CN110587574A - Suspension type autonomous walking robot - Google Patents
Suspension type autonomous walking robot Download PDFInfo
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- CN110587574A CN110587574A CN201910951745.9A CN201910951745A CN110587574A CN 110587574 A CN110587574 A CN 110587574A CN 201910951745 A CN201910951745 A CN 201910951745A CN 110587574 A CN110587574 A CN 110587574A
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention discloses a suspension type autonomous walking robot, which aims to solve the problem that a tire or a crawler is difficult to adapt to a complex terrain condition, so that a mobile robot is limited in use, and realize autonomous walking, automatic inspection and grabbing operations of the robot in a complex terrain environment. The suspension type autonomous walking robot is composed of a track beam, a sliding contact line, a current collector, a robot body, a control device, a left speed reducer, a left speed reduction chain wheel, a left walking motor, a left transmission chain, a front shaft, a left walking chain wheel, a left walking wheel, an electromagnetic brake, a rear shaft, a left driven wheel, an arm chassis driving motor, an arm chassis driving wheel, an arm rotary chassis, an arm base, an arm big arm, an arm small arm, a mechanical arm, an infrared distance measuring sensor, a camera, a detection device connecting rod, a right walking motor, a right speed reducer, a right transmission chain, a right speed reduction chain wheel, a right walking chain wheel, a right driven wheel and a shaft encoder, and the robot inspection and carrying operations under the complex terrain condition are realized.
Description
Technical Field
The invention relates to an inspection robot and a grabbing robot, in particular to an inspection robot and a grabbing robot which can autonomously walk in a complex terrain environment which cannot be met by tires or crawler belts.
Background
With the development depth and breadth of robots and the increase in the level of robot intelligence, various robots have been used in a wide variety of fields, extending from the traditional automobile manufacturing field to the non-manufacturing field. Such as mining robots, construction robots, and robots for maintenance and repair of hydroelectric systems. The inspection robot and the grabbing robot as the leading-edge robot products can replace the manual work to repeat the monotonous cycle operation under the severe environment or replace a large amount of monotonous reciprocating or high-precision work, can carry goods, sort articles, replace the heavy work of people, realize the mechanization and automation of production, can operate under the environments of high temperature, corrosion, toxic gas and the like to protect the personal safety, can be widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like, and play an extremely important role in the current industrial field.
The mobile robot is used as an intelligent device capable of walking independently, not only can realize on-site inspection and on-site rescue, but also can realize grabbing operation to complete the object grabbing function, so that the application occasions are wide.
However, in an industrial site with complex terrain, tires or crawler belts are difficult to adapt to the complex terrain conditions, so that the mobile robot is limited in use, and therefore an intelligent robot device adapting to the complex terrain is urgently needed.
And the suspension type running gear can get rid of the restraint of complicated topography, through the installation mounted beam, realizes the design of suspension type autonomous walking robot, can combine suspension type running gear's advantage, realizes the robot at the industrial site independently walking that the topography is complicated. At present, an autonomous mobile robot which is combined with a suspension structure and combines routing inspection and grabbing operation does not exist in the market, and therefore, the research on the suspension type autonomous walking robot is necessary.
The invention relates to a suspended autonomous walking robot which is designed and invented by studying an advanced mechanical structure and a control method, referring to advanced robot products at home and abroad and applying mechanical design, an automatic control technology, a sensor technology and the like. The suspended autonomous walking robot has advanced technology, low production cost, better market competitive advantage and popularization and application value.
Disclosure of Invention
The embodiment of the invention aims to provide a suspension type autonomous walking robot, which aims to solve the problem that a tire or a crawler is difficult to adapt to a complex terrain condition, so that a mobile robot is limited in use, and realize autonomous walking, automatic inspection and grabbing operations of the robot in a complex terrain environment.
