CN113147953A - Inspection robot with self-adaptive chassis - Google Patents
Inspection robot with self-adaptive chassis Download PDFInfo
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- CN113147953A CN113147953A CN202110463588.4A CN202110463588A CN113147953A CN 113147953 A CN113147953 A CN 113147953A CN 202110463588 A CN202110463588 A CN 202110463588A CN 113147953 A CN113147953 A CN 113147953A
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- 238000007689 inspection Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 239000000725 suspension Substances 0.000 claims description 41
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
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- 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
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
- B60G5/02—Resilient suspensions for a set of tandem wheels or axles having interrelated movements mounted on a single pivoted arm, e.g. the arm being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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Abstract
The invention discloses an inspection robot with a self-adaptive chassis, belonging to the technical field of inspection robots; a patrol robot with a self-adaptive chassis comprises a frame main body and a laser navigation radar, wherein the laser navigation radar is fixedly arranged at the front end of the top surface of the frame main body; a circular truncated cone motor is fixedly mounted at the center position on the top surface of the frame main body, a circular truncated cone is fixedly connected to an output shaft of the circular truncated cone motor, a folding lifting mechanism is connected to the circular truncated cone, and a high-definition shooting mechanism is connected to the tail end of the folding lifting mechanism; the invention effectively solves the problems of poor adaptability, high requirement on road condition of the routing inspection, insufficient obstacle crossing capability and the like of the traditional inspection mode.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an inspection robot with a self-adaptive chassis.
Background
The transformer substation is an important node of a power transmission network, whether the transformer substation runs safely or not directly influences whether a power system can run stably, and the regular inspection of the key position of the transformer substation and a meter is an important mode for guaranteeing the safe running of the transformer substation.
The main mode for finishing the inspection of the transformer substation is the traditional method: manual inspection and video monitoring. The manual inspection is that an inspector records related data through observation, hearing and by means of related instruments and judges whether a fault occurs or not according to experience. Although the inspection mode is flexible in activity and can realize fault early warning in advance by virtue of abundant experience, the cost of power inspection at each time is continuously improved along with the continuous improvement of labor cost, the inspection precision is influenced by the subjective consciousness of inspection personnel, the inspection data is difficult to realize centralized management, and the potential safety hazard of the inspection personnel is large. Video monitoring is that the state of a substation is monitored in real time by installing some cameras at key positions, but the video monitoring exists: the cost is higher, the later maintenance is difficult, there are defects such as monitoring blind area.
The emerging power inspection robot automatically inspects the power, namely, the inspection robot autonomously moves according to a preset motion track and detects and records the conditions of some key nodes through the inspection equipment carried on the robot, but the robot is poor in adaptability relative to the traditional inspection mode, has high requirements on the road condition of an inspection route, and has the problems of insufficient obstacle crossing capability and the like.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to solve the problems that the traditional inspection mode has poor adaptability, high requirement on the road condition of an inspection route, insufficient obstacle crossing capability and the like.
2. Technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
a patrol robot with a self-adaptive chassis comprises a frame main body and a laser navigation radar, wherein the laser navigation radar is fixedly arranged at the front end of the top surface of the frame main body; the frame is characterized in that a round platform motor is fixedly mounted at the center of the top surface of the frame body, a round platform is fixedly connected to an output shaft of the round platform motor, a folding lifting mechanism is connected to the round platform, and a high-definition shooting mechanism is connected to the tail end of the folding lifting mechanism.
Preferably, the front balance frame pitching mechanism comprises a front balance suspension and a first guide groove, wherein connecting plates are symmetrically hinged to two ends of the front balance suspension, first connecting rods are hinged to the connecting plates at the same time, one ends, far away from the connecting plates, of the first connecting rods are hinged to first sliding blocks, the first sliding blocks are slidably mounted in the first guide groove, the first guide groove is symmetrically and fixedly connected to two sides of the bottom surface of the frame main body along the direction parallel to the advancing direction of the frame main body, two first springs are symmetrically and fixedly arranged in the first guide groove, one end of each first spring is fixedly connected with the inner side wall of the first guide groove, and the other side of each first spring is fixedly connected with the side wall of the corresponding first sliding block.
