CN112847382A - Horizontal leveling device and construction robot - Google Patents
Horizontal leveling device and construction robot Download PDFInfo
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- CN112847382A CN112847382A CN201911182335.9A CN201911182335A CN112847382A CN 112847382 A CN112847382 A CN 112847382A CN 201911182335 A CN201911182335 A CN 201911182335A CN 112847382 A CN112847382 A CN 112847382A
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- leveling device
- horizontal leveling
- linear driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention relates to the field of construction machinery, and discloses a horizontal leveling device and a construction robot. Wherein the horizontal leveling device comprises an upper plate; the middle plate is arranged below the upper plate; the lower plate is arranged below the middle plate; the first adjusting mechanism is simultaneously connected with the upper plate and the middle plate and can drive the middle plate to rotate around a first axis in a plane where the upper plate is located; the second adjusting mechanism can drive the lower plate to rotate around a second axis in the plane of the middle plate, and the first axis and the second axis form an included angle; the first adjusting mechanism and the second adjusting mechanism can jointly adjust the levelness of the lower plate. The horizontal leveling device can adjust the levelness of the lower plate without the support of the ground or the wall surface, and the structure of the horizontal leveling device is more compact.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a horizontal leveling device and a construction robot.
Background
In the field of robots, an actuator provided at the end of a robot is required in many cases to maintain the levelness of the attitude to ensure the accuracy of work. However, the existing leveling technology generally needs to depend on the support of the ground or the wall surface, certain requirements are generated on the operation environment, and the leveling device is loose in structure and inconvenient to move for operation.
How to adjust the levelness of the executing device on the premise of not needing the support of the ground or the wall surface and improve the structural compactness of the horizontal leveling device is a technical problem to be solved by technical personnel in the field.
Disclosure of Invention
Based on the above, the present invention aims to:
the utility model provides a levelness of leveling device and construction robot can adjust the levelness of final controlling element under the prerequisite that need not the support of ground or wall, and the structure of final controlling element is compacter.
In order to achieve the purpose, the invention adopts the following technical scheme:
a horizontal leveling device comprising:
an upper plate;
the middle plate is arranged below the upper plate;
the lower plate is arranged below the middle plate;
the first adjusting mechanism is simultaneously connected with the upper plate and the middle plate and can drive the middle plate to rotate around a first axis in a plane of the upper plate; and
the second adjusting mechanism is connected with the middle plate and the lower plate simultaneously, the second adjusting mechanism can drive the lower plate to rotate around a second axis in the plane of the middle plate, and the first axis and the second axis form an included angle; the first adjusting mechanism and the second adjusting mechanism can jointly adjust the levelness of the lower plate.
Preferably, the first adjustment mechanism includes:
the first linear driving piece is fixed on the upper plate;
a first wedge fixed to the middle plate;
and the first connecting piece is connected with the movable end of the first linear driving piece, can be abutted against or connected with the first wedge piece, and enables the first wedge piece and the middle plate to rotate relative to the upper plate under the driving of the first linear driving piece.
Preferably, a first sliding groove is formed in the first wedge, a first driven piece is arranged on the first connecting piece, the first driven piece is inserted into the first sliding groove, and the first driven piece can roll or slide along the extending direction of the first sliding groove.
Preferably, the first linear driving part is connected with the upper plate through a first mounting plate, a first sliding rail is arranged on the first mounting plate, a first sliding block is arranged at the movable end of the first linear driving part, and the first sliding block can slide on the first sliding rail.
Preferably, the first linear drive member comprises a first electric push cylinder.
Preferably, the second adjustment mechanism includes:
the second linear driving piece is fixed on the middle plate;
a second wedge fixed to the lower plate;
and the second connecting piece is connected with the movable end of the second linear driving piece, can be abutted against or connected with the second wedge piece, and enables the second wedge piece and the lower plate to rotate relative to the middle plate under the driving of the second linear driving piece.
Preferably, a second sliding groove is formed in the second wedge, a second driven member is arranged on the second connecting member, the second driven member is inserted into the second sliding groove, and the second driven member can roll or slide along the extending direction of the second sliding groove.
Preferably, the second linear driving element is connected with the middle plate through a second mounting plate, a second sliding rail is arranged on the second mounting plate, a second sliding block is arranged at the movable end of the second linear driving element, and the second sliding block can slide on the second sliding rail.
Preferably, the second linear drive comprises a second electric push cylinder.
Preferably, the horizontal angle sensor is connected with the lower plate and used for detecting the levelness of the lower plate.
Preferably, the first axis is perpendicular to the second axis.
Preferably, the upper plate and the middle plate are hinged through a first hinge assembly, and/or the middle plate and the lower plate are hinged through a second hinge assembly.
Still provide a construction robot, including foretell level levelling device, still include:
the tail end of the body is connected with the upper plate; and
an actuator coupled to the lower plate.
Preferably, the upper plate is provided with a mounting block, and the tail end of the body can be connected with the mounting block.
The invention has the beneficial effects that:
the horizontal leveling device comprises an upper plate, a middle plate, a lower plate, a first adjusting mechanism and a second adjusting mechanism, wherein the upper plate can be connected with the tail end of a robot, an executing device of the robot is connected with the lower plate, the first adjusting mechanism can drive the middle plate to rotate around a first axis in a plane where the upper plate is located, the second adjusting mechanism can drive the lower plate to rotate around a second axis in the plane where the middle plate is located, and the first axis and the second axis are arranged in an included angle. When the levelness of the lower plate needs to be adjusted, the first adjusting mechanism and the second adjusting mechanism respectively drive the middle plate and the lower plate to rotate around the first axis and the second axis respectively, the levelness of the lower plate can be adjusted from two dimensions, the levelness of the lower plate can return to the required value, the levelness of the executing device connected to the lower plate also returns to the required value at the moment, the whole horizontal leveling device can be hung at the tail end of the robot, the levelness of the executing device can be adjusted on the premise of not needing support of the ground or the wall surface, and the structure of the horizontal leveling device is more compact.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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 for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic view of a horizontal leveling device provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of FIG. 1 taken along line A;
FIG. 3 is a schematic view of FIG. 1 taken along line B;
FIG. 4 is another schematic view of a horizontal leveling device provided in accordance with an embodiment of the present invention;
fig. 5 is a partial schematic view of a construction robot according to a second embodiment of the present invention.
In the figure:
1. an upper plate; 2. a middle plate; 3. a lower plate;
4. a first adjustment mechanism; 41. a first linear drive; 42. a first connecting member; 43. a first driven member; 44. a first wedge-shaped member; 45. a first chute; 46. a first mounting plate; 47. a first slide rail; 48. a first slider;
5. a second adjustment mechanism; 51. a second linear drive; 52. a second connecting member; 53. a second driven member; 54. a second wedge-shaped member; 55. a second chute; 56. a second mounting plate; 57. a second slide rail; 58. a second slider;
6. a first hinge assembly; 61. a first upper hinge block; 62. a first lower hinge block; 63. a first hinge axis;
7. a second hinge assembly; 71. a second upper hinge block; 72. a second lower hinge block; 73. a second hinge axis;
8. a tilt sensor;
9. mounting blocks;
10. and an execution device.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, 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
As shown in fig. 1 to 4, the present embodiment provides a horizontal leveling device for adjusting the levelness of an actuator 10 provided at the end of a robot, the horizontal leveling device including an upper plate 1, a middle plate 2, and a lower plate 3, which are arranged in this order from top to bottom, and a first adjusting mechanism 4 and a second adjusting mechanism 5. The upper plate 1 can be connected with the tail end of the robot, an executing device 10 of the robot is connected with the lower plate 3, the first adjusting mechanism 4 can drive the middle plate 2 to rotate around a first axis in the plane of the upper plate 1, the second adjusting mechanism 5 can drive the lower plate 3 to rotate around a second axis in the plane of the middle plate 2, and the first axis and the second axis are arranged in an included angle. When the levelness of the executing device 10 needs to be adjusted, the first adjusting mechanism 4 and the second adjusting mechanism 5 respectively drive the middle plate 2 and the lower plate 3 to rotate around the first axis and the second axis respectively, the levelness of the lower plate 3 can be adjusted from two dimensions, so that the levelness returns to the required value, at the moment, the levelness of the executing device 10 connected to the lower plate 3 also returns to the required value, the whole horizontal leveling device can be hung at the tail end of the robot, the levelness of the executing device 10 is adjusted on the premise of not needing support of the ground or the wall, and the structure of the horizontal leveling device is more compact. In other embodiments of the present invention, the leveling device can be used in other devices or apparatuses requiring leveling adjustment.
Preferably, the first axis is perpendicular to the second axis, so that the rotation planes of the middle plate 2 and the lower plate 3 are perpendicular to each other, and the control difficulty of leveling is reduced.
Further, as shown in fig. 2, the first adjusting mechanism 4 includes a first linear driving element 41, a first wedge element 44 and a first connecting element 42, wherein the first linear driving element 41 is fixed on the upper plate 1, the first wedge element 44 is fixed on the middle plate 2, the first connecting element 42 is connected to a movable end of the first linear driving element 41, a first driven element 43 is disposed on the first connecting element 42, a first sliding slot 45 is disposed in the first wedge element 44, the first driven element 43 is inserted into the first sliding slot 45, and the first driven element 43 can roll or slide along an extending direction of the first sliding slot 45, and the extending direction is not parallel to a telescopic direction of the first linear driving element 41. When the first linear driving member 41 drives the first connecting member 42 to move, the first follower 43 rolls or slides along the extending direction of the first sliding slot 45 together with the first connecting member 42, and drives the first wedge member 44 and the middle plate 2 to rotate relative to the upper plate 1.
Further, as shown in fig. 3, the second adjusting mechanism 5 includes a second linear driving element 51, a second wedge 54 and a second connecting element 52, wherein the second linear driving element 51 is fixed on the middle plate 2, the second wedge 54 is fixed on the lower plate 3, the second connecting element is connected to a movable end of the second linear driving element 51, a second driven element 53 is disposed on the second connecting element 52, a second sliding slot 55 is disposed in the second wedge 54, the second driven element 53 is inserted into the second sliding slot 55, and the second driven element 53 can roll or slide along an extending direction of the second sliding slot 55, the extending direction is not parallel to the extending direction of the second linear driving element 51. When the second linear driving member 51 drives the second connecting member 52 to move, the second follower 53 rolls or slides along the extending direction of the second sliding slot 55 along with the second connecting member 52, and drives the second wedge 54 and the lower plate 3 to rotate relative to the middle plate 2.
In this embodiment, the first follower 43 and the second follower 53 are cylindrical rollers, the first follower 43 rolls along the extending direction of the first sliding groove 45 along with the first connecting member 42, and the second follower 53 rolls along the extending direction of the second sliding groove 55 along with the second connecting member 52. In other embodiments of the present invention, the first follower 43 and the second follower 53 may be balls that can roll or slide in the sliding grooves, an ellipsoidal arc surface body, or a spherical-like polyhedron.
In the embodiment, the first linear driving member 41 adopts a first electric pushing cylinder, the second linear driving member 51 adopts a second electric pushing cylinder, the movement is smooth, and the control precision is high. In other embodiments of the present invention, other linear driving members such as a hydraulic cylinder, an air cylinder, or a linear motor may be used as the first linear driving member 41 and the second linear driving member 51.
Alternatively, the shape of the first wedge-shaped member 44 and the second wedge-shaped member 54 may be other shapes such as a rectangular parallelepiped or a square.