The embodiment of the invention is realized in such a way that the suspension type autonomous walking robot comprises:
the track beam is a semi-closed suspensible long box body consisting of a top beam, a left side plate, a right side plate, a left walking support plate, a right walking support plate, an upper lifting lug, a left lower lifting lug, a right upper lifting lug and a right lower lifting lug, is a suspended walking track of the suspended autonomous walking robot and is used for bearing the suspended autonomous walking robot to autonomously walk in the track beam;
the trolley line is fixed on the inner wall of the top plate of the track beam and used for providing power for the suspended autonomous walking robot;
the current collector is arranged on the robot body, is in sliding contact with the trolley line and is used for providing a power supply of the trolley line for the suspended autonomous walking robot;
the robot comprises a robot body, a mechanical body of the suspension type autonomous walking robot, parts for installing and fixing the suspension type autonomous walking robot and a control device;
the control device is fixed at the top of the robot body and used for controlling the autonomous walking and manipulator grabbing operation of the suspension type autonomous walking robot;
the left walking motor is used for providing power for a left walking wheel;
the input shaft of the left speed reducer is connected with the left walking motor to realize the functions of speed reduction and torque increase;
the left speed reduction chain wheel is connected with an output shaft of the left speed reducer and realizes chain transmission with the left travelling wheel;
one end of the left transmission chain is connected with the left speed reduction chain wheel, and the other end of the left transmission chain is connected with the left walking chain wheel to realize chain transmission with the left walking wheel;
the left walking chain wheel is arranged on a front shaft of the suspension type autonomous walking robot, and the left walking wheel is driven to rotate by the power transmitted by the left transmission chain;
the left walking wheel is one of the driving wheels of the suspended autonomous walking robot, and the walking of the suspended autonomous walking robot is realized under the driving of the left walking motor;
the right walking motor is used for providing power for a right walking wheel, and one of walking powers of the suspension type autonomous walking robot is used for providing power for the right walking wheel;
the input shaft of the right speed reducer is connected with the right walking motor to realize the functions of speed reduction and torque increase;
the right speed reduction chain wheel is connected with an output shaft of the right speed reducer and realizes chain transmission with the right travelling wheel;
one end of the right transmission chain is connected with the right speed reduction chain wheel, and the other end of the right transmission chain is connected with the right walking chain wheel to realize chain transmission with the right walking wheel;
the right walking chain wheel is arranged on a front shaft of the suspension type autonomous walking robot and drives a right walking wheel to rotate through power transmitted by the right transmission chain;
the right walking wheel is one of the driving wheels of the suspended autonomous walking robot, and the walking of the suspended autonomous walking robot is realized under the driving of the right walking motor;
the front shaft is fixed at the front bottom of the robot body, the left travelling wheel and the right travelling wheel are installed on the front shaft, and the suspension type autonomous travelling robot is driven by the left travelling wheel and the right travelling wheel to move forwards, backwards and turn;
the rear shaft is fixed at the rear bottom of the robot body, is provided with a left driven wheel and a right driven wheel, and is matched with the left walking wheel and the right walking wheel to keep the stability of the suspension type autonomous walking robot;
the left driven wheel is arranged on the left side of the rear shaft and is matched with the right driven wheel to keep the stability of the suspended autonomous walking robot;
the right driven wheel is arranged on the right side of the rear shaft and is matched with the left driven wheel to keep the stability of the suspended autonomous walking robot;
the electromagnetic brake is arranged in the middle of the rear shaft, and the electromagnetic brake can lock or brake the suspended autonomous walking robot when the suspended autonomous walking robot is powered off or needs to be decelerated and braked;
the shaft encoder is arranged on the left driven wheel, is driven to rotate under the rotation of the left driven wheel, and is used for detecting the moving distance and speed of the suspended autonomous walking robot and realizing the positioning and speed monitoring of the suspended autonomous walking robot;
the arm chassis driving motor is arranged on the upper side of the bottom of the robot body and provides rotary power for a manipulator of the suspended autonomous walking robot;
the arm chassis driving wheel is arranged on the lower side of the bottom of the robot body and is driven by the arm chassis driving motor to provide rotary power for a manipulator of the suspended autonomous walking robot;
the arm rotary chassis is arranged on the lower side of the bottom of the robot body, is matched with the arm chassis driving wheel and provides rotary power for a manipulator of the suspension type autonomous walking robot under the driving of the arm chassis driving motor;
the arm base is arranged on the lower side of the arm rotary chassis and is a base structure of a manipulator of the suspension type autonomous walking robot;
the arm big arm is arranged at the bottom end of the arm base and provides rotating arm power for a manipulator of the suspension type autonomous walking robot;
the small arm is arranged at the bottom end of the large arm and provides an effect of adjusting the posture of the manipulator for the manipulator of the suspended autonomous walking robot;
the manipulator is arranged at the bottom end of the small arm of the arm and is driven by the suspended autonomous walking robot to grab an object under the control of the control device;
a detection device connecting rod arranged at the bottom side of the robot body and used for fixing the detection device,
the detection device is connected with the lower end of the connecting rod of the detection device and is used for detecting the temperature, the humidity and the gas concentration of the environment where the suspended autonomous walking robot is located;
the camera is arranged on the upper part of the front side of the detection device and used for acquiring visual image information of the environment where the suspended autonomous walking robot is located;
and the infrared distance measuring sensor is arranged on the lower part of the front side of the detection device and used for collecting the distance of the front obstacle of the suspended autonomous walking robot.
