CN110421544A - A kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive - Google Patents
A kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive Download PDFInfo
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- CN110421544A CN110421544A CN201910744848.8A CN201910744848A CN110421544A CN 110421544 A CN110421544 A CN 110421544A CN 201910744848 A CN201910744848 A CN 201910744848A CN 110421544 A CN110421544 A CN 110421544A
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- arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present disclosure proposes a kind of Dual-Arm Mobile Robots of electro-hydraulic combination drive, including robot car body and the motor machine arm being arranged on robot car body and hydraulic manipulator, the motor machine arm realizes underloading operation using electric drive mode, and the hydraulic manipulator realizes over-loading operation using hydraulic-driven；Hydraulic manipulator and light-weight electric mechanical arm are integrated on robot car body by the disclosure, it is cooperated by both arms, by the way of electric drive and hydraulic-driven combination drive, mobile robot is made to can satisfy the dual requirements of heavy duty and small space underloading operation under non-structure environment.
Description
Technical field
This disclosure relates to mobile robot correlative technology field, in particular to a kind of electro-hydraulic combination drive is double
Arm mobile robot.
Background technique
The statement of this part only there is provided background technical information relevant to the disclosure, not necessarily constitutes first skill
Art.
With the development of mobile robot technology, robot possesses very big application space, in military and civilian field, perhaps
More unstructured moving grids also use intelligent mobile robot, and unstructured moving grids are surface (ground, metope, blocking surfaces
Deng) material capability (surfacing, roughness, rigidity, intensity, color, reflective, temperature etc.) unevenness, structure and change in size are not
It is regular and unstable, it is environmental information (barrier, daylighting, sound, gas, radiation, wind-force, interference etc.) on-fixed, unknowable, no
It can describe.Such as searching rescue scene, large-scale environment and natural calamity rescue, for it is explosion-proof, detection etc. application scenarios,
Develop a plurality of types of mobile robots.
However, it is found by the inventors that the following defects and deficiencies exist for mobile robot in the prior art: robot body is single
Mechanical arm configuration, and mostly motor driven, motor drive mode are limited by motor driving torque, load capacity under comparable size
It is weak, tractive force is small.The structure of Single Mechanical arm, ability to work is weak under non-structure environment, limits the application of mobile robot.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive, will be hydraulic
Mechanical arm and light-weight electric mechanical arm are integrated on robot car body, are cooperated by both arms, using electric drive and hydraulic-driven
The mode of combination drive makes mobile robot can satisfy the dual need of heavy duty and small space underloading operation under non-structure environment
It asks.
To achieve the goals above, the disclosure adopts the following technical scheme that
One or more embodiments provide a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive, including robot car body
With the motor machine arm and hydraulic manipulator being arranged on robot car body, the motor machine arm is using electric drive mode reality
Now underloading operation, the hydraulic manipulator realize over-loading operation using hydraulic-driven.
Further, the motor machine arm includes rotating base, includes at least a large arm A, a forearm A and electronic
Mechanical arm tail end, the large arm A are connect by large arm motor driven joint with rotating base, and the forearm A passes through forearm motor
Driving joint is connect with large arm, and forearm A connects motor machine arm end, arm motor driven joint by end driving motor
Drive large arm movement, the forearm motor driven joint drive forearm A movement, the end driving motor drive motor tool arm
End executes corresponding operation.
Further, large arm motor driven joint is identical with forearm motor driven joint structure, respectively includes joint deceleration
Motor and cone tooth deceleration mechanism, the joint decelerating motor provide kinetic energy for joint, and the cone tooth deceleration mechanism is turned round for amplifying
Square and driving articulation；
Or
The execution structure setting of motor machine arm end is the first handgrip, is hand shape or is clip shape.
Further, first handgrip includes left intermediate plate and right clamping piece, passes through end driving motor positive and negative rotation control two
A intermediate plate is proximate to or separate, realization crawl and placement.
Further, the motor machine arm, further includes image collecting device, and described image acquisition device is arranged in forearm
A is upper close to motor machine arm end, for acquiring the image information of the movement of motor machine arm end and local environment.
