CN113071277A - Multi-terrain detection rescue robot - Google Patents
Multi-terrain detection rescue robot Download PDFInfo
- Publication number
- CN113071277A CN113071277A CN202110496764.4A CN202110496764A CN113071277A CN 113071277 A CN113071277 A CN 113071277A CN 202110496764 A CN202110496764 A CN 202110496764A CN 113071277 A CN113071277 A CN 113071277A
- Authority
- CN
- China
- Prior art keywords
- gear
- motor
- transmission shaft
- shaft
- connecting rod
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-terrain detection rescue robot which comprises a machine shell used as a carrier, wherein the lower end of the machine shell is provided with a wheel component capable of rapidly moving on a flat ground, the side end of the machine shell is provided with at least four foot components for rapidly moving on the uneven ground, and the upper end of the machine shell is provided with at least four flying components for rapidly moving when walking is inconvenient under ground conditions. The wheel assembly has reasonable structural design, adopts a brand new thought, can realize three different walking modes, and can save time to rapidly move when the ground condition is good; when the ground conditions are not favorable for the wheel assembly to use, the foot assembly can realize that the robot walks through feet and legs; the flying assembly is used for flying the robot when the ground condition is inconvenient to walk or special requirements. The casing can carry other work devices, realizes various engineering actual demands, and well finishes the work of detection and rescue.
Description
Technical Field
The invention relates to the technical field of rescue robots, in particular to a multi-terrain detection rescue robot.
Background
The robot is a high-tech product integrating multiple disciplines such as machinery, electronics, cybernetics, computers, artificial intelligence, materials science, bionics and the like. The mobile robot is an important branch of the robot, is very wide in application and has huge development potential. The detection rescue robot is an important component in the field of mobile robots, is developed for rescue by adopting advanced science and technology, has the main functions of being based on personal safety consideration, has a limited action range, detects deeper parts of buildings, can greatly improve a detection area by carrying a life detection instrument, and carries related rescue equipment for rescue. The detection and rescue robot can replace manpower to complete related tasks such as detection, rescue and the like safely, efficiently and at low cost. The detection rescue robot greatly reduces the rescue cost in special environments such as disasters, outdoors and the like, improves the operation environment of rescue workers, improves the success rate of rescue, and brings a revolution of the rescue and detection industry.
The existing detection and rescue robot has the defects in use, is only suitable for detection and rescue when wheels are favorable for walking, namely ground conditions are good, and is difficult to finish detection and rescue work when the ground is not favorable for the wheels to walk.
Therefore, there is a need to provide a multi-terrain detection and rescue robot, which can adapt to various terrains and can better complete detection and rescue work.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a multi-terrain detection rescue robot.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the utility model provides a rescue robot is surveyed to many topography, includes the casing as the carrier, the lower extreme of casing is equipped with the wheel subassembly that is used for carrying out the quick travel on flat ground, the side of casing is equipped with four at least foot subassemblies that are used for carrying out the quick travel on uneven ground, the upper end of casing is equipped with four at least flight subassemblies that are used for quick travel when the ground condition is not convenient for walk.
Further, in the multi-terrain detection and rescue robot, the foot component comprises a first motor, a second motor, a foot leg, a left-right moving mechanism and an up-down moving mechanism, and the first motor and the second motor realize the up-down and left-right actions of the foot leg by the left-right moving mechanism and the up-down moving mechanism.
Furthermore, in the multi-terrain detection and rescue robot, the left-right moving mechanism is composed of a first worm, a first gear, a second gear, a third gear, a first incomplete gear, a second incomplete gear, a first transmission shaft, a second transmission shaft and a hollow shaft; the up-down moving mechanism consists of a second worm, a fourth gear, a third transmission shaft, a bevel gear set, a fourth transmission shaft and a bracket.
Further, in the multi-terrain detection and rescue robot, the first motor, the second motor and the support are respectively fixed with the housing, the output end of the first motor is connected with the first worm, the output end of the second motor is connected with the second worm, the axes of the first transmission shaft, the second transmission shaft and the hollow shaft are parallel to each other, the first transmission shaft and the second transmission shaft are rotatably supported by the housing, the lower part of the support is fixed with the hollow shaft, the upper part of the support is rotatably supported with the fourth transmission shaft, the shaft body of the first transmission shaft is fixed with the first gear and the first incomplete gear, the shaft body of the second transmission shaft is fixed with the second gear and the second incomplete gear, the outer side of the bottom end of the hollow shaft is fixed with the third gear, the third transmission shaft penetrates through the hollow shaft, the bottom end of the third transmission shaft is fixed with the fourth gear, and the top end of the hollow shaft is in transmission connection with the fourth transmission shaft, the first gear and the first worm form a worm gear mechanism, the fourth gear and the second worm form a worm gear mechanism, the second gear is meshed with the first gear, the third gear is respectively meshed with the first incomplete gear and the second incomplete gear, and foot legs are jointly fixed at two ends of the fourth transmission shaft.
Further, in the multi-terrain detection and rescue robot, the wheel assembly comprises a third motor, a fourth motor, a screw, a movable seat, a first connecting rod, a second connecting rod, wheel legs and wheels, the output shaft of the third motor is connected with a screw rod, the movable seat is sleeved outside the screw rod and is provided with a screw rod groove matched with the screw rod, two ends of the movable seat are symmetrically provided with first connecting rods in a penetrating way, two ends of each second connecting rod are respectively and rotatably connected with second connecting rods capable of rotating around the axes of the second connecting rods, the other end of the second connecting rod is rotatably connected with the side end of a fourth motor, the fourth motor is fixedly arranged in the wheel leg, the wheel legs are internally provided with positioning shafts which protrude outwards, the shell is internally provided with positioning rotating grooves matched with the positioning shafts, and wheels are fixed on the output shaft of the fourth motor.
Further, among the rescue robot is surveyed to above-mentioned many topography, the one end of second connecting rod be equipped with second connecting rod tip complex lantern ring, the other end passes through hinge assembly and is connected with the rotation of fourth motor, hinge assembly is including fixing the ear seat at fourth motor side and the pivot that is located the second connecting rod other end.
Furthermore, in the multi-terrain detection and rescue robot, a guide vertical groove convenient for vertical displacement of the movable seat and a positioning rotary groove matched with the positioning shaft are formed in the shell.
Further, in the multi-terrain detection and rescue robot, the flight assembly comprises a fifth motor and a flight wing fixed at the output end of the fifth motor.
The invention has the beneficial effects that:
the wheel assembly has reasonable structural design, adopts a brand new thought, can realize three different walking modes, and can save time to rapidly move when the ground condition is good; when the ground conditions are not favorable for the wheel assembly to use, the foot assembly can realize that the robot walks through feet and legs; the flying assembly is used for flying the robot when the ground condition is inconvenient to walk or special requirements. The casing can carry other work devices, realizes various engineering actual demands, and well finishes the work of detection and rescue.
Of course, it is not necessary for any one product that embodies the invention to achieve all of the above advantages simultaneously.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced 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 that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention as a whole;
FIG. 2 is a schematic structural view of the present invention with a portion of the housing removed;
FIG. 3 is a schematic view of an angled configuration of the foot component of the present invention;
FIG. 4 is a schematic view of another angular configuration of the foot component of the present invention;
FIG. 5 is a schematic view of a left-right moving mechanism of the foot assembly of the present invention
FIG. 6 is a partial schematic view showing the structure of the up-and-down moving mechanism of the foot unit according to the present invention;
FIG. 7 is a schematic view of the wheel assembly of the present invention;
fig. 8 is a schematic structural view of the flying assembly of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings 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 of the 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.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment is a multi-terrain detection and rescue robot, as shown in fig. 1 and 2, comprising a housing 1 as a carrier, wherein the housing 1 can be loaded with a corresponding detection and rescue device according to requirements. The lower extreme of casing 1 is equipped with the wheel subassembly 2 that is used for can carrying out the quick travel on even ground (when ground condition is better, saves time and carries out the quick travel), and the side of casing 1 is equipped with at least four foot subassemblies 3 that are used for carrying out the quick travel on uneven ground (be used for when the ground is unfavorable for the wheel walking), and the upper end of casing 1 is equipped with at least four flight subassemblies 4 that are used for when the ground condition is not convenient for walk quick travel.
As shown in fig. 3 to 6, the foot unit 3 includes a first motor 301, a second motor 302, a foot leg 303, a left-right moving mechanism, and an up-down moving mechanism, and the first motor 301 and the second motor 302 realize the up-down and left-right movement of the foot leg 303 by the left-right moving mechanism and the up-down moving mechanism. The left-right moving mechanism is composed of a first worm 304, a first gear 305, a second gear 306, a third gear 307, a first incomplete gear 308, a second incomplete gear 309, a first transmission shaft 310, a second transmission shaft 311 and a hollow shaft 312. The up-down moving mechanism is composed of a second worm 313, a fourth gear 314, a third transmission shaft 315, a bevel gear set 316, a fourth transmission shaft 317, and a bracket 318. The first motor 301, the second motor 302 and the bracket 318 are respectively fixed with the casing 1, the output end of the first motor 301 is connected with a first worm 304, the output end of the second motor 302 is connected with a second worm 313, the axes of the first transmission shaft 310, the second transmission shaft 311 and the hollow shaft 312 are parallel to each other, and the first transmission shaft 310 and the second transmission shaft 311 are rotatably supported by the casing 1. The lower portion of the bracket 318 is fixed with a hollow shaft 312, and the upper portion rotatably supports a fourth transmission shaft 317. A first gear 305 and a first incomplete gear 308 are fixed on the shaft body of the first transmission shaft 310, a second gear 306 and a second incomplete gear 309 are fixed on the shaft body of the second transmission shaft 311, and a third gear 307 is fixed on the outer side of the bottom end of the hollow shaft 312. A third transmission shaft 315 penetrates through the hollow shaft 312, a fourth gear 314 is fixed at the bottom end of the third transmission shaft 315, and the top end of the third transmission shaft is in transmission connection with a fourth transmission shaft 317 through a bevel gear set 316. The first gear 305 and the first worm 304 constitute a worm gear mechanism, and the fourth gear 314 and the second worm 313 constitute a worm gear mechanism. The second gear 306 is meshed with the first gear 305, the third gear 307 is respectively meshed with the first incomplete gear 308 and the second incomplete gear 309, and the foot legs 303 are jointly fixed at two ends of the fourth transmission shaft 317. The foot legs 303 comprise two angular plates and a number of connecting plates or rods for fixedly connecting the two angular plates.
In this embodiment, the working principle of the left and right rotation of the foot leg 303 in the foot component 3 is as follows: the second motor 301 transmits power to the first worm 304; the first worm 304 transmits power to the first gear 305; first gear 305 transfers power to first drive shaft 310, and first drive shaft 310 transfers power to first partial gear 308; the first gear 305 transmits power to the engaged second gear 306, the second gear 306 transmits power to the second transmission shaft 311, and the second transmission shaft 311 transmits power to the second partial gear 309; the first incomplete gear 308 and the second incomplete gear 309 are meshed with the third gear 307, the first incomplete gear 308 is meshed with the third gear 307 for a certain angle to drive the third gear 307 to rotate for a certain angle, the first incomplete gear is not meshed with the third gear 307 after the rotation, the second incomplete gear 309 starts to be meshed with the third gear 307 to drive the third gear 307 to reversely rotate, the second incomplete gear is disengaged from the third gear 307 after the certain angle, the first incomplete gear starts to be meshed with the third gear again to realize the left-right reverse rotation of the third gear 307, and then the first transmission piece 312 is driven to rotate left and right, namely the foot leg 303 is driven to rotate left and right.
In this embodiment, the working principle of the up-and-down movement of the leg 303 in the foot component 3 is as follows: the third motor 302 transmits power to a second worm 313, the second worm transmits power to a fourth gear 314 through meshing, the fourth gear 314 transmits power to a third transmission shaft 315, the third transmission shaft 315 transmits power to a fourth transmission shaft 317 through a bevel gear set 316, and the fourth transmission shaft 317 transmits power to the foot leg 303, so that the foot leg 303 moves up and down.
As shown in fig. 7, the wheel assembly 2 includes a third motor 201, a fourth motor 202, a screw 203, a movable seat 204, a first connecting rod 205, a second connecting rod 206, a wheel leg 207 and a wheel 208, an output shaft of the third motor 201 is connected with the screw 203, the movable seat 204 is sleeved outside the screw 203 and is provided with a screw groove matched with the screw 203, two ends of the movable seat 204 are symmetrically provided with the first connecting rods 205 in a penetrating manner, two ends of each second connecting rod 206 are respectively and rotatably connected with the second connecting rod 205 capable of rotating around an axis thereof, the other end of the second connecting rod 205 is rotatably connected to a side end of the fourth motor 202, the fourth motor 202 is fixedly installed in the wheel leg 207, a positioning shaft 209 protruding outward is arranged in the wheel leg 207, a positioning rotating groove matched with the positioning shaft 209 is arranged in the housing 1, and a wheel 208 is fixed to an output shaft of the fourth motor 202. A guide vertical slot facilitating the vertical displacement of the movable seat 204 and a positioning rotary slot matched with the positioning shaft 209 are formed in the machine shell 1. One end of the second connecting rod 205 is provided with a collar matched with the end of the second connecting rod 206, and the other end is rotatably connected with the fourth motor 202 through a hinge assembly, wherein the hinge assembly comprises an ear seat fixed at the side end of the fourth motor 202 and a rotating shaft positioned at the other end of the second connecting rod 205.
In this embodiment, when the wheel unit is used, the foot unit 2 calls the second motor 302 to move the leg 303 upward. The third motor 201 transmits power to the screw 203; the screw 203 rotates, and the movable seat 204 moves up and down on the screw 203; when the movable seat 204 moves downwards, the first connecting rod 205 is pushed, the first connecting rod 205 pushes the second connecting rod 206, and the second connecting rod 206 pushes the wheel leg 207 to turn downwards to straighten the wheel leg 207; when the movable seat 204 moves upward, the first connecting rod 205 is pushed, the first connecting rod 205 pushes the second connecting rod 206, and the second connecting rod 206 pushes the wheel leg 207 to turn upward, so as to shrink the wheel leg 207. The fourth electric machine 202 rotates, transmitting power to the wheels 208.
As shown in fig. 8, the flying assembly 4 includes a fifth motor 401 and a flying wing 402 fixed to an output end thereof. When an excessively high obstacle is encountered or the surface cannot be passed over, the flight assembly 4 is used to fly over the obstacle. When a general obstacle is met, the flying component 4 or the foot component 3 can be used, when the foot component 3 is used, the wheel component 2 is contracted, and the first motor 301 and the second motor 302 work simultaneously; the front and back legs on the same side are in different directions, and the front and back legs are in different directions, namely when the front right leg and the back left leg move forwards or backwards simultaneously, the front left leg and the back right leg move backwards or forwards simultaneously.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a rescue robot is surveyed to many topography which characterized in that: including the casing as the carrier, the lower extreme of casing is equipped with the wheel subassembly that is used for carrying out the quick travel on even ground, the side of casing is equipped with four at least foot subassemblies that are used for carrying out the quick travel on uneven ground, the upper end of casing is equipped with four at least flight subassemblies that are used for quick travel when the ground condition is not convenient for walk.
2. The multi-terrain detection and rescue robot as recited in claim 1, wherein: the foot component comprises a first motor, a second motor, a foot leg, a left-right moving mechanism and an up-down moving mechanism, wherein the first motor and the second motor realize the up-down and left-right movement of the foot leg by the left-right moving mechanism and the up-down moving mechanism.
3. The multi-terrain detection and rescue robot as claimed in claim 2, wherein: the left-right moving mechanism consists of a first worm, a first gear, a second gear, a third gear, a first incomplete gear, a second incomplete gear, a first transmission shaft, a second transmission shaft and a hollow shaft; the up-down moving mechanism consists of a second worm, a fourth gear, a third transmission shaft, a bevel gear set, a fourth transmission shaft and a bracket.
4. The multi-terrain detection and rescue robot of claim 3, wherein: the first motor, the second motor and the bracket are respectively fixed with the casing, the output end of the first motor is connected with a first worm, the output end of the second motor is connected with a second worm, the axes of the first transmission shaft, the second transmission shaft and the hollow shaft are parallel to each other, the first transmission shaft and the second transmission shaft are rotatably supported by the casing, the lower part of the bracket is fixedly provided with a hollow shaft, the upper part of the bracket is rotatably supported with a fourth transmission shaft, the shaft body of the first transmission shaft is fixedly provided with a first gear and a first incomplete gear, the shaft body of the second transmission shaft is fixedly provided with a second gear and a second incomplete gear, the outer side of the bottom end of the hollow shaft is fixedly provided with a third gear, the hollow shaft is internally provided with a third transmission shaft in a penetrating way, the bottom end of the third transmission shaft is fixedly provided with a fourth gear, the top end of the third transmission shaft is in transmission connection with the fourth transmission shaft through, the fourth gear and the second worm form a worm gear mechanism, the second gear is meshed with the first gear, the third gear is respectively meshed with the first incomplete gear and the second incomplete gear, and foot legs are jointly fixed at two ends of the fourth transmission shaft.
5. The multi-terrain detection and rescue robot as recited in claim 1, wherein: the wheel subassembly includes third motor, fourth motor, screw rod, sliding seat, head rod, second connecting rod, wheel leg and wheel, the output shaft of third motor has the lead screw, the sliding seat cover is established in the outside of lead screw and is seted up rather than complex lead screw groove, the both ends symmetry of sliding seat is worn to establish and is fixed with the head rod, every two tip of second connecting rod rotate separately and are connected with the second connecting rod that can make the rotation action around its axis, the other end of second connecting rod rotates the side of connecting at the fourth motor, fourth motor fixed mounting is in the wheel leg, be equipped with outside convex location axle in the wheel leg, open in the casing and be equipped with the positioning rotating groove with location axle complex, the output shaft of fourth motor is fixed with the wheel.
6. The multi-terrain detection and rescue robot of claim 5, wherein: one end of the second connecting rod is provided with a lantern ring matched with the end part of the second connecting rod, the other end of the second connecting rod is rotatably connected with the fourth motor through a hinge assembly, and the hinge assembly comprises an ear seat fixed at the side end of the fourth motor and a rotating shaft located at the other end of the second connecting rod.
7. The multi-terrain detection and rescue robot of claim 5, wherein: a guide vertical groove convenient for the vertical displacement of the movable seat and a positioning rotary groove matched with the positioning shaft are formed in the shell.
8. The multi-terrain detection and rescue robot as recited in claim 1, wherein: the flight assembly comprises a fifth motor and a flight wing fixed at the output end of the fifth motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110496764.4A CN113071277A (en) | 2021-05-07 | 2021-05-07 | Multi-terrain detection rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110496764.4A CN113071277A (en) | 2021-05-07 | 2021-05-07 | Multi-terrain detection rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113071277A true CN113071277A (en) | 2021-07-06 |
Family
ID=76616269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110496764.4A Withdrawn CN113071277A (en) | 2021-05-07 | 2021-05-07 | Multi-terrain detection rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113071277A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083550A (en) * | 2021-11-26 | 2022-02-25 | 长沙理工大学 | Multi-foot rescue robot |
-
2021
- 2021-05-07 CN CN202110496764.4A patent/CN113071277A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083550A (en) * | 2021-11-26 | 2022-02-25 | 长沙理工大学 | Multi-foot rescue robot |
| CN114083550B (en) * | 2021-11-26 | 2023-03-10 | 长沙理工大学 | Multi-foot rescue robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109987167B (en) | High-adaptability robot general motion platform for nuclear-involved complex environment | |
| CN102616295A (en) | Multi-joint chain link-type robot based on modularization | |
| CN113071277A (en) | Multi-terrain detection rescue robot | |
| CN201313307Y (en) | Spherical environment detection robot | |
| CN108773426A (en) | Single power source carries the bionical quadruped robot of elastic leg | |
| CN102649450A (en) | Design of wheel leg type moving foot of multi-joint chain link type robot | |
| CN102849140A (en) | Multi-moving-mode bionic moving robot | |
| CN114228416A (en) | Multi-terrain detection rescue robot | |
| CN212861687U (en) | Quadruped robot | |
| CN211415167U (en) | Snake-shaped robot | |
| CN211809923U (en) | Investigation robot with four-foot auxiliary wheel | |
| CN114109255B (en) | Drilling device based on bionics | |
| CN1982143A (en) | Novel microminiature exploration robot with leg-track composite moving mechanism | |
| CN217976102U (en) | Bionic drilling and digging device | |
| CN216761962U (en) | Robot with multi-foot and rolling double-motion mode | |
| CN214492428U (en) | Foot type robot with flight capability | |
| CN210149449U (en) | Six-foot robot | |
| CN113371093A (en) | Obstacle-crossing wheel-leg type garden inspection insect robot | |
| CN210822514U (en) | Folding and unfolding type reducing spherical robot | |
| CN210132510U (en) | All-terrain environment exploration platform | |
| CN207433679U (en) | A kind of six-leg robot | |
| CN111994293A (en) | Unmanned aerial vehicle topography survey device | |
| CN110329381B (en) | High-performance bionic foot type robot | |
| CN220315160U (en) | Wheel leg type robot | |
| CN107839782B (en) | Six-foot detection robot |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210706 |