Further, a suspension type is from moving robot, a serial communication port, for the convenience of installation, suspension type is from moving robot's track roof beam can be according to actual need customization 10 meters to 30 meters long one section, and each section all has back timber, left side board, right side board, left side walking backup pad, right side walking backup pad, goes up lug, upper left lug, lower left lug, upper right lug, lower right lug to constitute, makes things convenient for the suspension and the hoist and mount of different field installations.
Further, a suspension type is from walking robot, its characterized in that, suspension type is from walking robot adaptable ground open section, colliery underworkings, places such as mountain region slope, environmental suitability is strong, easy to assemble and dismantlement.
Further, the suspended autonomous walking robot is characterized in that the detection device and the manipulator of the suspended autonomous walking robot can be installed and removed according to actual conditions on site, and can be freely combined;
when the suspended autonomous walking robot only remains the detection device and the manipulator is dismounted, the suspended autonomous walking robot is an inspection robot;
when the suspension type autonomous walking robot only keeps the manipulator and is used for detecting the device during dismantling, the suspension type autonomous walking robot is a movable carrying operation robot.
The invention fills the blank of multiple combination aspects of realizing the inspection, grabbing and autonomous walking of the robot in the complex terrain environment in China, can be applied to the inspection and grabbing engineering under the complex terrain working condition, and the scientific research result can greatly drive the scientific and technological progress and the social and economic development, thereby greatly improving the operating environment of workers and reducing the labor intensity of the workers.
Drawings
Fig. 1 is a front view of a general schematic view of a suspended autonomous walking robot provided by an embodiment of the present invention.
Fig. 2 is a left side view of an overall schematic view of a suspended autonomous walking robot provided by an embodiment of the present invention.
Fig. 3 is a right side view of an overall schematic view of a suspended autonomous walking robot provided by an embodiment of the present invention.
Fig. 4 is a structural view of a track beam of a suspension type autonomous walking robot according to an embodiment of the present invention.
In the drawings, 1. a track beam; 2. a trolley line; 3. a current collector; 4. a robot body; 5. a control device; 6. a left speed reducer; 7. a left reduction sprocket; 8. a left travel motor; 9. a left drive chain; 10. a front axle; 11. a left travel sprocket; 12. a left travel wheel; 13. an electromagnetic brake; 14. a rear axle; 15. a left driven wheel; 16. an arm chassis driving motor; 17. an arm chassis driving wheel; 18. an arm rotation chassis; 19. an arm base; 20. the arm is big; 21. an arm forearm; 22. a manipulator; 23. an infrared ranging sensor; 24. a camera; 25. a detection device; 26. a detection device link; 27. a right travel motor; 28. a right speed reducer; 29. a right drive chain; 30. a right reduction sprocket; 31. a right road wheel; 32. a right travel sprocket; 33. a right driven wheel; 34. a shaft encoder; 101. a top beam; 102. a left side plate; 103. a left upper lifting lug; 104. a left lower lifting lug; 105. a left walking support plate; 106. an upper lifting lug; 107. a right upper lifting lug; 108. a right side plate; 109. a right lower lifting lug; 110. and a right walking support plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 shows the general structure of a suspended autonomous walking robot provided by the present invention, which is a front view of the general structure, showing all the components that can be seen from the front view direction of the suspended autonomous walking robot. The general structure of the suspended autonomous walking robot is shown in the figure to the maximum extent, but part of the parts are blocked and cannot be expressed, and the part which cannot be expressed is shown in the left view part of fig. 2 and the right view part of fig. 3.