Further, the hydraulic manipulator includes hydraulic arm connection pedestal, large arm B, forearm B and hydraulic manipulator end
End, the large arm B and forearm B be respectively set to link mechanism, on hydraulic arm connection pedestal setting rotating mechanism for realizing
Forearm oscillating cylinder is arranged in the junction of the rotary motion of large arm B, large arm B and forearm B, for realizing the swing of forearm B.
Further, pedestal oscillating cylinder and revolving support that the rotating mechanism includes, the pedestal oscillating cylinder drive back
Turn the rotary motion of supporting drive large arm B；
Or
The large arm B includes first connecting rod and large arm linear cylinder, and first connecting rod and large arm linear cylinder constitute four-bar mechanism, greatly
Arm linear cylinder drives the swing of four-bar mechanism movement realization large arm B.
Further, the hydraulic manipulator end, including end oscillating cylinder, end rotating cylinder and linear cylinder and grab
Hand, the swing that end swings for realizing handgrip, end rotating cylinder is for realizing the revolution or rotation of handgrip, and linear cylinder is for real
The opening and closing grasping movement of existing handgrip.
It further, further include the mobile mechanism being arranged on robot car body and information collecting device, the moving machine
Structure includes crawler belt and mobile driving structure, and the mobile driving structure is hydraulic motor.
Or
The information collecting device includes that camera, firedamp sensor, Temperature Humidity Sensor, gyroscope or/and radiation pass
Sensor.
It further, further include remote control operation terminal, remote control operation terminal includes control stick and display screen, and display screen is used for
Show realtime graphic and sensor measurement data, control stick is for realizing the remote control operation to mobile robot.
Compared with prior art, the disclosure has the beneficial effect that
(1) robot of the disclosure respectively drives corresponding mechanical arm using electro-hydraulic two kinds of driving methods, negative by difference
The both arms operation of loading capability expands the ability to work of robot, improves robot to the applicability of different operation, improves
The application range of robot.
(2) corresponding structure is arranged according to hydraulic manipulator and the requirement of motor machine arm respectively in the disclosure, hydraulic
Mechanical arm is driven by hydraulic linear cylinder, swing hydraulic pressure cylinder, has very big output torque or thrust, at heavy objects
It sets；According to electronic arm configuration it is compact, it is relatively small, material is light, dexterous manipulation can be carried out for small space.Robot
Car body is driven using hydraulic motor, and output torque is big, and tractive force is big.
(3) information collecting device of disclosure setting multi-cam and sensor, passes through vision system operating robotic arm
Movement, sensor platform can integrate the multiple sensors such as gas, temperature and humidity, radiation sensor and realize a variety of hazardous environment situations
Sensing.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the restriction to the disclosure for explaining the disclosure.
Fig. 1 is the structural schematic diagram of the mobile robot of the embodiment of the present disclosure；
Fig. 2 is the structural schematic diagram of the motor machine arm 2 of the embodiment of the present disclosure；
Fig. 3 is the structural schematic diagram of the hydraulic manipulator 3 of the embodiment of the present disclosure；
Fig. 4 is the power transmitting block diagram of the mobile robot of the embodiment of the present disclosure；
Wherein: 1, robot car body, 2, motor machine arm, 3, hydraulic manipulator, 4, information collecting device, 5, remote control operation
Terminal；
2-1, rotating base, 2-2, large arm A, 2-3, forearm A, 2-4, image collecting device, 2-5, the first handgrip are 2-6, big
Arm motor driven joint, 2-7, forearm motor driven joint；
3-1, the second handgrip, 3-2, end linear cylinder, 3-3, end rotating cylinder, 3-4, end oscillating cylinder, 3-5, second connect
Bar, 3-6, forearm oscillating cylinder, 3-7, first connecting rod, 3-8, large arm linear cylinder, 3-9, pedestal oscillating cylinder, 3-10, revolving support, 3-
11, pedestal is connected.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that described further below be all exemplary, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure 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 disclosure.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.It should be noted that not conflicting
In the case where, each embodiment in the disclosure and the feature in embodiment can be combined with each other.Below in conjunction with attached drawing to reality
Example is applied to be described in detail.
