CN111152192B - Bionic robot climbing structure and climbing method thereof - Google Patents
Bionic robot climbing structure and climbing method thereof Download PDFInfo
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- CN111152192B CN111152192B CN202010003701.6A CN202010003701A CN111152192B CN 111152192 B CN111152192 B CN 111152192B CN 202010003701 A CN202010003701 A CN 202010003701A CN 111152192 B CN111152192 B CN 111152192B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a bionic climbing structure of a robot and a climbing method of the bionic climbing structure, the bionic climbing structure comprises the robot, a plurality of rotating shafts are arranged on the robot, telescopic rods are arranged at two ends of each rotating shaft, a disc is sleeved on each telescopic rod, bosses are arranged on two sides of the disc, crawler feet are sleeved on the two bosses, a semicircular groove is formed in one side of each crawler foot, the bosses are located in the semicircular grooves, sawteeth are arranged on the top side and the bottom side of each crawler foot, mounting rods are fixedly mounted on two sides of the disc, mounting holes are formed in one side of each crawler foot, and one ends, far away from each other, of the two mounting rods penetrate through the two mounting holes respectively and are movably sleeved with mounting blocks. According to the invention, each crawler foot can be quickly and conveniently replaced, so that the normal use of the robot is ensured, and the distance between the crawler feet positioned on the two sides is adjustable, so that the applicability of the robot is improved, and the use of the robot can meet the requirements of people.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a bionic climbing structure of a robot and a climbing method thereof.
Background
The bionic robot is a robot which simulates biology and works according to biological characteristics, mechanical pets are very popular in western countries at present, in addition, the sparrow-simulating robot can play a role in environment monitoring, the bionic robot has wide development prospect, similar polypod reptile bionic robot products appear in the market at present fill the blank of the bionic field, and the bionic robot has many parts, complex mechanical structure, more and scattered required parts and complex installation through observation, and the process for manufacturing the bionic robot is extremely complex, so that the product has high cost and great processing difficulty.
The publication number CN208880705U discloses a novel reptile bionic robot capable of moving at high speed, the power is strong, the robot can move at high speed, the walking is stable, the robot can climb over obstacles, the robot can walk on the front side and the back side, and the adaptability is strong.
Disclosure of Invention
The invention aims to provide a bionic climbing structure of a robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a bionic climbing structure of a robot comprises the robot, wherein a plurality of rotating shafts are arranged on the robot, telescopic rods are arranged at two ends of each rotating shaft, discs are sleeved on the telescopic rods, bosses are arranged on two sides of each disc, a crawler foot is sleeved on each boss, a semicircular groove is formed in one side of each crawler foot, the bosses are located in the semicircular grooves, sawteeth are arranged on the top sides and the bottom sides of the crawler feet, mounting rods are fixedly mounted on two sides of each disc, mounting holes are formed in one sides of the two crawler feet, one ends, far away from each other, of the two mounting rods respectively penetrate through the two mounting holes and are movably sleeved with mounting blocks, a clamping groove is formed in one side of each mounting block, a mounting cavity is formed in each mounting block, a moving hole and a jack are formed in the inner wall of one side of the mounting cavity, a moving rod is movably mounted in the moving hole, one end of each mounting rod extends, an L-shaped inserted bar is movably mounted in the insertion hole, an insertion groove is formed in one side of the mounting bar, and one end of the L-shaped inserted bar extends into the insertion groove.
Preferably, flexible groove has all been seted up at the both ends of pivot, and the one end of two telescopic links extends to two flexible inslots respectively, and one side fixed mounting of pivot has two installation covers, and movable mounting has the locating lever in the installation cover, has seted up the locating hole on one side inner wall in flexible groove, and a plurality of constant head tanks have been seted up to one side equidistance interval of telescopic link, and the one end of locating lever runs through the locating hole and extends to in the constant head tank.
Preferably, all seted up the sliding tray on the both sides inner wall of installation cover, equal movable mounting has the sliding block in two sliding trays, and one side that two sliding blocks are close to each other is fixed mounting respectively on the both sides of locating lever, has cup jointed first spring on the locating lever, and first spring one end fixed mounting is on one side inner wall of sliding tray, and the other end fixed mounting of first spring is on one side of sliding block.
