CN109572852A - A kind of auxiliary stabilizing mechanism and the robot running gear including the structure - Google Patents
A kind of auxiliary stabilizing mechanism and the robot running gear including the structure Download PDFInfo
- Publication number
- CN109572852A CN109572852A CN201811625198.7A CN201811625198A CN109572852A CN 109572852 A CN109572852 A CN 109572852A CN 201811625198 A CN201811625198 A CN 201811625198A CN 109572852 A CN109572852 A CN 109572852A
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- auxiliary wheel
- mounting rack
- stabilizing mechanism
- robot
- 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.)
- Granted
Links
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
- B62D57/028—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 having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of auxiliary stabilizing mechanism applied to robot in orbit, including mounting rack, auxiliary wheel support, an auxiliary wheel, the auxiliary wheel includes that auxiliary wheel described in two, two is respectively connected with an auxiliary wheel support respectively；Auxiliary wheel support described in two is connected each by fixing axle with the mounting rack；A rotation axis is equipped on the mounting rack, the rotation axis is equipped with a rotating member, the both ends of rotating member pass through the first movable axis and first connecting rod respectively and second connecting rod is rotatablely connected, and the first connecting rod and second connecting rod pass through the second movable axis and two auxiliary wheel supports rotation connections respectively；And auxiliary wheel support described in two is respectively connected with a flexible adjustment device.
Description
Technical field
The present invention relates to a kind of device and methods for assisting stabilizing mechanism in orbit applied to robot, belong to robot
Technical field.
Background technique
Track machine people is used widely in many at present, is applied to the occasions such as outdoor or tunnel piping lane more, can be with
Realize inspection, the functions such as fire-fighting.The track of current track machine people mostly uses aluminum profile, if having sufficient intensity, ruler
It is very little larger, it involves great expense, occurs the track machine people with double round tube track substitution aluminum profile tracks later, but cost is still
It is high, there is company to succeed in developing the track machine people of single round tube track operation at present, is made using common metal round tube
For ceiling mounted tracks, track cost is preferably minimized.But higher, stationarity needs are required the walking mechanism of track machine people
It is realized with auxiliary device, there is presently no relevant auxiliary devices.
Summary of the invention
In order to solve the technical problems existing in the prior art, the present invention provides one kind to be applied to robot in orbit
Assist stabilizing mechanism and method.
The technical solution adopted by the invention is as follows:
A kind of auxiliary stabilizing mechanism applied to robot in orbit, including mounting rack, auxiliary wheel support, an auxiliary
Wheel, the auxiliary wheel include that auxiliary wheel described in two, two is respectively connected with an auxiliary wheel support respectively；Described in two
Auxiliary wheel support be connected each by fixing axle with the mounting rack；A rotation axis, institute are equipped on the mounting rack
The rotation axis stated be equipped with a rotating member, the both ends of rotating member pass through respectively two the first movable axis respectively with first connecting rod and
Second connecting rod rotation connection, the first connecting rod and second connecting rod are rotatablely connected by the second movable axis and auxiliary wheel support；
And auxiliary wheel support described in two is respectively connected with a flexible adjustment device.
As further technical solution, the flexible adjustment device includes an adjustment axis, the adjustment axis
Across auxiliary wheel support, both ends are separately fixed on mounting rack, a spring are set in the adjustment axis, spring can
Auxiliary wheel support is squeezed, provides restoring force to it.
As further technical solution, elongated hole is equipped on the auxiliary wheel support, adjustment axis passes through auxiliary wheel
The elongated hole of bracket guarantees that auxiliary wheel support rotation will not interfere with adjustment axis.
As further technical solution, it is equipped with the first support plate in the end of the mounting rack, is equipped with inside it
Second support plate；One end of adjustment axis is fixed in the first support plate, and the other end of adjustment axis is fixed in the second support plate, institute
The spring one end stated is pressed in the second support plate, and the other end is pressed on the auxiliary wheel support.
