CN109986597A - A kind of robot debugging platform - Google Patents
A kind of robot debugging platform Download PDFInfo
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- CN109986597A CN109986597A CN201711473160.8A CN201711473160A CN109986597A CN 109986597 A CN109986597 A CN 109986597A CN 201711473160 A CN201711473160 A CN 201711473160A CN 109986597 A CN109986597 A CN 109986597A
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- platform
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- hoistable platform
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- 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
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Robotics (AREA)
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Abstract
The invention discloses a kind of robots to debug platform.The platform with slope that platform includes: hoistable platform and connects together with the hoistable platform is debugged by the robot；The platform with slope can form slope with horizontal plane；The hoistable platform energy oscilaltion, and rotating platform is provided on the hoistable platform；One end on the hoistable platform far from the platform with slope is arranged in the rotating platform, and the rotating platform can be rotated relative to the hoistable platform.Robot debugging platform disclosed by the invention is combined by the simulation operating condition that may be used in debugging robot, to improve the efficiency of debugging.
Description
Technical field
The present invention relates to robot field, in particular to platform is debugged by a kind of robot.
Background technique
Performance adjustment is always a considerable ring in robot product R&D process.By debugging, can not only examine
The correctness for surveying written in code, can also be by constantly improve the parameter in code to improve the properties of robot product.
After product is made, number is also needed with ten thousand tests repeatedly, to ensure the stability and safety of product work.Performance adjustment
Time-consuming ratio is very big in entire robot product R&D process, its importance can be described as unquestionable.
The performance adjustment of product needs platform.Occasion, the operating condition of one robot work are different, then the debugging needed for it
Platform be also it is different, can be the various ground of different coefficients of friction, be also possible to the different various slope in inclination angle.
It reviews nowadays, the debugging platform resource of robot is quite deficient.There is no suitable debugging for the debugging of most of robots
Platform, but directly carried out on the level land of workshop.If necessary to detect robot in the working condition of Different Ground, just must
Need transfer robot to other coefficient of frictions in the localities；Equally, the slope in the test of slope is also to be built manually by worker
, when engineer needs to change the tilt angle on slope, the modification for waiting worker to carry out the gradient is just generally required, so not only
It is time-consuming and laborious, it greatly affected debugging efficiency, drawn the progress of research and development of products slow.
Summary of the invention
The present invention is directed to overcome defect of the existing technology, the invention adopts the following technical scheme:
The present invention provides a kind of robots to debug platform.Robot debugging platform include hoistable platform and with institute
State the platform with slope that hoistable platform connects together；The platform with slope can form slope with horizontal plane；On the hoistable platform energy
Lower lifting, and rotating platform is provided on the hoistable platform；The rotating platform is arranged on the hoistable platform far from institute
One end of platform with slope is stated, and the rotating platform can be rotated relative to the hoistable platform.
In some embodiments, the platform with slope and the hoistable platform are linked together, and the platform with slope with
The oscilaltion of the hoistable platform and form different ramp rates.
In some embodiments, the rotating platform includes rotatable working face；The rotatable working face rotatable 180
Degree can be controlled by driving device so that the rotatable working face is rotated.
In some embodiments, the hoistable platform is additionally provided with carpet on the outside of one end of the rotating platform and places
Carpet is provided in frame and the carpet rack.
In some embodiments, the position of the carpet rack is not less than the hoistable platform.
In some embodiments, the carpet being placed in the carpet rack has different coefficient of frictions, and
The carpet can cover the platform with slope and the part hoistable platform.
In some embodiments, the hoistable platform includes slide post, sliding panel and driving device；
The both ends of the sliding panel are provided with movable pulley, and the cunning being adapted with the movable pulley is provided on the slide post
Slot, the movable pulley can be slided and be driven relatively in sliding groove under the driving of the driving device and glide on the sliding panel
It is dynamic.
In some embodiments, the platform with slope includes slope board and plate；
One end of the slope board and the sliding panel are hinged, and the other end is provided with movable pulley；
The flatbed horizontal setting, the side of the plate is provided with the sliding slot being adapted with the movable pulley；
The slope board can link under the drive of the driving device of the hoistable platform with the sliding panel, and described
It horizontally slips in the sliding slot of plate.
It in some embodiments, further include support plate, the support plate setting is flat in the hoistable platform and the slope
The lower section of platform, and support the hoistable platform and the platform with slope.
In some embodiments, the length of the slope board is equal to the length of support plate and the sum of the length of the plate.
Technical effect of the invention: robot debugging platform disclosed by the invention in debugging robot by that may use
Simulation operating condition combine, carry out " modularization ", facilitate engineer debug use, so as to shorten manpower object in debugging process
The consumption of power solves the problems, such as that platform resource is deficient in robot debugging process now.
Detailed description of the invention
Fig. 1 is the functional block diagram that platform is debugged according to the robot of one embodiment of the invention；
Fig. 2 is the structural schematic diagram that platform is debugged according to the robot of one embodiment of the invention；
Fig. 3 is the top view that platform is debugged according to the robot of one embodiment of the invention；
Fig. 4 is the structural schematic diagram that platform is debugged according to the robot of another embodiment of the present invention；
Fig. 5 is the structural schematic diagram that platform is debugged according to the robot of further embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
It is a kind of robot debugging platform 100 provided by the invention shown in referring to figs. 1 to Fig. 3.The robot debugging is flat
Platform 100 includes: hoistable platform 20 and the platform with slope 30 that connects together with the hoistable platform 20；The platform with slope 30 can
Slope is formed with horizontal plane；The 20 energy oscilaltion of hoistable platform, and rotating platform 10 is provided on the hoistable platform 20；
One end on the hoistable platform 20 far from the platform with slope 30, and the rotating platform 10 is arranged in the rotating platform 10
It can be rotated relative to the hoistable platform 20.In some embodiments, the platform with slope 30 can form 0 to 30 degree with horizontal plane
Slope.
As shown in Figure 1, being the functional block diagram of robot debugging platform provided by one embodiment of the present invention.The robot
Debugging platform 100 includes rotating platform 10, hoistable platform 20 and platform with slope 30, the rotating platform 10, hoistable platform 20
And platform with slope 30 is all by the control of controller 40.
In some embodiments, the platform with slope 30 and the hoistable platform 20 are linked together, and the slope is flat
Platform 30 forms different ramp rates with the oscilaltion of the hoistable platform 20.
In some embodiments, the rotating platform 10 includes rotatable working face 101；The rotatable working face 101
Rotating 180 deg can be controlled by driving device so that the rotatable working face 101 is rotated.It is carried out to robot
When slope is tested, the upward slope performance of test machine people was both needed, the downhill performance of test machine people is similarly needed.In order to save
The space occupied of workbench, the robot of the embodiment of the present invention debug and devise rotating platform on the hoistable platform 20 in platform
10, so that there is the function towards rotation can also make so that platform with slope 30 be made to can simultaneously serve as upward slope platform for robot
For descending platform.If necessary to the descending function of test machine people, it is only necessary to robot be allowed to be parked on rotatable working face 101.
Later by operation button --- rotary machine people is towards rotatable working face will rotate 180 ° automatically, to change robot
Towards platform with slope 30 also becomes descending test platform.
In some embodiments, the hoistable platform 20 is additionally provided with carpet on the outside of one end of the rotating platform 10
Rack 50, and carpet is provided in the carpet rack 50.It is connected between carpet rack 50 and hoistable platform 20,
I.e. carpet can be directly overlie on hoistable platform 20 and platform with slope 30 by way of rolling.It eliminates and puts heavy carpet
Time.Equally, after use, adjustor can be pushed back to carpet in carpet rack 50 from right side scrolling carpet.
Therefore setting carpet rack 50 can facilitate the folding and unfolding of carpet, further save the time of adjustor, so that debugging is faster, from
And it improves efficiency.
In some embodiments, the position of the carpet rack 50 is not less than the hoistable platform 20.Specifically, described
The settable different number of plies of carpet rack 50, for placing different carpets, such as in some embodiments, the carpet is placed
Frame 50 is set as 5 layers, for putting different carpets.
In some embodiments, the carpet being placed in the carpet rack 50 has different coefficient of frictions,
And the carpet can cover the platform with slope 30 and the part hoistable platform 20.In the debugging process of robot, ground
The switching of operating condition is realized using the special carpet with different coefficients of friction.Different carpets due to coefficient of friction difference,
It can the approximate multiple types of floors operating condition for replacing robot can be potentially encountered.Such as: simulate wet and slippery rain road, smooth stone tile floor
Face, coarse leaf fat road etc..It is described to make to be smoothly connected between the hoistable platform 10 and platform with slope 30,
The part being connected between hoistable platform 10 and platform with slope 30 is semicircle shape.
In some embodiments, the hoistable platform 20 includes slide post 203, sliding panel 202 and driving device 201；
The both ends of the sliding panel 202 are provided with movable pulley 2021, are provided on the slide post 203 suitable with 2021 phase of movable pulley
The sliding groove 2031 answered, the movable pulley 2021 can be relatively sliding in sliding groove 2031 under the driving of the driving device 201
It moves and the sliding panel 202 is driven to slide up and down.In some embodiments, the sliding panel 202 can be set with the slide post 203
Limiting device is set, so that the sliding panel 202 is slided up and down all along the slide post 203 without shaking, also realizes institute
State the vertical slide post 203 always of sliding panel 202.
In some embodiments, the lifting device 201 is electric control screw block, and the driving device may be hydraulic
Cylinder or other be able to achieve the device of driving.For the driving device 201 by the control of controller 40, the controller 40 is settable
Rise, declines button realizes the raising and lowering of the hoistable platform 20 respectively, and the side of crawl can also be used in the controller
Formula is controlled, e.g., the settable point driving switch of controller, when needing hoistable platform to be risen or fallen, it is only necessary to
The time of pinning for controlling crawl switch button can realize height required for hoistable platform, and it is more convenient convenient to control.That is,
It pins point driving switch button not put, hoistable platform can be made to continue to rise or continue to decline, when unclamping point driving switch button, lifting
Platform stop motion, and maintain present level.
In some embodiments, the platform with slope 30 includes slope board 301 and plate 302；The slope board 301
One end and the sliding panel 202 are hinged, and the other end is provided with movable pulley 3011；The plate 302 is horizontally disposed, the plate
302 side is provided with the sliding slot 3021 being adapted with the movable pulley 3011；The slope board 301 can be in the hoistable platform
It links under the drive of 20 driving device 201 with the sliding panel 202, and left and right is slided in the sliding slot 3021 of the plate 302
It is dynamic.It in some embodiments, further include support plate 60, the setting of support plate 60 is flat in the hoistable platform 20 and the slope
The lower section of platform 30, and support the hoistable platform 20 and the platform with slope 30.
The platform with slope 30 and the hoistable platform 20 are linkages, therefore are pressed in the hoistable platform 20 in point driving switch
When the operation risen or fallen under the control of button, the ramp angles of the platform with slope 30 are also changing, more specifically
, during the hoistable platform 20 is risen, the ramp angles of the platform with slope 30 are becoming larger, in the liter
During drop platform 20 is declined, the ramp angles of the platform with slope 30 are becoming smaller.The ramp angles are described oblique
The angle formed between ramp 301 and horizontal plane, in some embodiments, the support plate 60 are horizontally set on the robot
It debugs on platform, therefore the folder formed between the ramp angles namely the slope board 301 and the extended line of the support plate 60
Angle.In some embodiments, protractor can be set on the platform with slope, the protractor is displayed for the slope
Angle between platform and horizontal plane, that is, ramp angles, in this way, adjustor can easily adjust very much it is desired
Test the gradient.
In some embodiments, support leg is additionally provided with below the support plate, the support leg is arranged in the cunning
Center position between dynamic column 203 and the plate 302, to bear the weight of the support plate 60, and avoids the support
Deformation occurs for plate 60.
In some embodiments, the length of the slope board 301 is equal to the length of support plate 60 and the length of the plate 302
The sum of degree.Therefore the angle of polarizers of big angle scope can be formed between the slope board 301 and ground level.For example, the angular range can be
0-30 degree.So that the angle change range on the slope is bigger, there are more selection possibilities.
Embodiment 1:
In embodiment as shown in Figure 4, platform 100 is debugged for a kind of robot that one embodiment of the present of invention provides.
The platform with slope 30 that platform 100 includes: hoistable platform 20 and connects together with the hoistable platform 20 is debugged by the robot；
The platform with slope 30 can form slope with horizontal plane；The 20 energy oscilaltion of hoistable platform, and on the hoistable platform 20
It is provided with rotating platform 10；One far from the platform with slope 30 on the hoistable platform 20 is arranged in the rotating platform 10
End, and the rotating platform 10 can be rotated relative to the hoistable platform 20.In this embodiment, the angular range on the slope can
For 0-30 degree.
The platform with slope 30 and the hoistable platform 20 are linked together, and the platform with slope 30 is flat with the lifting
The oscilaltion of platform 20 and form different ramp rates.The lifting device 201 is electric control screw block, the platform with slope 30 with
The hoistable platform 20 is linkage, therefore is risen or fallen under the control of point driving switch button in the hoistable platform 20
Operation when, the ramp angles of the platform with slope 30 are also changing, and the hoistable platform 20 includes slide post 203, sliding
Movable plate 202 and driving device 201；The both ends of the sliding panel 202 are provided with movable pulley 2021, set on the slide post 203
It is equipped with the sliding groove 2031 being adapted with the movable pulley 2021, driving of the movable pulley 2021 in the driving device 201
Under opposite in sliding groove 2031 can slide and the sliding panel 202 is driven to slide up and down.The platform with slope 30 includes slope
Plate 301 and plate 302；One end of the slope board 301 and the sliding panel 202 are hinged, and the other end is provided with movable pulley
3011；The plate 302 is horizontally disposed, and the side of the plate 302 is provided with the sliding slot being adapted with the movable pulley 3011
3021；The slope board 301 can link under the drive of the driving device 201 of the hoistable platform 20 with the sliding panel 202,
And it horizontally slips in the sliding slot 3021 of the plate 302.
It pins point driving switch button not put, continues to decline hoistable platform 20 to the position of 203 mid-height of slide post pine
Dynamic switch button is prescribed, makes hoistable platform stop motion, and maintain present level.The platform with slope 30 and the lifting are flat
Platform 20 links, the slope board 301 also slide downward under the drive of the sliding panel 202, and slides into the slide post 203
Stop sliding at the position of mid-height, correspondingly, the other end of the slope board slides to the right in the sliding slot of the plate.
And it is positioned here when the slope board 301 stops sliding.Adjustor can carry out ramp angles by protractor at this time
Measurement, and the test of corresponding operating condition is carried out, such as ground working condition measurement, upward slope descending test etc..
Embodiment 2:
In embodiment as shown in Figure 5, platform 100 is debugged for a kind of robot that one embodiment of the present of invention provides.
The platform with slope 30 that platform 100 includes: hoistable platform 20 and connects together with the hoistable platform 20 is debugged by the robot；
The platform with slope 30 can form slope with horizontal plane；The 20 energy oscilaltion of hoistable platform, and on the hoistable platform 20
It is provided with rotating platform 10；One far from the platform with slope 30 on the hoistable platform 20 is arranged in the rotating platform 10
End, and the rotating platform 10 can be rotated relative to the hoistable platform 20.
The platform with slope 30 and the hoistable platform 20 are linked together, and the platform with slope 30 is flat with the lifting
The oscilaltion of platform 20 and form different ramp rates.The lifting device 201 is hydraulic cylinder.The platform with slope 30 with it is described
Hoistable platform 20 is linkage, therefore the behaviour risen or fallen under the control of point driving switch button in the hoistable platform 20
When making, the ramp angles of the platform with slope 30 are also changing, and the hoistable platform 20 includes slide post 203, sliding panel
202 and driving device 201；The both ends of the sliding panel 202 are provided with movable pulley 2021, are provided on the slide post 203
The sliding groove 2031 being adapted with the movable pulley 2021, the movable pulley 2021 can under the driving of the driving device 201
It is opposite in sliding groove 2031 to slide and the sliding panel 202 is driven to slide up and down.The platform with slope 30 includes slope board 301
And plate 302；One end of the slope board 301 and the sliding panel 202 are hinged, and the other end is provided with movable pulley 3011；Institute
It states plate 302 to be horizontally disposed with, the side of the plate 302 is provided with the sliding slot 3021 being adapted with the movable pulley 3011；Institute
Stating slope board 301 can link under the drive of the driving device 201 of the hoistable platform 20 with the sliding panel 202, and in institute
It states and horizontally slips in the sliding slot 3021 of plate 302.
It pins point driving switch button not put, continues to decline hoistable platform 20 to the position of 203 bottom of slide post and unclamp point
Dynamic switch button, makes hoistable platform stop motion, and maintain present level.The platform with slope 30 and the hoistable platform 20
Linkage, the slope board 301 also slide downward under the drive of the sliding panel 202, and slide into 203 height of slide post
Stop sliding at the position of half, correspondingly, the other end of the slope board slides to the right in the sliding slot of the plate.And
The slope board 301 stops positioning here when sliding.The plate 302 and slope board 301 are on a horizontal plane at this time.This
When, adjustor can carry out the test of corresponding operating condition, such as ground working condition measurement according to actual debugging demand.
Technical effect of the invention:
A. it in the change of the gradient, is changed using lifting device instead of manpower.One people of adjustor can be debugged with complete independently
Progress not will receive the obstruction of workbench demand side.
B. the performance test that Different Ground operating condition may be implemented eliminates transfer robot and is brought to different working condition measurements
Huge consumption.
C. space is saved, the uphill, downhill performance test of robot can be completed on a platform, improve space utilization
Rate.
Robot debugging platform disclosed by the invention is incorporated by the simulation operating condition that may be used in debugging robot
Together, " modularization " is carried out, facilitates engineer to debug and uses, so as to shorten drain on manpower and material resources in debugging process, solved existing
The problem of platform resource scarcity in modern robot debugging process.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. platform is debugged by a kind of robot characterized by comprising hoistable platform and connect together with the hoistable platform
Platform with slope；
The platform with slope can form slope with horizontal plane；
The hoistable platform can oscilaltion, and be provided with rotating platform on the hoistable platform；
One end on the hoistable platform far from the platform with slope, and the rotating platform energy phase is arranged in the rotating platform
The hoistable platform is rotated.
2. platform is debugged by robot according to claim 1, which is characterized in that the platform with slope and the hoistable platform
It is linked together, and the platform with slope forms different ramp rates with the oscilaltion of the hoistable platform.
3. platform is debugged by robot according to claim 1, which is characterized in that the rotating platform includes rotatable work
Face；
The rotatable working face rotating 180 deg can be controlled by driving device so that the rotatable working face is revolved
Turn.
4. platform is debugged by robot according to claim 3, which is characterized in that the hoistable platform is adjacent to the rotary flat
Carpet rack is additionally provided on the outside of one end of platform；
And carpet is provided in the carpet rack.
5. platform is debugged by robot according to claim 4, which is characterized in that the position of the carpet rack is not less than
The hoistable platform.
6. platform is debugged by robot according to claim 4, which is characterized in that described to be placed in the carpet rack
Carpet there is different coefficient of frictions, and the carpet can cover the platform with slope and the part hoistable platform.
7. platform is debugged by robot according to claim 2, which is characterized in that the hoistable platform includes: slide post, sliding
Movable plate and driving device；
The both ends of the sliding panel are provided with movable pulley, and the sliding slot being adapted with the movable pulley is provided on the slide post,
The movable pulley opposite in sliding groove can slide under the driving of the driving device and the sliding panel is driven to slide up and down.
8. platform is debugged by robot according to claim 7, which is characterized in that the platform with slope include slope board and
Plate；
One end of the slope board and the sliding panel are hinged, and the other end is provided with movable pulley；
The flatbed horizontal setting, the side of the plate is provided with the sliding slot being adapted with the movable pulley；
The slope board can link under the drive of the driving device of the hoistable platform with the sliding panel, and in the plate
Sliding slot in horizontally slip.
9. platform is debugged by robot according to claim 7, which is characterized in that further include support plate, the support plate is set
It sets in the lower section of the hoistable platform and the platform with slope, and supports the hoistable platform and the platform with slope.
10. platform is debugged by robot according to claim 9, which is characterized in that the length of the slope board is equal to support
The sum of the length of the length of plate and the plate.
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| CN201711473160.8A CN109986597A (en) | 2017-12-29 | 2017-12-29 | A kind of robot debugging platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069044A (en) * | 2021-03-25 | 2021-07-06 | 科沃斯机器人股份有限公司 | Auxiliary obstacle crossing device and assembly |
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| DD285183A5 (en) * | 1988-06-22 | 1990-12-05 | Akad Wissenschaften Ddr | PNEUMATIC TILT ANGLE SENSOR |
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| CN102610153A (en) * | 2012-02-23 | 2012-07-25 | 中国石油天然气股份有限公司 | Experimental device for physical simulation of bottom friction of geological structure |
| CN204326635U (en) * | 2014-12-13 | 2015-05-13 | 石国峰 | A kind of parking warehouse-in turns to platform |
| CN204406812U (en) * | 2015-02-13 | 2015-06-17 | 崔予希 | A kind of physical friction experimental demonstration device |
| CN204461783U (en) * | 2015-03-27 | 2015-07-08 | 颜军利 | The gradient continuously adjustable restructural terrain generalization proving installation |
| CN205630692U (en) * | 2016-05-25 | 2016-10-12 | 张涛 | Robot of angularly adjustable capability test device of marcing |
| CN105865810A (en) * | 2016-06-23 | 2016-08-17 | 北京汽车研究总院有限公司 | Testing device for driving force |
| CN106760802A (en) * | 2016-12-27 | 2017-05-31 | 林圣斌 | A kind of turning back of car rotating disk |
| CN206505631U (en) * | 2017-03-06 | 2017-09-19 | 郝奕博 | A kind of high school physicses mechanics study apparatus for demonstrating |
| CN107422098A (en) * | 2017-06-29 | 2017-12-01 | 河海大学 | A kind of slope stability test evaluation system and test evaluation method |
| CN107269075A (en) * | 2017-08-02 | 2017-10-20 | 山东九路泊车设备股份有限公司 | It is a kind of be easy to vehicle come in and go out multi-storied garage underground hydraulic turntable |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113069044A (en) * | 2021-03-25 | 2021-07-06 | 科沃斯机器人股份有限公司 | Auxiliary obstacle crossing device and assembly |
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