that in the rack along same level from
It goes to and is equipped with the first rotation axis, the second rotation axis, the 3rd rotation axis, the 4th rotation axis in rear direction successively, described first rotates
Axis, the one side of the second rotation axis are connected with first walking mechanism, and opposite side is connected with the second walking mechanism, and the described 3rd rotates
Axis, the one side of the 4th rotation axis 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 rotation axis one end, the second crank for being vertically connected at second rotation axis 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
It 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 supporting rod, the supporting rod lower end vertically downward close to rack 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 rack front end, passes through second in the middle part of the preceding rocking bar in second walking mechanism
Guide rod is connected at rack front end, and the rear rocking bar middle part that described the third line is walked in mechanism is connected to rack 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 rack rear end by the 4th guide rod, and the central rack is set
There is movable motor, the output terminal of the movable motor is connected to second, third rotation axis by belt wheel transmission, and described second rotates
Axis is connected to the first rotation axis by belt wheel transmission, and the 3rd rotation axis is connected to the 4th rotation axis by belt wheel transmission；
Anti-rust metal coating is coated in the frame surface, the anti-rust metal coating includes the raw material of following parts by weight meter：Ten
20 parts of dialkyl group ammonium sulfate, 10 parts of ribonucleoside triphosphote, 35 parts of titanium dioxide, 25 parts of polyethylene polyamine, 5 parts of sebacic acid, isopropanol
15 parts of amine, 40 parts of sulfited oil, 25 parts of octadecyl alcolol phosphoric acid ester sodium, 10 parts of polyester urethane, divinyl tetramine 30
Part, 30 parts of tertiary butyl anthraquinone, 20 parts of surfactant, surfactant is petroleum sodium sulfonate.
2. rack according to claim 1, which is characterized in that the rack front end is equipped with robot device, the machinery
Arm device includes the shaft mounting base being fixed in rack, is rotated successively from outside to inside in the shaft mounting base and is socketed with first
Shaft, the second shaft, the 3rd shaft, the front end of the first rotating shaft are equipped with runing rest, and the both ends of the runing rest are distinguished
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 axis 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 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 is connected with manipulator rotary shaft rack, the machinery
The 4th shaft is rotatably connected on hand rotary shaft rack, the inner end of the 4th shaft is equipped with the 5th gear, and outboard end is equipped 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 shaft, the rear end of the 3rd shaft are respectively equipped with a transmission 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 |
|---|---|---|---|
| CN201711243628.4A CN108068904A (en) | 2017-11-30 | 2017-11-30 | A kind of gardens operation walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243628.4A CN108068904A (en) | 2017-11-30 | 2017-11-30 | A kind of gardens operation walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108068904A true CN108068904A (en) | 2018-05-25 |
Family
ID=62157751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711243628.4A Withdrawn CN108068904A (en) | 2017-11-30 | 2017-11-30 | A kind of gardens operation walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108068904A (en) |
Cited By (1)
| 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 |
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 |
| CN104212329A (en) * | 2014-09-25 | 2014-12-17 | 无锡康柏斯机械科技有限公司 | Rust-proof metal coating and preparation method thereof |
| 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 CN201711243628.4A patent/CN108068904A/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 |
| CN104212329A (en) * | 2014-09-25 | 2014-12-17 | 无锡康柏斯机械科技有限公司 | Rust-proof metal coating and preparation method thereof |
| 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 (1)
| 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 |
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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: 20180525 |
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| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Chen Demei Document name: Notification of Approving Refund |