As further technical solution, two adjustment axis are symmetricly set in mounting rack.
As further technical solution, the first connecting rod and two connecting rods respectively include two, two first connecting rods
It is symmetrical arranged, two second connecting rods are symmetrical arranged.
As further technical solution, the center of the mounting rack, both ends are arranged in the rotation axis
It is supported by mounting rack.
The present invention also provides a kind of robot ambulation structures, including walking mechanism mounting rack, on the mounting rack
The driving wheel of motor drive is installed；An auxiliary stabilizing mechanism has respectively been installed additional on the side of each driving wheel, and auxiliary is stablized
Mechanism mounting rack is fixed together with walking mechanism mounting rack.
As further technical solution, the auxiliary stabilizing mechanism mounting rack detachably connects with walking mechanism mounting rack
It is connected together.
Beneficial effects of the present invention are as follows:
When climbing, an auxiliary wheel, such as left side auxiliary wheel first encounter inclined-plane and are pressed upwards, the auxiliary wheel in left side
Bracket rotates clockwise an angle relative to auxiliary wheel support fixing axle, pushes first to the right by auxiliary wheel support movable axis
Connecting rod, first connecting rod make rotating member=relative to rotating member fixing axle rotate counterclockwise an angle, pull second connecting rod to
It moves left, so that the auxiliary wheel support on right side rotates counterclockwise an angle relative to the auxiliary wheel support fixing axle on right side
Degree, right side auxiliary wheel are lifted up certain angle, are equivalent to the reaction that two wheels are coordinated types, stablize vehicle when meeting climbing
The needs of body；The final stabilized walking for realizing robot ambulation structure.
The restoring force of two auxiliary wheels is realized by spring, and spring can squeeze auxiliary wheel support, extensive to its offer
Multiple power.Adjustment axis passes through the elongated hole of auxiliary wheel support, therefore auxiliary wheel support rotation will not interfere with adjustment axis.Adjustment axis
There is screw thread at both ends, can change its rate of tension by adjusting elasticity nut and change restoring force size.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is track machine people's perspective view；
Fig. 2 is walking mechanism front view；
Fig. 3 is that auxiliary stabilizing mechanism walking mechanism perspective view is not added in track machine people；
Fig. 4 is that track machine people adds auxiliary stabilizing mechanism walking mechanism perspective view；
Fig. 5 is present invention auxiliary stabilizing mechanism perspective view；
Fig. 6 is present invention auxiliary stabilizing mechanism side view；
Fig. 7 is side view of the present invention auxiliary stabilizing mechanism without auxiliary stabilizing mechanism bracket；
Fig. 8 is the perspective view assisted between stabilizing mechanism；
Fig. 9 is the perspective view of auxiliary wheel support；
In figure, track sunpender 1；Round tube track 2；Walking mechanism mounting rack 3；Driving wheel 4；Assist stabilizing mechanism mounting rack 5；
Auxiliary wheel 6-1,6-2；Bolt 7；Rotating member 8；Connecting rod A9；Connecting rod B10；Adjustment axis 11；Spring 12；Auxiliary wheel support 13；Rotation
Part fixing axle 14；Auxiliary wheel support fixing axle 15-1,15-2；Auxiliary wheel support movable axis 16-1,16-2；Rotating member movable axis
17-1,17-2；Support plate 18；Elongated hole 19.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination；
In order to facilitate narration, if there is "upper", "lower", " left side " " right side " printed words in the present invention, only expression and attached drawing itself
Upper and lower, left and right direction it is consistent, not to structure rise restriction effect, it is only for convenient for description the present invention and simplification retouch
It states, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, and be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
Term explains part: the terms such as term " installation ", " connected ", " connection ", " fixation " in the present invention should do broad sense
Understand, for example, it may be being fixedly connected, may be a detachable connection, or be integrated；It can be mechanical connection, be also possible to
Electrical connection, can be and be directly connected to, and be also possible to indirectly connected through an intermediary, can be connection inside two elements, or
The interaction relationship of two elements of person, for the ordinary skill in the art, can understand as the case may be on
Term is stated in concrete meaning of the invention.