Preferably, a handle is fixedly mounted at one end of the positioning rod, and one side of the handle is in contact with one side of the mounting sleeve.
Preferably, a pull rod is fixedly mounted on one side of the moving rod, a driving rod is fixedly mounted at one end of the pull rod, two linkage rods are rotatably mounted on one side of the driving rod, one side of one linkage rod is rotatably mounted on one side of the L-shaped insertion rod, and an L-shaped push rod is rotatably mounted on one side of the other linkage rod.
Preferably, an elliptical hole is formed in the inner wall of one side of the mounting cavity, one end of the L-shaped push rod penetrates through the elliptical hole and is rotatably mounted with an elliptical block, one side of the elliptical block is in contact with one side of the mounting block, a groove is formed in one side of the elliptical block, a circular groove is formed in the inner wall of the groove in an annular mode, a circular block is movably mounted in the circular groove, and one end of the L-shaped push rod is fixedly mounted on one side of the circular block.
Preferably, the inner wall of one side of the mounting cavity is provided with a sliding groove, the L-shaped inserting rod and one end of the L-shaped push rod are slidably mounted in the sliding groove, and one side, close to each other, of the L-shaped inserting rod and the L-shaped push rod is fixedly provided with the same second spring.
Preferably, a limiting groove is formed in the inner wall of one side of the mounting cavity, and one end of the moving rod is slidably mounted in the limiting groove.
Preferably, one end of a third spring is fixedly mounted on the inner wall of one side of the moving hole, and the other end of the third spring is fixedly mounted on one side of the L-shaped push rod.
Preferably, the specific using method is as follows:
(A1) firstly, when the crawler foot needs to be installed, the crawler foot is moved to be sleeved on the boss through the semicircular groove, one end of the installation rod penetrates through the installation hole, and the installation block is sleeved on one end of the installation rod;
(A2) then, the mounting rod pushes the moving rod to move and enable the third spring to bear force, the moving rod drives the driving rod to move through the pull rod, the driving rod drives the L-shaped push rod and the L-shaped inserting rod to be away from each other through the two linkage rods, meanwhile, one ends of the L-shaped push rod and the L-shaped inserting rod vertically move in the sliding groove and enable the second spring to bear force, so that one end of the L-shaped inserting rod is inserted into the slot, the mounting rod is fixed, meanwhile, the L-shaped push rod pushes the elliptical block out of the elliptical hole, the elliptical block is rotated at the moment and rotates on the circular block through the circular groove until the elliptical block is perpendicular to the elliptical hole, the elliptical block can be clamped on one side of the mounting block, mounting of the crawler foot can be completed, and similarly, the crawler foot can be conveniently detached, and accordingly the crawler foot is convenient to replace;
(A3) when the distance between the crawler feet on the two sides needs to be adjusted, the handle is pulled to enable the bottom end of the positioning rod to be separated from the positioning groove, the two ends of the positioning rod slide in the two sliding grooves through the two sliding blocks, the first spring is stressed, the telescopic rod is pulled to enable the telescopic rod to move in the telescopic groove, when the positioning rod is moved to a required position, the handle is loosened, and the bottom end of the positioning rod enters into one corresponding positioning groove under the reaction force of the first spring, so that adjustment can be completed;
(A4) according to the crawler-type robot, each crawler foot can be quickly and conveniently replaced, so that the normal use of the robot is guaranteed, and meanwhile, the distance between the crawler feet positioned on the two sides is adjustable, so that the applicability of the robot is improved, and the use of the robot can meet the requirements of people.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a bionic climbing structure of a robot, which is characterized in that each crawler foot can be independently replaced from a disc through the matching use of an installation block and an installation rod, and the replacement is convenient and quick, so that the normal use of the robot can be ensured.
2. According to the invention, through the arrangement of the rotating shaft, the telescopic groove and the telescopic rod, the distance of the rotating shaft can be extended, so that the distance between the crawler feet at two sides can be adjusted, and the applicability of the robot is greatly improved.
3. According to the invention, each crawler foot can be quickly and conveniently replaced, so that the normal use of the robot is ensured, and the distance between the crawler feet positioned on the two sides is adjustable, so that the applicability of the robot is improved, and the use of the robot can meet the requirements of people.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic view of the connection between the shaft and the crawler foot according to the present invention;
FIG. 3 is a schematic perspective view of a crawler foot of the present invention;
FIG. 4 is a schematic view of the connection of the reptile foot of the present invention with a turntable;
FIG. 5 is an enlarged view of the structure of FIG. 4 at A in accordance with the present invention;
fig. 6 is an enlarged view of the structure at B in fig. 2 according to the present invention.
In the figure: 1. a robot; 2. a rotating shaft; 3. a crawler foot; 4. a telescopic groove; 5. a telescopic rod; 6. a disc; 7. a boss; 8. saw teeth; 9. a semicircular groove; 10. mounting holes; 11. mounting blocks; 12. mounting a rod; 13. a card slot; 14. a mounting cavity; 15. moving the hole; 16. a travel bar; 17. a pull rod; 18. driving the rod; 19. a linkage rod; 20. an L-shaped inserted link; 21. an L-shaped push rod; 22. a jack; 23. a slot; 24. an elliptical hole; 25. an elliptical block; 26. a chute; 27. installing a sleeve; 28. positioning a rod; 29. positioning holes; 30. positioning a groove; 31. a handle; 32. a sliding groove; 33. and a slider.
Detailed Description
The embodiment of the application solves the problems in the prior art by providing the bionic climbing structure of the robot. The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1-6, the embodiment provides a bionic climbing structure for a robot, which includes a robot 1, a plurality of rotating shafts 2 are provided on the robot 1, both ends of the rotating shafts 2 are provided with telescopic rods 5, a disc 6 is sleeved on the telescopic rods 5, both sides of the disc 6 are provided with bosses 7, two bosses 7 are sleeved with crawler feet 3, one side of each crawler foot 3 is provided with a semicircular groove 9, the bosses 7 are located in the semicircular grooves 9, both top sides and bottom sides of the crawler feet 3 are provided with saw teeth 8, both sides of the disc 6 are fixedly provided with mounting rods 12, one side of each crawler foot 3 is provided with a mounting hole 10, one end of each mounting rod 12, which is far away from each other, penetrates through the two mounting holes 10 and is movably sleeved with a mounting block 11, one side of the mounting block 11 is provided with a clamping groove 13, the mounting block 11 is provided with a mounting cavity 14, one side inner wall of the mounting cavity 14 is provided with a moving hole, a moving rod 16 is movably arranged in the moving hole 15, one end of the mounting rod 12 extends into the clamping groove 13 and contacts with one side of the moving rod 16, an L-shaped inserting rod 20 is movably arranged in the jack 22, a slot 23 is formed in one side of the mounting rod 12, and one end of the L-shaped inserting rod 20 extends into the slot 23.
Wherein, elliptical hole 24 has been seted up on the one side inner wall of installation cavity 14, elliptical hole 24 and rotation installation have oval piece 25 are run through to the one end of L type push rod 21, one side of oval piece 25 contacts with one side of installation piece 11, one side of oval piece 25 is seted up flutedly, the circular slot has been seted up to the annular on the inner wall of recess, movable mounting has the circular piece in the circular slot, the one end fixed mounting of L type push rod 21 is on one side of circular piece, spout 26 has been seted up on the one side inner wall of installation cavity 14, the equal slidable mounting of one end of L type inserted bar 20 and L type push rod 21 is in spout 26, L type inserted bar 20 and the one side fixed mounting that L type push rod 21 is close to each other have same second spring, the spacing groove has been seted up on the one side inner wall of installation cavity 14, the one end slidable mounting of carriage release lever 16 is in the spacing groove, fixed mounting has the one end of third spring on the one side inner wall of movable hole 15.
In the embodiment, firstly, when the crawler foot 3 needs to be installed, the crawler foot 3 is moved to be sleeved on the boss 7 through the semicircular groove 9, one end of the installation rod 12 penetrates through the installation hole 10, at this time, the installation block 11 is sleeved on one end of the installation rod 12, then, the installation rod 12 pushes the moving rod 16 to move and stress the third spring, the moving rod 16 drives the driving rod 18 to move through the pull rod 17, the driving rod 18 drives the L-shaped push rod 21 and the L-shaped insert rod 20 to be away from each other through the two linkage rods 19, at the same time, one ends of the L-shaped push rod 21 and the L-shaped insert rod 20 both vertically move in the sliding groove 26 and stress the second spring, so that one end of the L-shaped insert rod 20 is inserted into the insertion groove 23, thereby fixing the installation rod 12, at the same time, the L-shaped push rod 21 pushes the elliptical block 25 out of the elliptical hole 24, at this time, the elliptical block 25 is rotated to rotate on the circular block through the circular groove, until the oval block 25 is perpendicular to the oval hole 24, the oval block 25 can be clamped on one side of the mounting block 11, so that the mounting of the crawler foot 3 can be completed, and similarly, the crawler foot 3 can be conveniently detached, so that the crawler foot 3 is convenient to replace.
Example two
Referring to fig. 1-6, a further improvement is made on the basis of embodiment 1:
the two ends of the rotating shaft 2 are provided with telescopic grooves 4, one ends of the two telescopic rods 5 extend into the two telescopic grooves 4 respectively, one side of the rotating shaft 2 is fixedly provided with two mounting sleeves 27, a positioning rod 28 is movably mounted in the mounting sleeves 27, the inner wall of one side of each telescopic groove 4 is provided with a positioning hole 29, one side of each telescopic rod 5 is provided with a plurality of positioning grooves 30 at equal intervals, and one end of each positioning rod 28 penetrates through each positioning hole 29 and extends into each positioning groove 30;
the inner walls of two sides of the mounting sleeve 27 are respectively provided with a sliding groove 32, sliding blocks 33 are movably mounted in the two sliding grooves 32, one sides of the two sliding blocks 33, which are close to each other, are respectively and fixedly mounted on two sides of the positioning rod 28, the positioning rod 28 is sleeved with a first spring, one end of the first spring is fixedly mounted on the inner wall of one side of the sliding groove 32, and the other end of the first spring is fixedly mounted on one side of the sliding block 33;
one end of the positioning rod 28 is fixedly provided with a handle 31, and one side of the handle 31 is contacted with one side of the mounting sleeve 27;
one side of a moving rod 16 is fixedly provided with a pull rod 17, one end of the pull rod 17 is fixedly provided with a driving rod 18, one side of the driving rod 18 is rotatably provided with two linkage rods 19, one side of one linkage rod 19 is rotatably arranged on one side of an L-shaped inserting rod 20, one side of the other linkage rod 19 is rotatably provided with an L-shaped push rod 21, meanwhile, when the distance between the crawler feet 3 at two sides needs to be adjusted, a handle 31 is pulled to ensure that the bottom end of a positioning rod 28 is separated from a positioning groove 30, two ends of the positioning rod 28 slide in two sliding grooves 32 through two sliding blocks 33, a first spring is stressed, at the moment, a telescopic rod 5 is pulled to move in a telescopic groove 4, when the crawler feet move to a required position, the handle 31 is loosened, and under the reaction force of the first spring, the bottom end of the positioning rod 28 enters into a corresponding positioning groove 30, so that, can make the change that each reptile foot 3 homoenergetic is convenient fast to guaranteed robot 1's normal use, the distance that lies in between the reptile foot 3 of both sides simultaneously is adjustable, thereby improved robot 1's suitability, makes robot 1's use can satisfy people's demand more.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a bionic climbing structure of robot, includes robot (1), be equipped with a plurality of pivots (2) on robot (1), the both ends of pivot (2) all are equipped with telescopic link (5), disc (6) have been cup jointed on telescopic link (5), the both sides of disc (6) all are equipped with boss (7), all cup jointed sufficient (3) of reptile on two boss (7), half slot (9) have been seted up to one side of the sufficient (3) of reptile, boss (7) are located half slot (9), sufficient (3) top side of reptile and bottom side all are equipped with sawtooth (8), its characterized in that: the crawler-type crawler belt is characterized in that mounting rods (12) are fixedly mounted on two sides of the disc (6), mounting holes (10) are formed in one sides of two crawler legs (3), one ends, far away from each other, of the two mounting rods (12) penetrate through the two mounting holes (10) respectively and are movably sleeved with mounting blocks (11), clamping grooves (13) are formed in one sides of the mounting blocks (11), mounting cavities (14) are formed in the mounting blocks (11), moving holes (15) and inserting holes (22) are formed in the inner wall of one side of each mounting cavity (14), moving rods (16) are movably mounted in the moving holes (15), one ends of the mounting rods (12) extend into the clamping grooves (13) and are in contact with one sides of the moving rods (16), L-shaped inserting rods (20) are movably mounted in the inserting holes (22), inserting grooves (23) are formed in one sides of the mounting rods (12), and one ends of the L;
the telescopic type telescopic rack is characterized in that telescopic grooves (4) are formed in two ends of the rotating shaft (2), one ends of the two telescopic rods (5) extend into the two telescopic grooves (4) respectively, two mounting sleeves (27) are fixedly mounted on one side of the rotating shaft (2), positioning rods (28) are movably mounted in the mounting sleeves (27), positioning holes (29) are formed in the inner wall of one side of each telescopic groove (4), a plurality of positioning grooves (30) are formed in one side of each telescopic rod (5) at equal intervals, and one end of each positioning rod (28) penetrates through the positioning holes (29) and extends into the corresponding positioning groove (30);
sliding grooves (32) are formed in the inner walls of the two sides of the mounting sleeve (27), sliding blocks (33) are movably mounted in the two sliding grooves (32), one sides, close to each other, of the two sliding blocks (33) are fixedly mounted on the two sides of the positioning rod (28) respectively, a first spring is sleeved on the positioning rod (28), one end of the first spring is fixedly mounted on the inner wall of one side of each sliding groove (32), and the other end of the first spring is fixedly mounted on one side of each sliding block (33);
one end of the positioning rod (28) is fixedly provided with a handle (31), and one side of the handle (31) is in contact with one side of the mounting sleeve (27);
a pull rod (17) is fixedly installed on one side of the moving rod (16), a driving rod (18) is fixedly installed at one end of the pull rod (17), two linkage rods (19) are rotatably installed on one side of the driving rod (18), one side of one linkage rod (19) is rotatably installed on one side of an L-shaped inserting rod (20), and an L-shaped push rod (21) is rotatably installed on one side of the other linkage rod (19);
an elliptical hole (24) is formed in the inner wall of one side of the mounting cavity (14), one end of the L-shaped push rod (21) penetrates through the elliptical hole (24) and is rotatably provided with an elliptical block (25), one side of the elliptical block (25) is in contact with one side of the mounting block (11), one side of the elliptical block (25) is provided with a groove, a circular groove is formed in the inner wall of the groove in an annular mode, a circular block is movably mounted in the circular groove, and one end of the L-shaped push rod (21) is fixedly mounted on one side of the circular block;
a sliding groove (26) is formed in the inner wall of one side of the mounting cavity (14), one ends of the L-shaped insert rod (20) and the L-shaped push rod (21) are slidably mounted in the sliding groove (26), and the same second spring is fixedly mounted on the side, close to each other, of the L-shaped insert rod (20) and the L-shaped push rod (21);
a limiting groove is formed in the inner wall of one side of the mounting cavity (14), and one end of the moving rod (16) is slidably mounted in the limiting groove;
one end of a third spring is fixedly installed on the inner wall of one side of the moving hole (15), and the other end of the third spring is fixedly installed on one side of the L-shaped push rod (21).
2. The bionic climbing robot structure as claimed in claim 1, wherein the specific use method is as follows:
(A1) firstly, when the crawler foot (3) needs to be installed, the crawler foot (3) is moved to be sleeved on the boss (7) through the semicircular groove (9), one end of the installation rod (12) penetrates through the installation hole (10), and the installation block (11) is sleeved on one end of the installation rod (12);
(A2) then, the mounting rod (12) pushes the moving rod (16) to move and enable the third spring to be stressed, the moving rod (16) drives the driving rod (18) to move through the pull rod (17), the driving rod (18) drives the L-shaped push rod (21) and the L-shaped inserting rod (20) to be away from each other through the two linkage rods (19), meanwhile, one ends of the L-shaped push rod (21) and the L-shaped inserting rod (20) vertically move in the sliding groove (26) and enable the second spring to be stressed, so that one end of the L-shaped inserting rod (20) is inserted into the inserting groove (23) to fix the mounting rod (12), meanwhile, the L-shaped push rod (21) pushes the elliptical block (25) out of the elliptical hole (24), at the moment, the elliptical block (25) is rotated on the circular block through the circular groove until the elliptical block (25) is perpendicular to the elliptical hole (24), and the elliptical block (25) can be clamped on one side of the mounting block (11), the crawler foot (3) can be installed, and similarly, the crawler foot (3) can be conveniently detached, so that the crawler foot (3) is convenient to replace;
(A3) simultaneously when the distance between the reptile foot (3) of both sides is adjusted in needs, pulling handle (31), make the bottom of locating lever (28) break away from constant head tank (30), the both ends of locating lever (28) slide in two sliding tray (32) through two sliding blocks (33), and make first spring atress, pulling telescopic link (5) this moment, make it remove in flexible groove (4), when removing required position, loosen handle (31), under the reaction force of first spring, make the bottom of locating lever (28) enter into corresponding constant head tank (30), can accomplish the adjustment promptly.
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| CN202010003701.6A CN111152192B (en) | 2020-01-03 | 2020-01-03 | Bionic robot climbing structure and climbing method thereof |
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| CN111152192B true CN111152192B (en) | 2021-07-02 |
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| CN1602986A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Bionic insect robot |
| CN102774445A (en) * | 2012-07-24 | 2012-11-14 | 华南理工大学 | Bionic climbing robot |
| JP2016097787A (en) * | 2014-11-20 | 2016-05-30 | 株式会社 日立産業制御ソリューションズ | Travelling device |
| CN205365798U (en) * | 2015-11-10 | 2016-07-06 | 中国人民解放军军械工程学院 | Flat polypody system of walking of topography self -adaptation based on phase difference |
| CN205468306U (en) * | 2016-02-25 | 2016-08-17 | 西南科技大学 | Type detection robot that declines jettisonings with wheel quick change function |
| CN207359061U (en) * | 2017-09-24 | 2018-05-15 | 王壮壮 | A kind of easy-to-mount articulated robot |
| CN208384478U (en) * | 2018-04-11 | 2019-01-15 | 广州南洋理工职业学院 | A kind of dust-proof computer case |
| CN208497043U (en) * | 2018-06-07 | 2019-02-15 | 上海天永智能装备股份有限公司 | A kind of cylinder cap Zhuan Xian robot quick-release connector |
| CN108972587A (en) * | 2018-08-24 | 2018-12-11 | 苏州博众机器人有限公司 | A kind of quick-disassembly structure and robot |
| CN208880705U (en) * | 2018-09-21 | 2019-05-21 | 广东南方职业学院 | It is a kind of it is novel can high-speed mobile crawler bio-robot |
| CN109318242A (en) * | 2018-12-11 | 2019-02-12 | 大连蒂艾斯科技发展股份有限公司 | A kind of bio-robot and its bionic leg and locking device |
| CN209743312U (en) * | 2019-01-10 | 2019-12-06 | 重庆互丰模具有限公司 | Lever type double-spring locking mechanism |
| CN110539391A (en) * | 2019-08-20 | 2019-12-06 | 浙江盛旺耐火材料股份有限公司 | Square magnesia carbon brick mould convenient to drawing of patterns |
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