Preferably, a first speed reduction stepping motor and a second speed reduction stepping motor are fixedly mounted on two sides of the connecting plate respectively, output shafts of the first speed reduction stepping motor and the second speed reduction stepping motor are fixedly connected with rocker arms, grooves are formed in two sides of the front balance suspension, extending ends of the rocker arms are embedded in the grooves, the extending ends of the rocker arms are rotatably connected with bearings, and the bearings are in contact with inner walls of the grooves; a pin shaft is also fixedly connected to the connecting plate, and a frame body of the front balance suspension is rotationally connected with the pin shaft; and the front balance suspension is also rotatably provided with a right front travelling wheel, a left front travelling wheel, a right rear travelling wheel and a left rear travelling wheel.
Preferably, the walking driving mechanism comprises a rear balance suspension and a second guide groove, a second connecting rod is hinged on the rear balance suspension, one end, far away from the rear balance suspension, of the second connecting rod is hinged on a second sliding block, the second guide groove is fixedly connected to the bottom surface of the frame main body along the direction perpendicular to the advancing direction of the body, the second sliding block is slidably mounted in the second guide groove, two second springs are symmetrically and fixedly arranged in the second guide groove, one ends of the second springs are fixedly connected with the inner side wall of the second guide groove, and the other sides of the second springs are fixedly connected with the side wall of the second sliding block; the rear balance suspension is characterized in that a first driving motor and a second driving motor are fixedly mounted on two sides of the rear balance suspension, a coupler is fixedly connected to output shafts of the first driving motor and the second driving motor, the first driving motor is fixedly connected with a first driving wheel through the coupler, and the second driving motor is fixedly connected with a second driving wheel through the coupler.
Preferably, the folding lifting mechanism comprises a small U-shaped frame, a connecting frame, a first steering engine, a second steering engine and a third steering engine, the small U-shaped frame is fixedly connected to the top surface of the circular truncated cone, the first steering engine is fixedly connected to the top end of the small U-shaped frame, a first U-shaped frame is fixedly connected to an output shaft of the first steering engine, one end, far away from the first steering engine, of the first U-shaped frame is fixedly connected with the second steering engine, an incomplete gear is fixedly connected to an output shaft of the second steering engine, the incomplete gear is rotatably connected to the connecting frame, an incomplete gear U-shaped frame is further rotatably connected to the connecting frame, and the incomplete gear U-shaped frame is meshed with the incomplete gear; incomplete gear U type frame is kept away from link one end fixedly connected with second U type frame, third steering wheel fixed mounting is kept away from incomplete gear U type frame one end at second U type frame.
Preferably, the high-definition shooting mechanism comprises a cradle head, the cradle head is fixedly connected with an output shaft of a third steering engine, a camera is fixedly connected to the cradle head, and an infrared heat sensor is installed on the camera in an integrated mode.
3. Advantageous effects
According to the invention, the front balancing frame pitching mechanism is arranged at the front end of the device body, the front balancing suspension can rotate around the pin shaft so as to automatically adapt to terrain change, and the occurrence of poor power and other adverse phenomena caused by suspended slipping of wheels is avoided; meanwhile, the front balance suspension and the rear balance suspension are connected with the guide groove through the matching of the sliding block and the spring, and the spring is arranged, so that the impact buffering effect can be achieved well, the front balance frame pitching mechanism can enable the inspection vehicle to stably cross a vertical obstacle, the folding lifting mechanism can save height space on one hand, and the device body can have a higher inspection visual field on the other hand.
Drawings
Fig. 1 is a schematic perspective view of an inspection robot with an adaptive chassis according to the present invention;
fig. 2 is a bottom view of an inspection robot with an adaptive chassis according to the present invention;
fig. 3 is a rear view of an inspection robot with an adaptive chassis according to the present invention;
FIG. 4 is a schematic diagram of the inspection robot with the adaptive chassis in obstacle crossing state according to the present invention;
fig. 5 is a schematic structural diagram of the inspection robot with the adaptive chassis when the folding arm is completely unfolded;
fig. 6 is a schematic structural diagram of a front gimbal pitching mechanism of an inspection robot with a self-adaptive chassis according to the present invention.
The reference numbers in the figures illustrate:
1. a second steering engine; 2. an incomplete gear U-shaped frame; 3. a second U-shaped frame; 4. a holder; 5. a camera; 6. an infrared heat sensor; 7. a third steering engine; 8. a first steering engine; 9. a small U-shaped frame; 10. a circular truncated cone; 11. a frame main body; 12. a laser navigation radar; 13. a rocker arm; 14. a first deceleration stepping motor; 15. a first guide groove; 16. a second reduction stepping motor; 17. a connecting plate; 18. a first link; 19. a front counterbalanced suspension; 20. a first U-shaped frame; 21. a rear balancing suspension; 22. a second drive wheel; 23. a second drive motor; 24. a right front travel wheel; 25. a left forward travel wheel; 26. a left rear travel wheel; 27. a first drive wheel; 28. a right rear travel wheel; 29. a first spring; 30. a first slider; 31. a coupling; 32. a pin shaft; 33. a circular truncated cone motor; 34. a first drive motor.
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.
Example 1:
referring to fig. 1-6, an inspection robot with a self-adaptive chassis comprises a frame main body 11 and a laser navigation radar 12, wherein the laser navigation radar 12 is fixedly installed at the front end of the top surface of the frame main body 11, a front balance frame pitching mechanism is installed at the front end of the bottom surface of the frame main body 11, a front end traveling mechanism is connected to the front balance frame pitching mechanism, and a traveling driving mechanism is also installed at the rear end of the bottom surface of the frame main body 11; a circular truncated cone motor 33 is fixedly installed at the center position on the top surface of the frame main body 11, a circular truncated cone 10 is fixedly connected to an output shaft of the circular truncated cone motor 33, a folding lifting mechanism is connected to the circular truncated cone 10, and a high-definition shooting mechanism is connected to the tail end of the folding lifting mechanism.
Preceding gimbal every single move mechanism is including preceding gimbal suspension 19 and first guide slot 15, the both ends symmetry of preceding gimbal suspension 19 articulates there is connecting plate 17, it has first connecting rod 18 to articulate simultaneously on connecting plate 17, first connecting rod 18 is kept away from connecting plate 17 one end and is articulated to have first slider 30, first slider 30 slidable mounting is in first guide slot 15, first guide slot 15 is along being on a parallel with body advancing direction symmetry fixed connection in 11 bottom surfaces of frame main part both sides, first guide slot 15 internal symmetry has set firmly two first springs 29, the inside wall fixed connection of first spring 29 one end and first guide slot 15, first spring 29 opposite side and first slider 30 lateral wall fixed connection.
A first speed-reducing stepping motor 14 and a second speed-reducing stepping motor 16 are fixedly mounted on two sides of the connecting plate 17 respectively, rocker arms 13 are fixedly connected to output shafts of the first speed-reducing stepping motor 14 and the second speed-reducing stepping motor 16 respectively, grooves are formed in two sides of the front balance suspension 19, extending ends of the rocker arms 13 are embedded in the grooves, and bearings are rotatably connected to the extending ends of the rocker arms 13 and are in contact with the inner walls of the grooves; a pin shaft 32 is also fixedly connected to the connecting plate 17, and the frame body of the front balance suspension 19 is rotatably connected with the pin shaft 32; the front stabilizer suspension 19 is also rotatably mounted with a right front running wheel 24, a left front running wheel 25, a right rear running wheel 28 and a left rear running wheel 26.
The walking driving mechanism comprises a rear balance suspension 21 and a second guide groove, a second connecting rod is hinged on the rear balance suspension 21, one end, far away from the rear balance suspension 21, of the second connecting rod is hinged on a second sliding block, the second guide groove is fixedly connected to the bottom surface of the frame main body 11 along the direction perpendicular to the advancing direction of the body, the second sliding block is slidably mounted in the second guide groove, two second springs are symmetrically and fixedly arranged in the second guide groove, one end of each second spring is fixedly connected with the inner side wall of the second guide groove, and the other side of each second spring is fixedly connected with the side wall of the second sliding block; the first driving motor 34 and the second driving motor 23 are fixedly mounted on two sides of the rear balance suspension 21, the shaft coupler 31 is fixedly connected to output shafts of the first driving motor 34 and the second driving motor 23, the first driving motor 34 is fixedly connected with the first driving wheel 27 through the shaft coupler 31, and the second driving motor 23 is fixedly connected with the second driving wheel 22 through the shaft coupler 31.
The folding lifting mechanism comprises a small U-shaped frame 9, a connecting frame, a first steering engine 8, a second steering engine 1 and a third steering engine 7, the small U-shaped frame 9 is fixedly connected to the top surface of the circular truncated cone 10, the first steering engine 8 is fixedly connected to the top end of the small U-shaped frame 9, a first U-shaped frame 20 is fixedly connected to an output shaft of the first steering engine 8, one end, far away from the first steering engine 8, of the first U-shaped frame 20 is fixedly connected with the second steering engine 1, an incomplete gear is fixedly connected to an output shaft of the second steering engine 1, the incomplete gear is rotatably connected to the connecting frame, an incomplete gear U-shaped frame 2 is further rotatably connected to the connecting frame, and the incomplete gear U-shaped frame 2 is meshed with the incomplete gear; incomplete gear U type frame 2 keeps away from link one end fixedly connected with second U type frame 3, and third steering wheel 7 fixed mounting keeps away from 2 one end of incomplete gear U type frame at second U type frame 3.
The high-definition shooting mechanism comprises a holder 4, the holder 4 is fixedly connected with an output shaft of a third steering engine 7, a camera 5 is fixedly connected onto the holder 4, and an infrared heat sensor 6 is installed on the camera 5 in an integrated mode.
According to the invention, the front balancing frame pitching mechanism is arranged at the front end of the device body, the front balancing suspension can rotate around the pin shaft so as to automatically adapt to terrain change, and the occurrence of poor power and other adverse phenomena caused by suspended slipping of wheels is avoided; meanwhile, the front balance suspension and the rear balance suspension are connected with the guide groove through the matching of the sliding block and the spring, and the spring is arranged, so that the impact buffering effect can be achieved well, the front balance frame pitching mechanism can enable the inspection vehicle to stably cross a vertical obstacle, the folding lifting mechanism can save height space on one hand, and the device body can have a higher inspection visual field on the other hand.
Example 2:
referring to fig. 1-6, the basic difference between the embodiments 1,
when the device runs on a flat road surface in the using process, if the device body runs on the flat ground, the running state of the device body is shown in figure 1, when a vertical obstacle with a certain height is encountered in the front of the device body, a high-definition shooting and recording mechanism at the front end of the device body can recognize obstacle information and then send a control command to control a first speed-reducing stepping motor 14 and a second speed-reducing stepping motor 16 to drive a rocker arm 13 to drive a front balance suspension 19 to face upwards, as shown in the left diagram in figure 4, when a front wheel on the front balance suspension 19 runs on a step surface, the front balance suspension 19 is driven to face downwards by the first speed-reducing stepping motor 14 and the second speed-reducing stepping motor 16, as shown in the right diagram in figure 4, and therefore the device can easily step on the step-type obstacle; when the vehicle runs to a pothole road surface, the front balance suspension 19 and the rear balance suspension 21 are both arranged on the guide grooves of the vehicle frame main body 11 through the connecting rods, the sliding blocks and the springs, so that a good shock absorption effect can be achieved when the vehicle runs through the pothole road surface, the running stability of the device body is better ensured, meanwhile, the front balance suspension 19 can rotate around the pin shaft 32 according to the terrain condition to automatically adapt to terrain change, and suspension and slipping of wheels are avoided; when the instrument panel reading with certain height needs to be read, the steering engine can drive the first U-shaped frame 20 and the second U-shaped frame 3 to be overturned to a straightening state, as shown in fig. 5, so that a better inspection visual field can be obtained.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (6)
1. The utility model provides a patrol and examine robot with self-adaptation chassis, includes frame main part (11) and laser navigation radar (12), its characterized in that: the laser navigation radar (12) is fixedly arranged at the front end of the top surface of the frame main body (11), the front end of the bottom surface of the frame main body (11) is provided with a front balance frame pitching mechanism, the front balance frame pitching mechanism is connected with a front end travelling mechanism, and the rear end of the bottom surface of the frame main body (11) is also provided with a travelling driving mechanism; center position department fixed mounting has round platform motor (33) on the top surface of frame main part (11), fixedly connected with round platform (10) on the output shaft of round platform motor (33), be connected with folding elevating system on round platform (10), folding elevating system's end-to-end connection has the high definition to shoot and record the mechanism.
2. The inspection robot with the adaptive chassis according to claim 1, wherein: preceding gimbal every single move mechanism is including preceding gimbal (19) and first guide slot (15), the both ends symmetry of preceding gimbal (19) articulates there is connecting plate (17), it has first connecting rod (18) to articulate simultaneously on connecting plate (17), connecting plate (17) one end is kept away from in first connecting rod (18) articulates there is first slider (30), first slider (30) slidable mounting is in first guide slot (15), first guide slot (15) are along being on a parallel with body advancing direction symmetry fixed connection in frame main part (11) bottom surface both sides, first guide slot (15) internal symmetry has set firmly two first spring (29), the inside wall fixed connection of first spring (29) one end and first guide slot (15), first spring (29) opposite side and first slider (30) lateral wall fixed connection.
3. An inspection robot with an adaptive chassis according to claim 2, wherein: a first speed reduction stepping motor (14) and a second speed reduction stepping motor (16) are fixedly mounted on two sides of the connecting plate (17) respectively, rocker arms (13) are fixedly connected to output shafts of the first speed reduction stepping motor (14) and the second speed reduction stepping motor (16), grooves are formed in two sides of the front balance suspension (19), extending ends of the rocker arms (13) are embedded into the grooves, the extending ends of the rocker arms (13) are rotatably connected with bearings, and the bearings are in contact with the inner walls of the grooves; a pin shaft (32) is also fixedly connected to the connecting plate (17), and a frame body of the front balance suspension (19) is rotatably connected with the pin shaft (32); the front balance suspension (19) is also rotatably provided with a right front traveling wheel (24), a left front traveling wheel (25), a right rear traveling wheel (28) and a left rear traveling wheel (26).
4. The inspection robot with the adaptive chassis according to claim 1, wherein: the walking driving mechanism comprises a rear balance suspension (21) and a second guide groove, a second connecting rod is hinged on the rear balance suspension (21), one end, far away from the rear balance suspension (21), of the second connecting rod is hinged on a second sliding block, the second guide groove is fixedly connected to the bottom surface of the frame main body (11) along the direction perpendicular to the advancing direction of the body, the second sliding block is slidably mounted in the second guide groove, two second springs are symmetrically and fixedly arranged in the second guide groove, one ends of the second springs are fixedly connected with the inner side wall of the second guide groove, and the other sides of the second springs are fixedly connected with the side wall of the second sliding block; the rear balance suspension (21) is fixedly provided with a first driving motor (34) and a second driving motor (23) on two sides, a shaft coupler (31) is fixedly connected to output shafts of the first driving motor (34) and the second driving motor (23), the first driving motor (34) is fixedly connected with a first driving wheel (27) through the shaft coupler (31), and the second driving motor (23) is fixedly connected with a second driving wheel (22) through the shaft coupler (31).
5. The inspection robot with the adaptive chassis according to claim 1, wherein: the folding lifting mechanism comprises a small U-shaped frame (9), a connecting frame, a first steering engine (8), a second steering engine (1) and a third steering engine (7), the small U-shaped frame (9) is fixedly connected to the top surface of a circular truncated cone (10), the first steering engine (8) is fixedly connected to the top end of the small U-shaped frame (9), a first U-shaped frame (20) is fixedly connected to an output shaft of the first steering engine (8), one end, far away from the first steering engine (8), of the first U-shaped frame (20) is fixedly connected with the second steering engine (1), an incomplete gear is fixedly connected to an output shaft of the second steering engine (1), the incomplete gear is rotatably connected to the connecting frame, an incomplete gear U-shaped frame (2) is further rotatably connected to the connecting frame, and the incomplete gear U-shaped frame (2) is meshed with the incomplete gear; incomplete gear U type frame (2) are kept away from link one end fixedly connected with second U type frame (3), third steering wheel (7) fixed mounting is kept away from incomplete gear U type frame (2) one end in second U type frame (3).
6. An inspection robot with an adaptive chassis according to claim 5, wherein: the high-definition shooting mechanism comprises a holder (4), the holder (4) is fixedly connected with an output shaft of a third steering engine (7), a camera (5) is fixedly connected to the holder (4), and an infrared heat sensor (6) is installed on the camera (5) in an integrated mode.
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| CN202110463588.4A CN113147953B (en) | 2021-04-26 | 2021-04-26 | Inspection robot with self-adaptive chassis |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114248700A (en) * | 2021-11-24 | 2022-03-29 | 长沙宏达威爱信息科技有限公司 | Industry VR patrols and examines robot |
| US20230039873A1 (en) * | 2020-02-06 | 2023-02-09 | Dmg Mori Co., Ltd. | Running device |
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| CN211405226U (en) * | 2019-12-24 | 2020-09-01 | 国网新疆电力有限公司吐鲁番供电公司 | Inspection device for transformer substation |
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
| CN111515921A (en) * | 2020-06-09 | 2020-08-11 | 江苏开璇智能科技有限公司 | Underactuated multi-connecting-rod type foldable inspection mechanical arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230039873A1 (en) * | 2020-02-06 | 2023-02-09 | Dmg Mori Co., Ltd. | Running device |
| US11745812B2 (en) * | 2020-02-06 | 2023-09-05 | Dmg Mori Co., Ltd. | Running device |
| CN114248700A (en) * | 2021-11-24 | 2022-03-29 | 长沙宏达威爱信息科技有限公司 | Industry VR patrols and examines robot |
| CN114248700B (en) * | 2021-11-24 | 2023-06-30 | 长沙宏达威爱信息科技有限公司 | Industrial VR inspection robot |
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