In the technical solution disclosed in one or more embodiments, as shown in Figure 1, a kind of electro-hydraulic combination drive is double
Arm mobile robot, including robot car body 1 and the motor machine arm 2 that is arranged on robot car body 1 and hydraulic manipulator 3,
The motor machine arm 2 realizes underloading operation using electric drive mode, and the hydraulic manipulator 3 realizes weight using hydraulic-driven
Carry operation.
The weight for the object that heavy duty and underloading are operated according to robot end determines that general over-loading operation refers to the object of operation
Body weight is more than 50kg, and the model of different output torque hydraulic cylinders can be selected according to specific use environment, and underloading operation is
Refer to that the weight of object of operation is less than 5kg.The robot of the present embodiment can select as the case may be when in use, for being in
Object between underloading and heavy duty, can choose hydraulic manipulator 3 and is operated.
Over-loading operation, which refers to, handles heavy objects, and hydraulic driving mode can export biggish output torque or push away
Power, can be realized over-loading operation, and electric drive mode can use motor driven, limit of the motor driven by motor driving torque
System, load capacity is weak under comparable size, tractive force is small, and the size of the motor machine arm 2 of setting can be relatively small, can be realized
Underloading operation in narrow space.The present embodiment uses the double mechanical arms of two kinds of driving methods, passes through different loads ability
Both arms operate the ability to work for expanding robot, improve robot to the applicability of different operation, improve robot
Application range.
As a further improvement, as shown in Fig. 2, the motor machine arm 2 includes rotating base 2-1, includes at least one
A large arm A2-2, a forearm A2-3 and motor machine arm end, the large arm A2-2 by large arm motor driven joint 2-6 with
Rotating base 2-1 connection, the forearm A2-3 are connect by forearm motor driven joint 2-7 with large arm A2-2, and forearm A2-3 is logical
End driving motor connection motor machine arm end is crossed, the large arm motor driven joint drive large arm A2-2 movement is described small
Arm motor driven joint drive forearm A2-3 movement, end driving motor execute corresponding behaviour for drive motor tool arm end
Make.
For the present embodiment for grabbing, it is the first handgrip 2-5 that the end of motor machine arm 2 can be executed to structure setting,
The crawl and placement for realizing object can be hand shape or be clip shape, and the first handgrip 2-5 of the present embodiment includes left intermediate plate
And right clamping piece, it is proximate to by end driving motor positive and negative rotation two intermediate plates of control or separate, to realize crawl and placement.
Large arm motor driven joint 2-6 and forearm motor driven joint 2-7 can use identical structure, respectively include closing
Speed motor and cone tooth deceleration mechanism are reduced, the joint decelerating motor provides kinetic energy to joint, and the cone tooth deceleration mechanism is used for
Amplify torque and driving articulation.
As a further improvement, image collecting device 2- is set close to motor machine arm end on the forearm A2-3
4, optionally, image collecting device 2-4 can be specially the first camera, realize the movement of motor machine arm end and local environment
Image Acquisition.
For rotating base 2-1 for realizing the Plane Rotation of motor machine arm 2, large arm motor driven joint 2-6 and forearm are electric
Machine driving joint 2-7 is respectively used to realize the pendulum motion of large arm A2-2 and forearm A2-3.Handgrip 2-5 is by being built in forearm 2-3
Motor driven realize on-off action, forearm A2-3 be equipped with camera 2-4 realize vision auxiliary remote control crawl.Rotating base
The movement that mechanical arm three-dimensional space may be implemented of 2-1, large arm A2-2 and forearm A2-3 can freely control motor machine arm end
The location of end.Electromechanics arm may be implemented by the driving of motor machine arm end and the Image Acquisition of the first camera
The accurate crawl of object may be implemented in the remote control of end, when the first handgrip 2-5.The electronic arm configuration of the present embodiment is compact,
Dexterous manipulation can be carried out for small space.The bulk material of the motor machine arm 2 of the present embodiment can be set to lightweight boat
Empty aluminium further mitigates the weight of motor machine arm 2, can be realized dexterous manipulation.