As background technique is introduced, track machine people is used widely in many at present in the prior art, answers more
For occasions such as outdoor or tunnel piping lanes, inspection, the functions such as fire-fighting may be implemented.The track of current track machine people is adopted more
With aluminum profile, if having sufficient intensity, size is larger, involves great expense, and occurs substituting aluminium profiles with double round tube tracks later
The track machine people of material track, but cost is still high, and has company to succeed in developing single round tube track operation at present
Track machine people track cost is preferably minimized using common metal round tube as ceiling mounted tracks.But to track machine people
Walking mechanism require higher, stationarity needs to be realized with auxiliary device, there is presently no relevant auxiliary device, in order to
Technical problem as above is solved, present applicant proposes a kind of auxiliary stabilizing mechanisms applied to robot in orbit.
In a kind of typical embodiment of the application, as shown in Figure 1, the present invention is used for track machine people.Track machine
People includes two walking mechanisms and a car body, and two walking mechanism tandem layouts lift car body below, may be implemented in round tube
It keeps straight on, turns on track 2, climb up and down.When track machine people emergency stop or anxious acceleration, and when upper and lower climbing, it is desirable that car body
It avoids swaying forwards and backwards, therefore, it is necessary to add auxiliary stabilizing mechanism.
In Fig. 2, track sunpender 1 is lifted on the ceiling of tunnel piping lane, and round tube track 2 is common coating steel pipe, tool
Standby antirust ability.Track sunpender 1 can be lifted with round tube track by diversified forms, for example be bolted, and welding connects transition
Part etc., this will not be repeated here for the lifting of track.
In Fig. 3, the main body of walking mechanism 1 is walking mechanism mounting rack, and the upper surface of it is mounted with the driving of motor drive
Wheel 4；Two driving wheels 4 are V-shaped layouts, and therefore, walking mechanism can walking again will not on round tube track 2 as shown in Figure 2
It falls.
In Fig. 4, an auxiliary stabilizing mechanism has respectively been installed additional on the side of each driving wheel 4, has assisted the auxiliary of stabilizing mechanism
Stabilizing mechanism mounting rack 5 is fixed together with walking mechanism mounting rack 3 by two bolts 7.
Assist the perspective view of stabilizing mechanism as shown in Fig. 5 Fig. 6.Auxiliary stabilizing mechanism mounting rack 5 is for installing each part.
Each auxiliary stabilizing mechanism includes two auxiliary wheels 6-1,6-2；The centre of stabilizing mechanism mounting rack 5 is assisted to be equipped with a rotating member
The both ends of fixing axle 14, rotating member fixing axle 14 are mounted on the mounting rack 5 by bearing, and can be relative to rotating member
Fixing axle 14 relatively rotates；A rotating member 8 is equipped in the rotating member fixing axle 14,8 two sides of rotating member are to connect respectively
Bar A9 and connecting rod B10, the other end of two connecting rods are all connect with auxiliary wheel support 13-1,13-2.
Block structure can be used in rotating member described here.
In Fig. 6, assist having rotating member fixing axle 14 and two auxiliary wheel support fixing axle 15- on stabilizing mechanism mounting rack 5
1,15-2.They are all the fixing axles for being horizontally through auxiliary stabilizing mechanism.
In Fig. 7, auxiliary stabilizing mechanism mounting rack 5 is removed, it can be seen that each components connection relationship.Rotating member 8 passes through
Rotating member fixing axle 14 is rotatablely connected relative to stabilizing mechanism mounting rack 5；The both ends of rotating member 8 are connected to rotating member movable axis
On 17-1,17-2.