Preferably, the first adjusting mechanism 4 further includes a first mounting plate 46, the first mounting plate 46 is connected to the upper surface of the first linear driving element 41, meanwhile, the first mounting plate 46 is connected to the upper plate 1 disposed on the opposite side of the first linear driving element 41, a first sliding rail 47 is disposed on the first mounting plate 46, and a first sliding block 48 corresponding to the first sliding rail 47 is disposed on the movable end of the first linear driving element 41. When the movable end of the first linear actuator 41 makes a telescopic motion, the first slider 48 slides back and forth on the first slide rail 47, so as to provide a stable guide for the movable end of the first linear actuator 41.
Preferably, the second adjusting mechanism 5 further includes a second mounting plate 56, the second mounting plate 56 is connected to the upper surface of the second linear driving element 51, the second mounting plate 56 is connected to the middle plate 2 disposed on the opposite side of the second linear driving element 51, the second mounting plate 56 is provided with a second slide rail 57, and the movable end of the second linear driving element 51 is provided with a second slide block 58 corresponding to the second slide rail 57. When the movable end of the second linear actuator 51 makes a telescopic motion, the second slider 58 slides back and forth on the second slide rail 57, so as to provide a stable guide for the movable end of the second linear actuator 51.
Further, the upper plate 1 is hinged with the middle plate 2 by two or more first hinge assemblies 6. Specifically, the first hinge assembly 6 includes a first upper hinge block 61, a first lower hinge block 62 and a first hinge shaft 63, the first upper hinge block 61 is fixedly connected to an edge of the upper plate 1, the first lower hinge block 62 is fixedly connected to an edge of the middle plate 2, and the first upper hinge block 61 and the first lower hinge block 62 are rotatably connected about the first hinge shaft 63, and when the first linear driving member 41 drives the output end thereof to extend or retract, the first lower hinge block 62 rotates about the first hinge shaft 63 with the middle plate 2.
Further, the middle plate 2 is hinged with the lower plate 3 by two or more second hinge assemblies 7. Specifically, the second hinge assembly 7 includes a second upper hinge block 71, a second lower hinge block 72 and a second hinge shaft 73, the second upper hinge block 71 is fixedly connected to an edge of the middle plate 2, the second lower hinge block 72 is fixedly connected to an edge of the lower plate 3, and the second upper hinge block 71 and the second lower hinge block 72 are rotatably connected about the second hinge shaft 73, and when the second linear driving member 51 drives the output end thereof to extend or retract, the second lower hinge block 72 rotates about the second hinge shaft 73 with the lower plate 3.
Further, the first hinge shaft 63 and the second hinge shaft 73 are arranged in a non-parallel direction such that the rotation plane of the middle plate 2 is not parallel to the rotation plane of the lower plate 3, and the levelness of the lower plate 3 and the actuator 10 mounted on the lower plate 3 in the corresponding two directions is ensured by the rotation of the middle plate 2 and the lower plate 3 in the two different directions from each other.
Preferably, the arrangement directions of the first hinge shaft 63 and the second hinge shaft 73 are perpendicular to each other.
Alternatively, the first hinge assembly 6 may be connected to any region of the plate with the upper plate 1 or the middle plate 2, and the second hinge assembly 7 may be connected to any region of the plate with the middle plate 2 or the lower plate 3.
Alternatively, a return torsion spring is provided on each of the first and second hinge shafts 63 and 73 such that the middle plate always has a tendency to rotate toward the upper plate and the lower plate always has a tendency to rotate toward the middle plate. The first wedge piece 44 is provided with a first oblique edge, the second wedge piece 54 is provided with a second oblique edge, the first driven piece 43 and the first wedge piece 44 abut against the first oblique edge, the second driven piece 53 and the second wedge piece 54 abut against the second oblique edge, the extending direction of the first oblique edge is not parallel to the direction of the first linear driving piece 41, and the extending direction of the second oblique edge is not parallel to the direction of the second linear driving piece 51. When the first linear driving member 41 drives the first connecting member 42 to move, the first follower 43 rolls or slides along the extending direction of the first oblique edge along with the first connecting member 42, and drives the first wedge member 44 and the middle plate 2 to rotate relative to the upper plate 1. When the second linear driving member 51 drives the second connecting member 52 to move, the second follower 53 rolls or slides along the extending direction of the second oblique edge along with the second connecting member 52, and drives the second wedge 54 and the lower plate 3 to rotate relative to the middle plate 2.
Further, as shown in fig. 4, the horizontal leveling device further includes an inclination sensor 8, the inclination sensor 8 is fixedly connected to the lower plate 3 and moves together with the lower plate 3, the inclination sensor 8 can detect the real-time levelness of the lower plate 3 in real time, and the first linear driving member 41 and the second linear driving member 51 automatically adjust the levelness of the lower plate 3 according to the difference between the real-time levelness detected by the inclination sensor 8 and the preset levelness.
Preferably, the lower plate 3 can be maintained in any orientation including the orientation toward the vertical plane by changing the installation position and direction of the tilt sensor 8 and the preset levelness.
Further, the horizontal leveling device further includes a control component electrically connected to the first linear actuator 41, the second linear actuator 51 and the tilt sensor 8, and the control component may be a centralized or distributed controller, such as, for example, can be a single singlechip, such as an STM32 singlechip, or can be composed of a plurality of distributed singlechips, a control program can be operated in the singlechips, and then the first linear driving element 41, the second linear driving element 51 and the tilt angle sensor 8 which are electrically connected with the control module are controlled to realize the functions of the control module, the tilt angle sensor 8 converts the real-time levelness measured by the tilt angle sensor into an electric signal and transmits the electric signal back to the control module, after the control module processes the electric signal, corresponding control signals are sent to the first linear driving element 41 and the second linear driving element 51, so that the levelness of the lower plate 3 is automatically adjusted, and the adjusting efficiency and the adjusting precision are higher.
Example two
As shown in fig. 5, the present embodiment provides a construction robot, comprising the horizontal leveling device of the first embodiment, further comprising a body of the construction robot, and an actuator 10, wherein the end of the body of the construction robot is connected to the upper plate 1 of the horizontal leveling device, the actuator 10 is mounted on the lower plate 3 of the horizontal leveling device, and the horizontal leveling device maintains the levelness of the actuator 10 based on the end of the body.
Furthermore, the upper plate 1 of the actuator 10 is provided with a mounting block 9, and the tail end of the body is fixedly connected with the mounting block 9.
As shown in fig. 5, the construction robot adjusts the levelness of the actuator 10 by the horizontal leveling device, specifically, a holding range of the levelness is preset in the control module, the actuator 10 is installed on the lower plate 3, when the real-time levelness of the actuator 10 measured by the tilt sensor 8 deviates from the preset levelness, the control module receives an electrical signal returned by the tilt sensor 8, after processing the electrical signal, the control module sends corresponding control signals to the first linear driving element 41 and the second linear driving element 51, the first linear driving element 41 and the second linear driving element 51 extend or retract by corresponding distances, the middle plate 2 and the lower plate 3 rotate by corresponding angles on two different rotation planes respectively until the real-time levelness of the actuator 10 measured by the tilt sensor 8 returns to the preset levelness holding range, thereby realizing the automatic holding of the levelness of the actuator 10, the horizontal leveling device not only can be directly hung at the tail end of the building robot body, has a compact structure and is convenient to install, but also can be adjusted more efficiently, accurately and timely.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. A horizontal leveling device, comprising:
an upper plate (1);
the middle plate (2) is arranged below the upper plate (1);
the lower plate (3) is arranged below the middle plate (2);
the first adjusting mechanism (4) is connected with the upper plate (1) and the middle plate (2) simultaneously, and the first adjusting mechanism (4) can drive the middle plate (2) to rotate around a first axis in a plane where the upper plate (1) is located; and
the second adjusting mechanism (5) is connected with the middle plate (2) and the lower plate (3) simultaneously, the second adjusting mechanism (5) can drive the lower plate (3) to rotate around a second axis in the plane of the middle plate (2), and the first axis and the second axis form an included angle; the first adjusting mechanism (4) and the second adjusting mechanism (5) can adjust the levelness of the lower plate (3) together.
2. The horizontal leveling device according to claim 1, wherein the first adjustment mechanism (4) comprises:
a first linear driving member (41) fixed to the upper plate (1);
a first wedge piece (44) fixed to the middle plate (2);
and the first connecting piece (42) is connected with the movable end of the first linear driving piece (41), the first connecting piece (42) can be abutted or connected with the first wedge piece (44), and the first wedge piece (44) and the middle plate (2) can rotate relative to the upper plate (1) under the driving of the first linear driving piece (41).
3. The horizontal leveling device according to claim 2, wherein a first sliding groove (45) is formed in the first wedge member (44), a first follower (43) is formed on the first connecting member (42), the first follower (43) is inserted into the first sliding groove (45), and the first follower (43) can roll or slide along the extending direction of the first sliding groove (45).
4. The horizontal leveling device according to claim 2, wherein the first linear driving member (41) is connected with the upper plate (1) through a first mounting plate (46), a first sliding rail (47) is arranged on the first mounting plate (46), a first sliding block (48) is arranged on a movable end of the first linear driving member (41), and the first sliding block (48) can slide on the first sliding rail (47).
5. The horizontal leveling device according to claim 2, wherein the first linear drive (41) comprises a first electric push cylinder.
6. The horizontal leveling device according to claim 1, wherein the second adjustment mechanism (5) comprises:
a second linear driving member (51) fixed to the middle plate (2);
a second wedge (54) fixed to the lower plate (3);
and the second connecting piece (52) is connected with the movable end of the second linear driving piece (51), the second connecting piece (52) can be abutted or connected with the second wedge piece (54), and the second wedge piece (54) and the lower plate (3) can rotate relative to the middle plate (2) under the driving of the second linear driving piece (51).
7. The horizontal leveling device according to claim 6, wherein a second sliding groove (55) is formed in the second wedge member (54), a second follower (53) is formed on the second connecting member (52), the second follower (53) is inserted into the second sliding groove (55), and the second follower (53) can roll or slide along the extending direction of the second sliding groove (55).
8. The horizontal leveling device according to claim 6, wherein the second linear driving member (51) is connected with the middle plate (2) through a second mounting plate (56), a second sliding rail (57) is arranged on the second mounting plate (56), a second sliding block (58) is arranged on the movable end of the second linear driving member (51), and the second sliding block (58) can slide on the second sliding rail (57).
9. The horizontal leveling device according to claim 6, wherein the second linear drive (51) comprises a second electric push cylinder.
10. The horizontal leveling device according to any one of claims 1 to 9, further comprising an inclination sensor (8), wherein the inclination sensor (8) is connected to the lower plate (3), and the inclination sensor (8) is used for detecting the levelness of the lower plate (3).
11. The horizontal leveling device of any one of claims 1 to 9 wherein the first axis is perpendicular to the second axis.
12. The horizontal leveling device according to any one of claims 1 to 9, wherein the upper plate (1) is hinged to the middle plate (2) by a first hinge assembly (6) and/or the middle plate (2) is hinged to the lower plate (3) by a second hinge assembly (7).
13. A construction robot comprising the horizontal leveling device according to any one of claims 1 to 12, and further comprising:
a body, the end of which is connected with the upper plate (1); and
an actuator (10), said actuator (10) being connected to said lower plate (3).
14. Construction robot according to claim 13, characterized in that the upper plate (1) is provided with a mounting block (9), the end of the body being connectable with the mounting block (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911182335.9A CN112847382A (en) | 2019-11-27 | 2019-11-27 | Horizontal leveling device and construction robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911182335.9A CN112847382A (en) | 2019-11-27 | 2019-11-27 | Horizontal leveling device and construction robot |
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| CN112847382A true CN112847382A (en) | 2021-05-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114408820A (en) * | 2022-01-17 | 2022-04-29 | 湖南中联重科智能高空作业机械有限公司 | Aerial work platform |
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Application publication date: 20210528 |
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| RJ01 | Rejection of invention patent application after publication |