As shown in figure 3, hydraulic manipulator 3 includes hydraulic arm connection pedestal 3-11, the high-pressure and hydraulic pendulum that joint is arranged in
Dynamic cylinder, the hydraulic-driven connecting rod for constituting large arm B or forearm B and hydraulic manipulator end.Optionally, the hydraulic arm of the present embodiment
It connects and large arm B, the pedestal oscillating cylinder 3-9 and revolving support that the rotating mechanism includes is connected by rotating mechanism on pedestal 3-11
3-10, the pedestal oscillating cylinder 3-9 driving revolving support 3-10 drive the rotary motion of large arm B；The large arm B of the present embodiment includes
First connecting rod 3-7 and large arm linear cylinder 3-8, first connecting rod 3-7 and large arm linear cylinder 3-8 constitute four-bar mechanism, large arm linear cylinder
3-8 drives the swing of four-bar mechanism movement realization large arm B；In the junction of large arm B and forearm B, forearm oscillating cylinder 3-6 is set, it is small
Arm B is set as second connecting rod 3-5, and forearm oscillating cylinder 3-6 drives second connecting rod 3-5 to realize forearm B wobbling action；The present embodiment
The execution structure of the least significant end of the hydraulic manipulator end of hydraulic manipulator 3 can be set to the second handgrip 3-1, hydraulic manipulator
End includes end oscillating cylinder 3-4, end rotating cylinder 3-3 and end linear cylinder 3-2 and the second handgrip 3-1, end oscillating cylinder
3-4 such as swings up and down for realizing the swing of handgrip, and for end rotating cylinder 3-3 for realizing the revolution or rotation of handgrip, end is straight
Line cylinder 3-2 for realizing handgrip opening and closing grasping movement.The structure of second handgrip 3-1 can be set to handgrip in existing robot
Arbitrary structures.
It realizes that 1 movement of robot car body can be arbitrary structures, can be set to polypody, crawler belt and wheel, it is preferred that
The present embodiment is set as crawler type, and setting crawler belt and mobile driving structure, the track drive structure use on robot car body 1
Hydraulic motor driving.It is set as crawler type and is more adaptive to complicated unstructured moving grids.
It as a further improvement, further include the information collecting device 4 being arranged on robot car body 1, the information is adopted
Acquisition means 4 include but is not limited to second camera, firedamp sensor, Temperature Humidity Sensor, gyroscope, radiation sensor etc..It can
To realize the perception to vision the auxiliary remote operating and hazardous environment of hydraulic arm, electronic arm.To realize the long-range of mobile robot
Remote control operation terminal 5 can also be arranged in remote control, and remote control operation terminal 5 includes control stick, display screen etc., can show real-time figure
Picture and sensor measurement data realize the remote control operation to mobile robot by control stick.
As shown in figure 4, the power for the mobile robot of the disclosure transmits block diagram, hydraulic pump motor is hydraulic by valve
Driving provides hydraulic oil, and the hydraulic-driven of the present embodiment includes the hydraulic motor for keeping robot car body 1 mobile and driving hydraulic press
The linear cylinder and oscillating cylinder being arranged on tool arm 3, motor machine arm 2 are directly controlled by driving motor, further include for driving electricity
Machine, hydraulic pump motor work provide the power module and battery pack of electric energy.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive, it is characterized in that: including robot car body and setting in robot
Motor machine arm and hydraulic manipulator on car body, the motor machine arm realize underloading operation, institute using electric drive mode
It states hydraulic manipulator and over-loading operation is realized using hydraulic-driven.
2. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as described in claim 1, it is characterized in that: the motor machine
Arm includes rotating base, includes at least a large arm A, a forearm A and motor machine arm end, and the large arm A passes through large arm
Motor driven joint is connect with rotating base, and the forearm A is connect by forearm motor driven joint with large arm, and forearm A passes through
End driving motor connects motor machine arm end, the arm motor driven joint drive large arm movement, and the forearm motor drives
Movable joint drives forearm A movement, and end driving motor drive motor tool arm end executes corresponding operation.
3. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as claimed in claim 2, it is characterized in that: large arm motor driven
Joint is identical with forearm motor driven joint structure, respectively includes joint decelerating motor and cone tooth deceleration mechanism, the joint subtracts
Speed motor provides kinetic energy for joint, and the cone tooth deceleration mechanism is for amplifying torque and driving articulation；
Or
The execution structure setting of motor machine arm end is the first handgrip, is hand shape or is clip shape.
4. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as claimed in claim 3, it is characterized in that: first handgrip
Including left intermediate plate and right clamping piece, it is proximate to by end driving motor positive and negative rotation two intermediate plates of control or separate, realizes crawl
And placement.
5. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as claimed in claim 2, it is characterized in that: the motor machine
Arm, further includes image collecting device, and described image acquisition device is arranged on forearm A close to motor machine arm end, is used for
Acquire the image information of the movement of motor machine arm end and local environment.
6. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as described in claim 1, it is characterized in that: the hydraulic machinery
Arm includes that hydraulic arm connection pedestal, large arm B, forearm B and hydraulic manipulator end, the large arm B and forearm B are respectively set to connect
Rotary motion of the rotating mechanism for realizing large arm B, the company of large arm B and forearm B is arranged on hydraulic arm connection pedestal in rod structure
Place's setting forearm oscillating cylinder is connect, for realizing the swing of forearm B.
7. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as claimed in claim 6, it is characterized in that:
The pedestal oscillating cylinder and revolving support that the rotating mechanism includes, the pedestal oscillating cylinder driving revolving support drive large arm
The rotary motion of B；
Or
The large arm B includes first connecting rod and large arm linear cylinder, and first connecting rod and large arm linear cylinder constitute four-bar mechanism, and large arm is straight
Line cylinder drives the swing of four-bar mechanism movement realization large arm B.
8. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as claimed in claim 6, it is characterized in that: the hydraulic machinery
Arm end, including end oscillating cylinder, end rotating cylinder and linear cylinder and handgrip, the swing that end swings for realizing handgrip,
End rotating cylinder for realizing handgrip revolution or rotation, linear cylinder for realizing handgrip opening and closing grasping movement.
9. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as described in claim 1, it is characterized in that: further including that setting exists
Mobile mechanism and information collecting device on robot car body, the mobile mechanism includes crawler belt and moves driving structure, described
Mobile driving structure is hydraulic motor.
Or
The information collecting device includes camera, firedamp sensor, Temperature Humidity Sensor, gyroscope or/and radiation sensor.
10. a kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive as described in claim 1, it is characterized in that: further including remote control
Operating terminal, remote control operation terminal include control stick and display screen, and display screen is for showing realtime graphic and sensor measurement number
According to control stick is for realizing the remote control operation to mobile robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910744848.8A CN110421544A (en) | 2019-08-13 | 2019-08-13 | A kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910744848.8A CN110421544A (en) | 2019-08-13 | 2019-08-13 | A kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive |
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| CN110421544A true CN110421544A (en) | 2019-11-08 |
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Cited By (5)
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| CN110919621A (en) * | 2019-11-12 | 2020-03-27 | 杭州丰奕科技有限公司 | Emergent track robot of intelligence |
| CN111515973A (en) * | 2020-04-29 | 2020-08-11 | 山东省科学院自动化研究所 | Nuclear power station emergency rescue robot, system and method |
| CN111872957A (en) * | 2020-07-31 | 2020-11-03 | 中国矿业大学 | Intelligent drilling machine replacing robot |
| CN111975737A (en) * | 2020-07-22 | 2020-11-24 | 陕西宝智通科技发展有限公司 | Crawler-type inspection robot with self-balancing system |
| WO2022115816A1 (en) * | 2020-11-30 | 2022-06-02 | X Development Llc | Fusing a static large field of view and high fidelity moveable sensors for a robot platform |
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