For convenience of explanation, only portions relevant to the present invention are shown.
Fig. 1 illustrates a suspended autonomous walking robot of the present invention, which includes: the robot comprises a track beam 1, a trolley line 2, a current collector 3, a robot body 4, a control device 5, a left speed reducer 6, a left speed reduction sprocket 7, a left traveling motor 8, a left transmission chain 9, a front shaft 10, a left traveling sprocket 11, a left traveling wheel 12, an electromagnetic brake 13, a rear shaft 14, a left driven wheel 15, an arm chassis driving motor 16, an arm chassis driving wheel 17, an arm rotary chassis 18, an arm base 19, an arm big arm 20, an arm small arm 21, a manipulator 22, an infrared distance measuring sensor 23, a camera 24, a detection device 25, a detection device connecting rod 26, a right traveling motor 27, a right speed reducer 28, a right transmission chain 29, a right speed reduction sprocket 30, a right traveling wheel 31, a right traveling sprocket 32, a right driven wheel 33 and a shaft encoder 34.
The track beam 1 is a suspended walking track of the suspended autonomous walking robot and is used for bearing the autonomous walking of the suspended autonomous walking robot in the track beam.
And the sliding contact line 2 is fixed on the inner wall of the top plate of the track beam 1 and used for providing power for the suspended autonomous walking robot.
The current collector 3 is arranged on the robot body, is matched with the sliding contact line 2 and provides power belt energy for the suspended autonomous walking robot.
The robot body 4 is a carrier of main parts of the suspended autonomous walking robot. A
And the control device 5 is fixed at the top of the robot body 4 and used for controlling the autonomous walking and manipulator grabbing operation of the suspended autonomous walking robot.
The left walking motor 8 is mechanically connected with the left speed reducer 6 and the left speed reducing chain wheel 7, the left walking chain wheel 11 is mechanically connected with the left walking wheel 12, and under the chain transmission of the left transmission chain 9, transmission power is provided for the left walking wheel 12 to drive the left walking wheel 12 to move forwards and backwards.
The front axle 10 is mechanically connected to the left traveling wheel 12 and the right traveling wheel 31, and is a driving axle of the suspended autonomous robot.
The rear axle 14 is mechanically connected to the electromagnetic brake 13, the left driven wheel 15, and the right driven wheel 33, and is a driven axle of the suspended autonomous robot.
The electromagnetic brake 13 is mounted on the rear axle 14 and provides a braking force for the suspended autonomous walking robot.
The arm chassis driving motor 16 is mechanically connected with the arm chassis driving wheel 17, the arm rotary chassis 18, the arm base 19, the arm big arm 20, the arm small arm 21 and the manipulator 22, so that the position and posture of the manipulator 22 are adjusted, and the manipulator 22 can grab objects to operate.
Detection device 25 through detection device connecting rod 26 with the bottom mechanical connection of robot body 4, with infrared distance measuring sensor 23 camera 24 realizes together that suspension type autonomous walking robot patrols and examines and the environmental detection.
The following describes the embodiments of the present invention with reference to fig. 2, fig. 3, and fig. 4.
As shown in fig. 2, a left side view of the general structure of the suspended autonomous walking robot shows the components of the suspended autonomous walking robot in the left side view and the spatial topology of the components of the suspended autonomous walking robot. Although the general structure of the suspended autonomous walking robot is shown in fig. 1 to the maximum extent possible, some parts are hidden from representation, and the structure of the suspended autonomous walking robot can be more fully described and understood from fig. 2.
In fig. 2, the right traveling motor 27 is mechanically connected to the right speed reducer 28 and the right speed reduction sprocket 30, and the right traveling wheel 31 is mechanically connected to the right traveling sprocket 32, so that the right traveling wheel 31 is driven to move forward and backward by the chain drive of the right transmission chain 29; the right traveling wheel 31 and the left traveling wheel 12 realize differential control of the two wheels under the control of the control device 5, and realize left and right turning control of the suspension type autonomous walking robot.
As shown in fig. 3, a right side view of the general structure of the suspended autonomous walking robot shows a part which cannot be expressed by the shading of fig. 1 and 2 from a right side view. The right driven wheel 33, the left driven wheel 15 and the electromagnetic brake 13 are mounted on the rear axle 14, and ensure smooth operation of the suspended autonomous walking robot together with the left traveling wheel 12 and the right traveling wheel 31. The shaft encoder 34 is installed at the left shaft end installed at the left driven wheel 15 for detecting the current moving position and speed of the suspended autonomous walking robot.
Fig. 4 is the structure diagram is constituteed in detail of track roof beam 1, track roof beam 1 by back timber 101, left side plate 102, upper left lug 103, lower left lug 104, left side walking backup pad 105, go up lug 106, upper right lug 107, right side plate 108, lower right lug 109, the mechanical welding of support pad 110 of walking right form, can be according to actual need customize 10 meters to 30 meters long one section, fix in proper order in places such as open section in the ground, colliery underworkings, mountain region slope, for suspension type autonomous walking robot provides the walking track.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A suspension type autonomous walking robot, characterized in that: the suspended autonomous walking robot includes:
the track beam is a semi-closed suspensible long box body consisting of a top beam, a left side plate, a right side plate, a left walking support plate, a right walking support plate, an upper lifting lug, a left lower lifting lug, a right upper lifting lug and a right lower lifting lug, is a suspended walking track of the suspended autonomous walking robot and is used for bearing the suspended autonomous walking robot to autonomously walk in the track beam;
the trolley line is fixed on the inner wall of the top plate of the track beam and used for providing power for the suspended autonomous walking robot;
the current collector is arranged on the robot body, is in sliding contact with the trolley line and is used for providing a power supply of the trolley line for the suspended autonomous walking robot;
the robot comprises a robot body, a mechanical body of the suspension type autonomous walking robot, parts for installing and fixing the suspension type autonomous walking robot and a control device;
the control device is fixed at the top of the robot body and used for controlling the autonomous walking and manipulator grabbing operation of the suspension type autonomous walking robot;
the left walking motor is used for providing power for a left walking wheel;
the input shaft of the left speed reducer is connected with the left walking motor to realize the functions of speed reduction and torque increase;
the left speed reduction chain wheel is connected with an output shaft of the left speed reducer and realizes chain transmission with the left travelling wheel;
one end of the left transmission chain is connected with the left speed reduction chain wheel, and the other end of the left transmission chain is connected with the left walking chain wheel to realize chain transmission with the left walking wheel;
the left walking chain wheel is arranged on a front shaft of the suspension type autonomous walking robot, and the left walking wheel is driven to rotate by the power transmitted by the left transmission chain;
the left walking wheel is one of the driving wheels of the suspended autonomous walking robot, and the walking of the suspended autonomous walking robot is realized under the driving of the left walking motor;
the right walking motor is used for providing power for a right walking wheel, and one of walking powers of the suspension type autonomous walking robot is used for providing power for the right walking wheel;
the input shaft of the right speed reducer is connected with the right walking motor to realize the functions of speed reduction and torque increase;
the right speed reduction chain wheel is connected with an output shaft of the right speed reducer and realizes chain transmission with the right travelling wheel;
one end of the right transmission chain is connected with the right speed reduction chain wheel, and the other end of the right transmission chain is connected with the right walking chain wheel to realize chain transmission with the right walking wheel;
the right walking chain wheel is arranged on a front shaft of the suspension type autonomous walking robot and drives a right walking wheel to rotate through power transmitted by the right transmission chain;
the right walking wheel is one of the driving wheels of the suspended autonomous walking robot, and the walking of the suspended autonomous walking robot is realized under the driving of the right walking motor;
the front shaft is fixed at the front bottom of the robot body, the left travelling wheel and the right travelling wheel are installed on the front shaft, and the suspension type autonomous travelling robot is driven by the left travelling wheel and the right travelling wheel to move forwards, backwards and turn;
the rear shaft is fixed at the rear bottom of the robot body, is provided with a left driven wheel and a right driven wheel, and is matched with the left walking wheel and the right walking wheel to keep the stability of the suspension type autonomous walking robot;
the left driven wheel is arranged on the left side of the rear shaft and is matched with the right driven wheel to keep the stability of the suspended autonomous walking robot;
the right driven wheel is arranged on the right side of the rear shaft and is matched with the left driven wheel to keep the stability of the suspended autonomous walking robot;
the electromagnetic brake is arranged in the middle of the rear shaft, and the electromagnetic brake can lock or brake the suspended autonomous walking robot when the suspended autonomous walking robot is powered off or needs to be decelerated and braked;
the shaft encoder is arranged on the left driven wheel, is driven to rotate under the rotation of the left driven wheel, and is used for detecting the moving distance and speed of the suspended autonomous walking robot and realizing the positioning and speed monitoring of the suspended autonomous walking robot;
the arm chassis driving motor is arranged on the upper side of the bottom of the robot body and provides rotary power for a manipulator of the suspended autonomous walking robot;
the arm chassis driving wheel is arranged on the lower side of the bottom of the robot body and is driven by the arm chassis driving motor to provide rotary power for a manipulator of the suspended autonomous walking robot;
the arm rotary chassis is arranged on the lower side of the bottom of the robot body, is matched with the arm chassis driving wheel and provides rotary power for a manipulator of the suspension type autonomous walking robot under the driving of the arm chassis driving motor;
the arm base is arranged on the lower side of the arm rotary chassis and is a base structure of a manipulator of the suspension type autonomous walking robot;
the arm big arm is arranged at the bottom end of the arm base and provides rotating arm power for a manipulator of the suspension type autonomous walking robot;
the small arm is arranged at the bottom end of the large arm and provides an effect of adjusting the posture of the manipulator for the manipulator of the suspended autonomous walking robot;
the manipulator is arranged at the bottom end of the small arm of the arm and is driven by the suspended autonomous walking robot to grab an object under the control of the control device;
a detection device connecting rod arranged at the bottom side of the robot body and used for fixing the detection device,
the detection device is connected with the lower end of the connecting rod of the detection device and is used for detecting the temperature, the humidity and the gas concentration of the environment where the suspended autonomous walking robot is located;
the camera is arranged on the upper part of the front side of the detection device and used for acquiring visual image information of the environment where the suspended autonomous walking robot is located;
and the infrared distance measuring sensor is arranged on the lower part of the front side of the detection device and used for collecting the distance of the front obstacle of the suspended autonomous walking robot.
2. The suspended autonomous walking robot of claim 1, wherein the track beam of the suspended autonomous walking robot can be customized to be 10-30 meters long for one section for easy installation, and each section comprises a top beam, a left side plate, a right side plate, a left walking support plate, a right walking support plate, an upper lifting lug, an upper left lifting lug, a lower left lifting lug, an upper right lifting lug and a lower right lifting lug, so as to facilitate suspension and lifting for different field installations.
3. The suspended autonomous walking robot of claim 1, wherein the suspended autonomous walking robot is adaptable to open ground, underground coal mine tunnels, hilly slopes and other places, has strong environmental adaptability, and is convenient to install and dismantle.
4. The suspended autonomous walking robot of claim 1, wherein the detection means and the robot hand of the suspended autonomous walking robot are each installed and removed according to actual conditions on site, and are freely combined;
when the suspended autonomous walking robot only remains the detection device and the manipulator is dismounted, the suspended autonomous walking robot is an inspection robot;
when the suspension type autonomous walking robot only keeps the manipulator and is used for detecting the device during dismantling, the suspension type autonomous walking robot is a movable carrying operation robot.
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| CN110955254A (en) * | 2020-02-24 | 2020-04-03 | 广州普华灵动机器人技术有限公司 | Intelligent inspection robot and use method thereof |
| CN111731130A (en) * | 2020-06-30 | 2020-10-02 | 重庆建工建筑产业技术研究院有限公司 | Suspension type intelligent mobile robot control system and method |
| CN112096445A (en) * | 2020-09-30 | 2020-12-18 | 重庆建工建筑产业技术研究院有限公司 | Mobile fire-extinguishing robot system for tunnel |
| CN114102668A (en) * | 2021-11-03 | 2022-03-01 | 佛山科学技术学院 | Feedback buffer chassis applied to track robot and control method thereof |
| CN115415909A (en) * | 2022-09-15 | 2022-12-02 | 上海第二工业大学 | Crane maintenance robot |
| CN116590971A (en) * | 2023-07-20 | 2023-08-15 | 成都大学 | Empty rail detection device and detection method thereof |
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