Rotating member 8 is connected by two rotating member movable axis 17-1,17-2 and connecting rod A9 and connecting rod B10 rotation respectively up and down
It connects, the other end of connecting rod A9 and connecting rod B10 pass through two auxiliary wheel support movable axis 16-1,16-2 and two auxiliary wheels respectively again
Bracket 13-1,13-2 rotation connection, auxiliary wheel support 13-1,13-2 pass through auxiliary wheel support fixing axle 15-1,15-2 and auxiliary
Stabilizing mechanism mounting rack 5 is rotatablely connected.
Further, auxiliary wheel 6-1 is mounted on auxiliary wheel mounting rack 13-1；Auxiliary wheel 6-2 is mounted on auxiliary wheel installation
On frame 13-2.
Further, the center line symmetrical setting of two auxiliary wheel supports 13-1,13-2 relative to mounting rack 5.
Connecting rod A9 includes two, and two connecting rod A9 are symmetrical arranged, one end of two connecting rod A9 and the both ends of movable axis 17-2
It is connected, the other end of two connecting rod A9 is connected with the both ends of movable axis 16-2；By two connecting rod A9 realize movable axis 16-2 and
The both ends movable axis 17-2 it is parallel.
Connecting rod B10 includes two, and two connecting rod B10 are symmetrical arranged, one end and the movable axis 17-1 phase of two connecting rod B10
Even, the other end of two connecting rod B10 is connected with movable axis 16-1；Movable axis 16-1 and movable axis are realized by two connecting rod A10
The both ends 17-1 it is parallel.
The both ends of movable axis 16-1,16-2 are supported on two auxiliary wheel supports 13-1,13-2；And it can be with respect to auxiliary wheel
Bracket 13-1,13-2 rotation.
When climbing when, an auxiliary wheel, for example, left side auxiliary wheel 6-2 first encounter inclined-plane and be pressed upwards, left side it is auxiliary
It helps wheel support 13-2 to rotate clockwise an angle relative to auxiliary wheel support fixing axle 15-2, passes through auxiliary wheel support movable axis
16-2 pushes to the right connecting rod A9, connecting rod A9 that rotating member 8 is made to rotate counterclockwise an angle relative to rotating member fixing axle 14, draws
Dynamic connecting rod B10 is moved to the left, so that auxiliary wheel support fixing axle 16- of the auxiliary wheel support 13-1 on right side relative to right side
1 rotates counterclockwise an angle, and right side auxiliary wheel 6-1 is lifted up certain angle, and being equivalent to two wheels is the anti-of coordinated type
It answers, stablizes the needs of vehicle body when adapting to climbing.
The restoring force of two auxiliary wheels 6-1,6-2 are realized by spring 12.Stabilizing mechanism mounting rack 5 is assisted in Fig. 8
There are two support plates 18 for tool, there is a bullet between each support plate 18 and corresponding auxiliary wheel support 13-1,13-2
Spring 12,12 sets of spring in adjustment axis 11.Spring 12 can squeeze auxiliary wheel support 13-1,13-2, provide restoring force to it.It adjusts
Nodal axisn 11 passes through the elongated hole 19 of auxiliary wheel support 13-1,13-2, therefore auxiliary wheel support 13-1,13-2 rotation will not interfere with
Adjustment axis 11.There is screw thread at the both ends of adjustment axis 11, can change its rate of tension by adjusting elasticity nut and change recovery
Power size.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of auxiliary stabilizing mechanism applied to robot in orbit, which is characterized in that including mounting rack, an auxiliary wheel
Bracket, auxiliary wheel, the auxiliary wheel include two, two described in auxiliary wheel respectively respectively with an auxiliary wheel support phase
Even；Auxiliary wheel support described in two is connected each by fixing axle with the mounting rack；One is equipped on the mounting rack
A rotation axis, the rotation axis are equipped with a rotating member, and the both ends of rotating member pass through the first movable axis and first respectively and connect
Bar and second connecting rod rotation connection, the first connecting rod and second connecting rod pass through the second movable axis and two auxiliary wheel branch respectively
Frame rotation connection；And auxiliary wheel support described in two is respectively connected with a flexible adjustment device.
2. a kind of auxiliary stabilizing mechanism applied to robot in orbit as described in claim 1, which is characterized in that described
Flexible adjustment device include an adjustment axis, the adjustment axis pass through auxiliary wheel support, both ends are separately fixed at peace
It shelves, a spring is set in the adjustment axis, spring can extrude auxiliary wheel support, provide restoring force to it.
3. a kind of auxiliary stabilizing mechanism applied to robot in orbit as claimed in claim 2, which is characterized in that in institute
The auxiliary wheel support stated is equipped with elongated hole, and adjustment axis passes through the elongated hole of auxiliary wheel support.
4. a kind of auxiliary stabilizing mechanism applied to robot in orbit as claimed in claim 2, which is characterized in that in institute
The end for the mounting rack stated is equipped with the first support plate, is equipped with the second support plate inside it；One end of adjustment axis is fixed on first
In support plate, the other end of adjustment axis is fixed in the second support plate, and the spring one end is pressed in the second support plate, separately
One end is pressed on the auxiliary wheel support.
5. a kind of auxiliary stabilizing mechanism applied to robot in orbit as claimed in claim 2, which is characterized in that two
Adjustment axis is symmetricly set in mounting rack.
6. a kind of auxiliary stabilizing mechanism applied to robot in orbit as described in claim 1, which is characterized in that described
First connecting rod include two, two first connecting rods are symmetrical arranged.
7. a kind of auxiliary stabilizing mechanism applied to robot in orbit as described in claim 1, which is characterized in that described
Second connecting rod include two, two second connecting rods are symmetrical arranged.
8. a kind of auxiliary stabilizing mechanism applied to robot in orbit as described in claim 1, which is characterized in that described
Rotation axis the center of the mounting rack is set, both ends pass through mounting rack and support.
9. a kind of robot ambulation structure, including walking mechanism mounting rack, are equipped with motor drive on the mounting rack
Driving wheel；It is characterized in that, it is steady respectively to have installed any auxiliary of a claim 1-9 additional on the side of each driving wheel
Determine mechanism, auxiliary stabilizing mechanism mounting rack is fixed together with walking mechanism mounting rack.
10. a kind of robot ambulation structure as claimed in claim 7, which is characterized in that the auxiliary stabilizing mechanism installation
Frame is detachably connected with walking mechanism mounting rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811625198.7A CN109572852B (en) | 2018-12-28 | 2018-12-28 | Auxiliary stabilizing mechanism and robot walking mechanism comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811625198.7A CN109572852B (en) | 2018-12-28 | 2018-12-28 | Auxiliary stabilizing mechanism and robot walking mechanism comprising same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109572852A true CN109572852A (en) | 2019-04-05 |
| CN109572852B CN109572852B (en) | 2020-07-28 |
Family
ID=65933400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811625198.7A Active CN109572852B (en) | 2018-12-28 | 2018-12-28 | Auxiliary stabilizing mechanism and robot walking mechanism comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109572852B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB573265A (en) * | 1943-12-31 | 1945-11-13 | Vivian Loyd & Company | Improvements in or relating to articulated bogies for track laying or other vehicles |
| CN102795273A (en) * | 2012-04-01 | 2012-11-28 | 宁波市公路管理局 | Cable climbing robot |
| CN105711667A (en) * | 2014-12-04 | 2016-06-29 | 董博良 | Supporting wheel for caterpillar track type walking device |
| CN205396255U (en) * | 2016-03-14 | 2016-07-27 | 山东农业大学 | Nine connecting rod damping mechanisms of track roller |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
| CN107344554A (en) * | 2017-08-15 | 2017-11-14 | 广州智网联运物流有限公司 | Shuttle machine drive mechanism |
| CN206717834U (en) * | 2017-03-29 | 2017-12-08 | 天津农学院 | Robot device uses walking buffer gear |
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN207963865U (en) * | 2018-04-10 | 2018-10-12 | 郑州大学 | Rail mounted vision robot |
| CN108858131A (en) * | 2018-08-14 | 2018-11-23 | 上海安轩自动化科技有限公司 | A kind of novel spring guide wheel device |
| CN109848947A (en) * | 2018-12-13 | 2019-06-07 | 山东康威通信技术股份有限公司 | Watts link mechanism, auxiliary walking stabilizing mechanism, walking mechanism and robot |
-
2018
- 2018-12-28 CN CN201811625198.7A patent/CN109572852B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB573265A (en) * | 1943-12-31 | 1945-11-13 | Vivian Loyd & Company | Improvements in or relating to articulated bogies for track laying or other vehicles |
| CN102795273A (en) * | 2012-04-01 | 2012-11-28 | 宁波市公路管理局 | Cable climbing robot |
| CN105711667A (en) * | 2014-12-04 | 2016-06-29 | 董博良 | Supporting wheel for caterpillar track type walking device |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
| CN205396255U (en) * | 2016-03-14 | 2016-07-27 | 山东农业大学 | Nine connecting rod damping mechanisms of track roller |
| CN206717834U (en) * | 2017-03-29 | 2017-12-08 | 天津农学院 | Robot device uses walking buffer gear |
| CN107344554A (en) * | 2017-08-15 | 2017-11-14 | 广州智网联运物流有限公司 | Shuttle machine drive mechanism |
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN207963865U (en) * | 2018-04-10 | 2018-10-12 | 郑州大学 | Rail mounted vision robot |
| CN108858131A (en) * | 2018-08-14 | 2018-11-23 | 上海安轩自动化科技有限公司 | A kind of novel spring guide wheel device |
| CN109848947A (en) * | 2018-12-13 | 2019-06-07 | 山东康威通信技术股份有限公司 | Watts link mechanism, auxiliary walking stabilizing mechanism, walking mechanism and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109572852B (en) | 2020-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104787304B (en) | A kind of unmanned plane rudder system linkage | |
| CN100549344C (en) | Adhered self-lifting highrise operation platform | |
| US9938733B2 (en) | Wire rope tension grid improvements | |
| CN112982660B (en) | Assembly type steel structure building assembly and assembly method | |
| CN109572852A (en) | A kind of auxiliary stabilizing mechanism and the robot running gear including the structure | |
| WO2020191926A1 (en) | Hybrid drive conversion device for track and track system using same | |
| CN106906993A (en) | The wall-attaching equipment and its installation method of a kind of saddle climbing type workbench | |
| CN111350273B (en) | Mortise and tenon type truss connection structure and installation method | |
| CN106401170B (en) | A kind of aluminum alloy mould plate connects high plate exterior wall strengthening device | |
| CN208548864U (en) | A kind of solar-tracking system actuator | |
| CN110359371B (en) | Bridge expansion joint construction lifting device | |
| CN109848947A (en) | Watts link mechanism, auxiliary walking stabilizing mechanism, walking mechanism and robot | |
| CN209008591U (en) | A kind of rail vehicle and its bogie wheel configuration | |
| CN208734364U (en) | Tunnel support structure | |
| CN207375711U (en) | A kind of power construction vehicle | |
| CN202249716U (en) | Insulating stretchable type anti-sliding ladder | |
| CN113458744B (en) | Auxiliary sleeve replacement box and overhaul robot applying auxiliary sleeve replacement box | |
| CN209305239U (en) | A kind of universal caster wheel | |
| CN212927031U (en) | Boundary beam side form reinforcing apparatus | |
| CN204490295U (en) | A kind of gig | |
| DE4213101C2 (en) | Rear axle suspension for motor vehicles, especially buses | |
| CN205171470U (en) | Device of crawling is maintained to hydraulic spring formula flood discharge runner | |
| CN219971770U (en) | High-stability climbing hoop equipment | |
| CN220365138U (en) | Butt joint device for steel structure construction | |
| CN213736135U (en) | EMUs battery dismouting transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250101 A203, block F-1, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co., Ltd Address before: 250101 A203, block F-1, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |