CN111422278B - Automatic walking obstacle-crossing and obstacle-jacking machine device - Google Patents
Automatic walking obstacle-crossing and obstacle-jacking machine device Download PDFInfo
- Publication number
- CN111422278B CN111422278B CN202010460295.6A CN202010460295A CN111422278B CN 111422278 B CN111422278 B CN 111422278B CN 202010460295 A CN202010460295 A CN 202010460295A CN 111422278 B CN111422278 B CN 111422278B
- Authority
- CN
- China
- Prior art keywords
- obstacle
- motor
- plate
- surmounting
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides an automatic walking obstacle-crossing and obstacle-jacking machine device, which belongs to the technical field of automatic walking mechanical devices and comprises a vehicle plate, a lifting mechanism, an obstacle-jacking mechanism and a controller, wherein the vehicle plate is in a frame shape and is provided with wheels; the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing; the barrier pushing mechanism is used for pushing a barrier above the vehicle plate to realize the passing of the vehicle plate; and the controller is used for controlling the wheels, the lifting mechanism and the barrier jacking mechanism. The technical problem that the machine device in the prior art cannot walk through obstacles is solved.
Description
Technical Field
The invention belongs to the technical field of automatic walking mechanical devices, and particularly relates to an automatic walking obstacle-crossing and obstacle-jacking machine device.
Background
A robot is an intelligent automatic device which is continuously updated along with the development of the times, is used for replacing manual labor, particularly a robot, and plays an increasingly important role along with the progress of the times, but a general robot or a robot device can only walk on a flat ground, and once an obstacle is arranged on a road surface, the robot cannot walk, so that a device capable of solving the problems is needed at present.
Disclosure of Invention
The invention aims to provide an automatic walking obstacle-crossing and obstacle-jacking machine device, and aims to solve the technical problem that the machine device in the prior art cannot realize walking through an obstacle.
In order to achieve the purpose, the invention adopts the technical scheme that: provided is an automatic walking obstacle-surmounting and obstacle-jacking machine device, comprising:
the vehicle plate is in a frame shape and is provided with wheels;
the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing;
the barrier pushing mechanism is used for pushing a barrier above the vehicle plate to realize the passing of the vehicle plate; and
and the controller is used for controlling the wheels, the lifting mechanism and the barrier jacking mechanism.
As another embodiment of the present application, the lifting mechanism includes:
the supporting frames span the front side and the rear side of the vehicle plate; and
the first top pushing fork is arranged on the bearing frame, the bottom end of the first top pushing fork is provided with a universal ball, the first top pushing fork is adjustable in the position in the frame opening, and the first top pushing fork can push the ground in the vertical direction and can rotate on the horizontal plane.
As another embodiment of this application, the power take off end of first motor is connected to first ejection fork to rotate with the help of first motor, first motor sets firmly in the ejection end of first cylinder, the vertical setting of first cylinder, first cylinder sets firmly on L shape seat, L shape seat passes through screw mechanism and connects the bearing frame, with the help of screw mechanism L shape seat can be at sweep advancing direction reciprocating motion, the bearing frame can be along the perpendicular to the direction that the sweep was marchd removes.
As another embodiment of this application, the U-shaped structure of bearing frame for striding the sweep, the both ends of bearing frame respectively with the front and back end sliding connection of sweep, the bearing frame is with the help of locating the second cylinder motion on the sweep, screw mechanism includes transverse connection the lead screw of bearing frame, threaded connection has the sleeve on the lead screw, L shape seat links firmly with the sleeve, the lead screw rotates with the help of the second motor, L shape seat still sliding connection has the horizontal pole, the horizontal pole links firmly the bearing frame, the horizontal pole parallels with the lead screw, the horizontal pole is used for the restriction L shape seat rotates around the lead screw.
As another embodiment of the present application, the L-shaped seat, the screw rod, and the cross rod are at least two groups, and each group includes at least two first pushing forks.
As another embodiment of the present application, the barrier lifting mechanism includes:
one end of the turnover plate is rotatably connected with the vehicle plate, and the other end of the turnover plate is a free end;
the bottom of the second ejection fork is connected with a third air cylinder, the ejection direction of the third air cylinder is downward, the top of the second ejection fork is connected with a third motor, and the second ejection fork rotates by means of the third motor;
the fourth cylinder is fixed and penetrates through the turnover plate, and the pushing end of the fourth cylinder faces downwards and is connected with the third motor; and
the fifth cylinder is arranged on the turnover plate, the ejection direction is upward, the ejection end is connected with a connecting plate, and the connecting plate is provided with universal wheels.
As another embodiment of this application be equipped with the pole setting of two relative establishments on the sweep, the hinged end of returning face plate is connected between two pole settings through the pivot, the power take off end of pivot and fourth motor is connected, the returning face plate rotates with the help of the fourth motor.
As another embodiment of the application, a bearing plate is further arranged on the vehicle plate and used for bearing the free end of the turnover plate.
As another embodiment of the present application, the wheel is moved by means of a fifth motor, and the controller is configured to control the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the first cylinder, the second cylinder, the third cylinder, the fourth cylinder, and the fifth cylinder.
As another embodiment of this application, the middle part of returning face plate is equipped with the flexible section, the tip of returning face plate is equipped with and can inserts in the returning face plate and will rigid connection's inserted bar is realized to the both sides plate body of flexible section.
The automatic walking obstacle-surmounting and obstacle-jacking machine device has the beneficial effects that: the device can realize the crossing of the obstacle by using the lifting mechanism, can push the obstacle above the device by using the obstacle pushing device, realizes the obstacle clearing work, and can smoothly realize the walking operation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by an embodiment of the invention.
In the figure: 1. the vehicle comprises a vehicle plate, 2, wheels, 3, a controller, 4, a bearing frame, 5, a first pushing fork, 6, a universal ball, 7, an L-shaped seat, 8, a screw rod, 9, a sleeve, 10, a cross rod, 11, a turnover plate, 12, a second pushing fork, 13, a connecting plate, 14, a universal wheel, 15, a vertical rod, 16, a bearing plate, 17, a flexible section, 18, an insertion rod, 21, a first motor, 22, a second motor, 23, a third motor, 24, a fourth motor, 31, a first air cylinder, 32, a second air cylinder, 33, a third air cylinder, 34, a fourth air cylinder, 35 and a fifth air cylinder.
Detailed Description
The following describes the automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by the invention with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the present invention provides an automatic walking obstacle-surmounting and obstacle-jacking machine device, which includes:
the vehicle plate 1 is in a frame shape and is provided with wheels 2;
the lifting mechanism is used for penetrating through a frame opening of the vehicle plate 1 and lifting the vehicle plate 1 to realize obstacle crossing;
the barrier pushing mechanism is used for pushing a barrier above the vehicle plate 1 to enable the vehicle plate 1 to pass through; and
and the controller 3 is used for controlling the wheels 2, the lifting mechanism and the barrier jacking mechanism.
In this embodiment, sweep 1 walks with the help of wheel 2, and at the in-process of walking, when meetting ground and having barrier or unevenness, the lifting of sweep 1 is realized with the help of lifting mechanism, realizes surmounting the obstacle, through a barrier mechanism of top when there is the barrier in sweep 1 top, realizes pushing away the top of the barrier in sweep 1 top, realizes passing through of sweep 1, controls each mechanism through controller 3 simultaneously.
As an embodiment of the automatic walking obstacle-surmounting and obstacle-jacking machine device provided by the invention, the lifting mechanism comprises:
the supporting frames 4 span the front side and the rear side of the vehicle plate 1; and
first push away a fork 5, establish on bearing frame 4, the bottom of first push away a fork 5 is equipped with universal ball 6, first push away a fork 5 is in the intraoral position of frame is adjustable, first push away a fork 5 can push away ground and can rotate on the horizontal plane in vertical direction.
In the embodiment, when the ground meets an obstacle, the position of the first push-top fork 5 is adjusted, after the adjustment is completed, the first push-top fork 5 is pushed in the vertical direction, then the front wheel 2 is lifted and continues to travel, so that the front wheel 2 firstly crosses the obstacle and then descends, the front wheel firstly lands, when the first push-top fork 5 reaches the position of the obstacle, the first push-top fork 5 is lifted in the vertical direction, and with the continuous travel, the first push-top fork 5 also crosses the obstacle, when the rear wheel 2 reaches the position of the obstacle, the position of the first push-top fork 5 is adjusted, so that the rear wheel 2 is lifted up as well and continues to advance, so that the rear wheel 2 crosses the obstacle, which is the whole operation process, and when the universal ball 6 touches the ground, the position of the first push-top fork 5 can be adjusted on the horizontal plane, for example, if the ground is uneven, the position can be adjusted by rotating the first ejector fork 5, and the balanced position can be obtained again.
As an embodiment of the automatic walking obstacle-crossing and obstacle-jacking machine device provided by the invention, the first ejector fork 5 is connected with a power output end of a first motor 21 and rotates by virtue of the first motor 21, the first motor 21 is fixedly arranged at an ejector end of a first air cylinder 31, the first air cylinder 31 is vertically arranged, the first air cylinder 31 is fixedly arranged on an L-shaped seat 7, the L-shaped seat 7 is connected with the bearing frame 4 by a screw rod mechanism, the L-shaped seat 7 can reciprocate in the advancing direction of the vehicle plate 1 by virtue of the screw rod mechanism, and the bearing frame 4 can move along the direction perpendicular to the advancing direction of the vehicle plate 1.
In the present embodiment, the first ejector fork 5 is rotated on the horizontal plane by the first motor 21 to adjust the positions of the two universal balls 6, and the vertical lifting is performed by the ejection of the first cylinder 31.
The first push-top fork 5 moves along the advancing direction of the vehicle plate 1 through a screw rod mechanism, and moves perpendicular to the advancing direction through the movement of the bearing frame 4, so that the universal ball 6 can reach any position of a frame opening, and the tilting of the front side wheel 2 or the tilting of the rear side wheel 2 can be realized during pushing.
As an embodiment of the automatic walking obstacle-crossing and obstacle-jacking machine device provided by the invention, the bearing frame 4 is a U-shaped structure crossing the vehicle plate 1, two ends of the bearing frame 4 are respectively connected with the front end and the rear end of the vehicle plate 1 in a sliding manner, the bearing frame 4 moves by means of a second air cylinder 32 arranged on the vehicle plate 1, the screw mechanism comprises a screw 8 transversely connected with the bearing frame 4, a sleeve 9 is connected onto the screw 8 in a threaded manner, the L-shaped seat 7 is fixedly connected with the sleeve 9, the screw 8 rotates by means of a second motor 22, the L-shaped seat 7 is further connected with a cross rod 10 in a sliding manner, the cross rod 10 is fixedly connected with the bearing frame 4, the cross rod 10 is parallel to the screw 8, and the cross rod 10 is used for limiting the rotation of the L-shaped seat 7 around the screw 8.
The present embodiment specifically provides the structure of the supporting frame 4, the moving form of the supporting frame 4 by means of the second cylinder 32, and the means for moving the L-shaped base 7 by the screw mechanism, which are controlled by the controller 3.
As an embodiment of the automatic walking obstacle-crossing and obstacle-jacking machine device provided by the invention, the L-shaped seat 7, the lead screw 8 and the cross bar 10 are at least two groups, and each group comprises at least two first push-jacking forks 5.
When the front wheels 2 need to cross the obstacle, the first push-top fork 5 of the front group pushes the front wheels 2 to be lifted, and when the rear wheels 2 need to cross the obstacle, the first push-top fork 5 of the rear group pushes the rear wheels 2 to be lifted, so that a group of mechanisms is not needed to move forwards and backwards to a large extent.
As an embodiment of the automatic walking obstacle-surmounting and obstacle-jacking machine device provided by the invention, the obstacle-surmounting mechanism comprises:
one end of the turnover plate 11 is rotatably connected with the vehicle plate 1, and the other end is a free end;
the bottom of the second pushing fork 12 is connected with a third air cylinder 33, the pushing direction of the third air cylinder 33 is downward, the top of the second pushing fork 12 is connected with a third motor 23, and the second pushing fork 12 rotates by means of the third motor 23;
the fourth air cylinder 34 is fixed and penetrates through the turnover plate 11, and the pushing end of the fourth air cylinder 34 is downward and is connected with the third motor 23; and
the fifth cylinder 35 is arranged on the turnover plate 11, the pushing direction is upward, the pushing end is connected with the connecting plate 13, and the connecting plate 13 is provided with a universal wheel 14.
In the present embodiment, the roll-over plate 11 has two positions, first, as shown in fig. 1, the free end is in the frame opening, at this time, when an obstacle is located above the vehicle body 1, the third cylinder 33 pushes the roll-over plate to lift the roll-over plate 11, and at the same time, the fourth cylinder 34 and the fifth cylinder 35 can also push the roll-over plate, so that the connection plate 13 drives the universal wheels 14 to continuously lift or lower, and finally the universal wheels 14 contact the obstacle, and the universal wheels 14 move along with the movement of the vehicle body 1, so as to push the obstacle away.
The other state is that the rotating shaft rotates 180 degrees, the free end of the turnover plate 11 is turned to the outer side of the vehicle plate 1, the universal wheel 14 is grounded, and the pushing end of the third cylinder 33 is located at the highest position, so that the pushing end of the third cylinder 33 is used for pushing the barrier, and the height adjustment is realized through the pushing of each cylinder. Meanwhile, in the second state, the third motor 23 can rotate to realize the rotation of the second pushing fork 12, so that the barrier can be moved.
As an embodiment of the automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by the invention, two upright posts 15 which are oppositely arranged are arranged on the vehicle plate 1, the hinged end of the turnover plate 11 is connected between the two upright posts 15 through a rotating shaft, the rotating shaft is connected with the power output end of a fourth motor 24, and the turnover plate 11 is rotated by means of the fourth motor 24.
The present embodiment provides a hinged type of the turnover plate 11, and the turnover of the turnover plate 11 is realized by driving the fourth motor 24 and making the rotating shaft rotate, and the position of the turnover plate is determined by the position of the obstacle.
In an embodiment of the automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by the invention, a supporting plate 16 is further arranged on the vehicle plate 1, and the supporting plate 16 is used for supporting the free end of the turnover plate 11.
In an embodiment of the automatic walking obstacle crossing and lifting machine provided by the invention, the wheel 2 is moved by a fifth motor, and the controller 3 is used for controlling the first motor 21, the second motor 22, the third motor 23, the fourth motor 24, the fifth motor, the first cylinder 31, the second cylinder 32, the third cylinder 33, the fourth cylinder 34 and the fifth cylinder 35.
In the present embodiment, the controller 3 is used to control the actions of each motor and each cylinder, so as to achieve smooth obstacle surmounting and obstacle jacking, and the controller 3 can obtain signals through a remote controller, and can manually operate the remote controller by hand.
As another embodiment of this application, the middle part of returning face plate 11 is equipped with flexible section 17, the tip of returning face plate 11 is equipped with and can inserts in returning face plate 11 and will rigid connection's inserted bar 18 is realized to the both sides plate body of flexible section 17.
In this embodiment, after the position of the turnover plate 11 is fixed, that is, the turnover plate is located at the outer side or the inner side, the inserted link 18 can be pulled out at this time, the flexible connection form does not excessively restrict the lifting of the free end, and when the position needs to be changed, the inserted link 18 is inserted to increase the strength and complete the turnover, so that the turnover is not bent due to the existence of the flexible section 17 in the turnover process.
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 (8)
1. Automatic formula walking hinders top barrier machine device more, its characterized in that includes:
the vehicle plate is in a frame shape and is provided with wheels;
the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing;
the barrier pushing mechanism is used for pushing a barrier above the vehicle plate to realize the passing of the vehicle plate; and
the controller is used for controlling the wheels, the lifting mechanism and the obstacle jacking mechanism;
the barrier jacking mechanism comprises: one end of the turnover plate is rotatably connected with the vehicle plate, and the other end of the turnover plate is a free end; the bottom of the second ejection fork is connected with a third air cylinder, the ejection direction of the third air cylinder is downward, the top of the second ejection fork is connected with a third motor, and the second ejection fork rotates by means of the third motor; the fourth cylinder is fixed and penetrates through the turnover plate, and the pushing end of the fourth cylinder faces downwards and is connected with the third motor; the fifth cylinder is arranged on the turnover plate, the pushing direction is upward, the pushing end is connected with a connecting plate, and the connecting plate is provided with universal wheels;
the lifting mechanism comprises: the supporting frames span the front side and the rear side of the vehicle plate; and the first pushing fork is arranged on the bearing frame, the bottom end of the first pushing fork is provided with a universal ball, the first pushing fork is arranged in the position in the frame opening and is adjustable, and the first pushing fork can push the ground in the vertical direction and can rotate on the horizontal plane.
2. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 1, wherein the first ejector fork is connected with a power output end of a first motor and rotated by the aid of the first motor, the first motor is fixedly arranged at an ejector end of a first air cylinder, the first air cylinder is vertically arranged, the first air cylinder is fixedly arranged on an L-shaped seat, the L-shaped seat is connected with the bearing frame through a screw rod mechanism, the L-shaped seat can reciprocate in a traveling direction of a vehicle board by the aid of the screw rod mechanism, and the bearing frame can move in a direction perpendicular to the traveling direction of the vehicle board.
3. The automatic walking obstacle-surmounting and jacking machine device of claim 2, wherein the bearing frame is a U-shaped structure spanning the vehicle plate, two ends of the bearing frame are respectively connected with the front end and the rear end of the vehicle plate in a sliding manner, the bearing frame moves by means of a second air cylinder arranged on the vehicle plate, the screw mechanism comprises a screw rod transversely connected with the bearing frame, a sleeve is connected onto the screw rod in a threaded manner, the L-shaped seat is fixedly connected with the sleeve, the screw rod rotates by means of a second motor, the L-shaped seat is further connected with a cross rod in a sliding manner, the cross rod is fixedly connected with the bearing frame, the cross rod is parallel to the screw rod, and the cross rod is used for limiting the L-shaped seat to rotate around the screw rod.
4. The automated walking obstacle-surmounting and obstacle-surmounting machine device of claim 3, wherein the L-shaped seat, the lead screw and the cross bar are in at least two groups, each group comprising at least two first push-top forks.
5. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 4, wherein two opposite vertical rods are arranged on the vehicle plate, the hinged end of the turnover plate is connected between the two vertical rods through a rotating shaft, the rotating shaft is connected with the power output end of a fourth motor, and the turnover plate is rotated by means of the fourth motor.
6. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 5, wherein a bearing plate is further arranged on the vehicle plate and used for bearing the free end of the turnover plate.
7. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 6, wherein the wheels are moved by means of a fifth motor, and the controller is used for controlling the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the first cylinder, the second cylinder, the third cylinder, the fourth cylinder, and the fifth cylinder.
8. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 7, wherein the middle part of the turnover plate is provided with a flexible section, and the end part of the turnover plate is provided with an inserting rod which can be inserted into the turnover plate and rigidly connects two side plate bodies of the flexible section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010460295.6A CN111422278B (en) | 2020-05-27 | 2020-05-27 | Automatic walking obstacle-crossing and obstacle-jacking machine device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010460295.6A CN111422278B (en) | 2020-05-27 | 2020-05-27 | Automatic walking obstacle-crossing and obstacle-jacking machine device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111422278A CN111422278A (en) | 2020-07-17 |
| CN111422278B true CN111422278B (en) | 2021-06-22 |
Family
ID=71553144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010460295.6A Active CN111422278B (en) | 2020-05-27 | 2020-05-27 | Automatic walking obstacle-crossing and obstacle-jacking machine device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111422278B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7464775B2 (en) * | 2003-02-21 | 2008-12-16 | Lockheed Martin Corporation | Payload module for mobility assist |
| CN201265150Y (en) * | 2008-07-23 | 2009-07-01 | 厦门厦工小型机械有限公司 | Snow removing apparatus of loader |
| CN105293371B (en) * | 2015-11-30 | 2017-09-12 | 杭州西湖电子研究所 | A kind of method for detecting the motor-driven upper and lower female car of dolly |
| CN106741275B (en) * | 2016-11-30 | 2018-09-25 | 中国人民解放军国防科学技术大学 | Sliding type lifting barrier-surpassing robot |
| CN207346746U (en) * | 2017-09-07 | 2018-05-11 | 合肥国轩高科动力能源有限公司 | Automatic jacking and overturning equipment |
-
2020
- 2020-05-27 CN CN202010460295.6A patent/CN111422278B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111422278A (en) | 2020-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627829B (en) | Auxiliary wheel lifts barrier-surpassing robot | |
| CN110565925B (en) | Floating robot | |
| CN106741275B (en) | Sliding type lifting barrier-surpassing robot | |
| CN110171398A (en) | A kind of automatic car washing device | |
| CN110497981A (en) | A kind of leaping over obstacles robot and its obstacle-detouring method | |
| CN113123208A (en) | Automatic machine people that marks a line that spouts on road surface | |
| CN110641567B (en) | Multi-foot reversible crawling robot based on intelligent material | |
| CN115214820A (en) | Crop phenotype acquisition robot and chassis thereof as well as wheel track and ground clearance adjusting method | |
| CN111422278B (en) | Automatic walking obstacle-crossing and obstacle-jacking machine device | |
| CN108793005A (en) | A kind of large size valve installation precise elevation mechanism | |
| CN209482619U (en) | A kind of greenhouse snow blower | |
| CN210757730U (en) | Teaching type large-scale modular robot | |
| CN212149082U (en) | Automatic walking obstacle crossing machine device | |
| CN210150204U (en) | Prefabricated component mould turnover device | |
| CN113431307B (en) | Ground leveling device for building | |
| CN106043490B (en) | A kind of connecting rod imitates legged walking mechanism and method | |
| CN108116378A (en) | Electric vehicle battery replacement device | |
| CN114769037A (en) | Multi freedom self-adaptation spraying device that ornamental trees and shrubs sick worm prevention and cure was used | |
| CN210530288U (en) | Supporting device for repairing bucket arch of ancient building | |
| CN107010111A (en) | Carbon-free trolley steering mechanism with quickreturn characteristics | |
| CN209973623U (en) | Closestool mould is with connecing material dolly | |
| CN207725371U (en) | A kind of electric vehicle battery replacement device | |
| CN206664690U (en) | Carbon-free trolley steering mechanism with quickreturn characteristics | |
| CN218055165U (en) | Self-lifting and self-rotating crossed rail transport vehicle for sunlight greenhouse | |
| KR20200143624A (en) | Electromotion rail lift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |