CN114044064A - Industrial robot for carrying in building construction - Google Patents
Industrial robot for carrying in building construction Download PDFInfo
- Publication number
- CN114044064A CN114044064A CN202111408997.0A CN202111408997A CN114044064A CN 114044064 A CN114044064 A CN 114044064A CN 202111408997 A CN202111408997 A CN 202111408997A CN 114044064 A CN114044064 A CN 114044064A
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- industrial robot
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- 238000009435 building construction Methods 0.000 title abstract description 15
- 238000010276 construction Methods 0.000 claims description 21
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 239000004566 building material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B62D57/028—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 having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a building construction handling industrial robot, which belongs to the technical field of building machinery and comprises a frame, a handling component and a motion component, wherein the handling component is arranged on the frame; the number of the motion components is several; each group of motion components respectively comprises a first supporting leg with one end movably connected with the frame, a second supporting leg movably connected with the other end of the first supporting leg, and a roller component arranged at one end of the second supporting leg, which is far away from the first supporting leg. The building construction transportation industrial robot provided by the invention has two motion modes of the motion assembly. The moving mode can be switched at any time according to different terrains in the actual operation process, and the trafficability characteristic of the building construction industrial handling robot in a complex terrain environment is improved.
Description
Technical Field
The invention belongs to the technical field of construction machinery, and particularly relates to an industrial robot for carrying in building construction.
Background
With the rise of new industries, the young labor force engaged in the construction industry is less and less, and the average age of construction workers is increased year by year, so that the labor cost is in a trend of rising year by year. In a brand-new automatic building system, most processes are constructed in a full-automatic mode, at the moment, higher standards and standard requirements are provided for the carrying and placing modes of building materials, and the traditional manual transport of building materials cannot meet the requirements, so that the traditional logistics operation link of manual carrying begins to change from mechanization to automation and intellectualization. At present, special equipment capable of completing automatic forking, transporting or unloading exists in the market, but the equipment in the market is not suitable for material transportation in the building industry, particularly is not suitable for being carried to a floor operation surface from a stock ground, and a small-sized logistics intelligent forklift is basically not suitable for a severe indoor and outdoor environment of a building and cannot stably carry building materials. The existing carrying equipment has the problems of poor passing performance and inapplicability to complex operation environments.
Disclosure of Invention
The invention aims to provide an industrial robot for carrying in building construction, and aims to solve the technical problems that the existing carrying equipment is poor in trafficability and not suitable for complex working environments.
In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a construction handling industrial robot comprising:
a frame;
the carrying assembly is arranged on the frame; and
a plurality of motion components are arranged; the moving assembly comprises a first supporting leg, a second supporting leg and a roller assembly, wherein one end of the first supporting leg is movably connected with the frame, the other end of the second supporting leg is movably connected with the other end of the first supporting leg, and the roller assembly is arranged at one end, deviating from the first supporting leg, of the second supporting leg.
Preferably, the second leg comprises:
the first leg part is elastically connected with the frame;
one end of the second leg is connected with the first leg in a sliding mode, and the other end of the second leg is connected with the roller assembly; and
one end of the deformation piece is connected with the first leg part; the other end is connected with the second leg part
Preferably, the roller assembly includes:
the roller body is rotatably connected with the second leg part;
the driving piece is arranged in the second leg part and used for driving the roller main body to rotate;
the energy supply piece is arranged in the first leg or the first leg part and is used for being electrically connected with the driving piece; and
the temperature control assembly is connected with the driving piece or/and the energy supply piece and used for regulating and controlling the temperature of the energy supply piece or/and the driving piece.
Preferably, a limiting head electrically connected with the energy supply part is arranged on the first leg; a limiting groove is formed in the first leg part; an adaptive head electrically connected with the driving piece is arranged in the limiting groove; the limiting groove is matched with the limiting head.
Preferably, the frame comprises:
the chassis is provided with a plurality of groups of motion components;
one end of the buffer piece is connected with the chassis; a plurality of cavities for storing liquid are arranged in the buffer piece; the cavity is communicated with the temperature control assembly;
the cargo carrying platform is connected with the other end of the buffer piece; and
one end of the elastic connecting piece is connected with the chassis; the other end of the buffer layer penetrates through the buffer layer to be connected with the cargo platform.
Preferably, the handling assembly comprises:
the fixed frame is movably connected with the frame;
the clamping piece is movably connected with the fixed frame;
energy supply piece sets up the frame, energy supply piece with the mount the holder electricity is connected preferentially, the holder includes:
the movable piece is connected with the fixed frame in a sliding manner;
the clamping body is connected with the movable piece in a sliding manner; the clamping bodies are provided with a plurality of groups, and each group of clamping bodies comprises a first permanent magnet plate, a first electromagnetic plate and a power supply piece electrically connected with the first electromagnetic plate;
and the buffer sleeve is sleeved on the clamping body.
Preferably, the crawler assembly is movably connected with the frame.
Preferably, four sets of motion assemblies are arranged, and the motion assemblies are respectively arranged at four corners of the frame.
The invention provides an industrial robot for carrying in building construction, which has the beneficial effects that: compared with the prior art, the building construction carrying industrial robot has two motion modes of the motion assembly, the first type drives the industrial robot to move through rolling of the roller assembly, and the first supporting leg and the second supporting leg have the function of limiting building materials; secondly, the industrial robot crawls and moves through the matching of the first supporting leg and the second supporting leg. The moving mode of the building construction carrying industrial robot can be switched at any time according to different terrains, and the trafficability characteristic of the building construction carrying industrial robot under a complex terrain environment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a connection relationship between a motion assembly and a frame in a construction handling industrial robot according to an embodiment of the present invention;
FIG. 2 is a top view of a handling assembly coupled to a carrier platform of a construction handling industrial robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a handling assembly of a construction handling industrial robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural component diagram of a moving assembly in a construction handling industrial robot according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a chassis used in a construction handling industrial robot according to an embodiment of the present invention
Fig. 6 is a schematic structural diagram of a connection relationship between a moving assembly and a frame in another construction handling industrial robot according to an embodiment of the present invention.
In the figure: 1. a frame; 11. a chassis; 111. a first frame; 112. a second frame; 113. a connecting member; 12. a buffer member; 121. a first cushion airbag; 122. a telescopic rod; 123. a second bladder member; 124. a trigger; 13. a cargo carrying platform; 14. an elastic connecting member; 2. a handling assembly; 21. a fixed mount; 211. a first guide rail section; 212. a second guide rail section; 213. a first movable block; 214. a second movable block; 22. a clamping member; 221. a movable member; 222. a clamping body; 223. a buffer sleeve; 3. a motion assembly; 31. a first leg; 311. a limiting head; 32. a second leg; 321. a first leg portion; 322. a second leg portion; 323. a deformation member; 324. a limiting groove; 325. an adapter head; 33. a roller assembly; 331. a roller body; 332. a drive member; 333. an energy supply member; 4. a track assembly.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 6 together, a construction handling industrial robot according to the present invention will now be described. The building construction handling industrial robot comprises a frame 1, a handling component 2 and a motion component 3, wherein the handling component 2 is arranged on the frame 1; the motion component 3 is provided with a plurality of groups; each group of motion assemblies 3 respectively comprises a first supporting leg 31 with one end movably connected with the frame 1, a second supporting leg 32 with the other end movably connected with the first supporting leg 31, and a roller assembly 33 arranged at one end of the second supporting leg 32, which is far away from the first supporting leg 31.
During operation, the carrying component 2 carries the building materials to the frame 1, and the moving component 3 drives the frame 1 and the carrying component 2 to move.
Compared with the prior art, the building construction carrying industrial robot provided by the invention has two motion modes of the motion component 3, wherein the first motion mode drives the industrial robot to move by rolling of the roller component 33, and the first support leg 31 and the second support leg 32 have the function of limiting the building materials; secondly, the industrial robot crawls and moves through the cooperation of the first supporting leg 31 and the second supporting leg 32. The moving mode of the building construction carrying industrial robot can be switched at any time according to different terrains, and the trafficability characteristic of the building construction carrying industrial robot under a complex terrain environment is improved.
In the present embodiment, the second leg 32 includes: the frame comprises a first leg part 321, a second leg part 322 and a deformation part 323, wherein the first leg part 321 is movably connected with the frame 1; one end of the second leg 322 is slidably connected to the first leg 321, and the other end is connected to the roller assembly 33; one end of the deformation part 323 is connected with the first leg part 321; and the other end is connected to the second leg 322. First shank 321, second shank 322 pass through deformation 323 and connect, and the setting of deformation 323 makes second landing leg 32 have elasticity, has improved the protection effect to building material when this kind of construction handling industrial robot passes through pothole topography.
In this embodiment, the deforming member 323 is a return spring, and the deforming member 323 is sleeved on the second leg portion 322. It is defined that the deformation 323 is only able to deform along an axial layer of the second leg 322. The service life of the deformation member 323 is improved.
In this embodiment, the roller assembly 33 includes a roller body 331, a driving member 332, an energy supplying member 333 and a temperature control member, wherein the roller body 331 is rotatably connected to the second leg 322; the driving member 332 is disposed in the second leg 322 for driving the roller body 331 to rotate; the energizing member 333 is provided in the first leg 31 or the first leg 321 for electrical connection with the driving member 332; the temperature control component is connected with the driving member 332 or/and the energy supply member 333 and is used for regulating and controlling the temperature of the energy supply member 333 or/and the driving member 332.
In the present embodiment, the energizing member 333 is provided in the first leg 31. The first leg 31 is provided with a limit head 311 electrically connected with an energy supply part 333; the first leg 321 is provided with a limiting groove 324; an adapter 325 electrically connected with the driving member 332 is arranged in the limiting groove 324; the limiting groove 324 is matched with the limiting head 311.
The matching of the limiting groove 324 and the limiting head 311 enables the first leg 31 to be connected with the second leg 32, so that the firmness of the second leg 32 supporting the roller assembly 33 when the robot rolls through the roller assembly 33 is improved. Through the cooperation of spacing head 311 and adaptation head 325, realized only when first landing leg 31 is connected with second landing leg 32, driving piece 332 is in the on state, has carried out the condition to the rolling motion mode of this robot and has limited, avoids appearing the condition that this robot carries out rolling motion and crawling motion simultaneously, and the maximum degree has avoided the maloperation condition to appear in the operation process, has improved the security that uses this robot operation in-process. This kind of setting up mode has disperseed energy supply piece 333 and driving piece 332's the position of setting, has improved the homogeneity of this robot weight distribution, compares with energy supply piece 333, driving piece 332 all set up at second landing leg 32, has reduced the loss to second landing leg 32, has improved the life of second landing leg 32.
In the present embodiment, the moving assembly 3 is provided with four sets; the moving components 3 are respectively arranged at four corners of the frame 1.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 1 to 6 together, the frame 1 includes: the device comprises a chassis 11, a buffer part 12, a cargo platform 13 and an elastic connecting part 14, wherein a plurality of groups of moving components 3 are arranged on the chassis 11; one end of the buffer 12 is connected with the chassis 11; a plurality of cavities for storing liquid are arranged in the buffer piece 12; the cavity is communicated with the temperature control component; the loading platform 13 is connected with the other end of the buffer piece 12; one end of the elastic connecting piece 14 is connected with the chassis 11; the other end is connected with the cargo platform 13 through the buffer member 12. The arrangement of the buffer parts 12 improves the shock absorption effect of the robot in the operation process and improves the trafficability of the robot in a complicated terrain area.
In this embodiment, the chassis 11 includes a first frame 111, a second frame 112 and a connecting member 113, wherein the first frame 111 is provided with a plurality of sets of moving assemblies 3; a plurality of groups of moving components 3 are arranged on the second frame 112; one end of the connecting piece 113 is connected with the first frame 111; the other end is connected with the second frame 112; the connecting member 113 is used to move the second frame 112 in three dimensions (X-axis, Y-axis, Z-axis, and the ground plane being an XOY plane) relative to the first frame 111.
In this embodiment, the buffering member 12 includes a first buffering airbag 121 connected to the chassis 11, an expansion link 122 movably connected to the chassis 11, and a second airbag 123 rotatably connected to the expansion link 122; the second air bag member 123 is connected with the first buffer air bag 121 through the trigger member 124; the triggering member 124 is used to regulate whether the second air cell member 123 is communicated with the first buffer air cell 121. The telescopic rod 122 and the second air bag member 123 are arranged along the circumferential direction of the chassis 11. The second airbag member 123 includes a rotation shaft rotatably connected to the telescopic rod 122 and a second airbag main body wound around the rotation shaft. The arrangement of the second air bag member 123 avoids collision with constructors in the operation process, and the safety of the robot is improved. When the robot topples over, the triggering member 124 is triggered, the telescopic rod 122 moves in the height direction of the robot, the second airbag main body in the second airbag member 123 is deployed, and the liquid in the first buffer airbag 121 is moved into the second airbag member 123. The second air cell member 123 is filled and protects the robot.
As an embodiment of the present invention, referring to fig. 1 to 6, the carrying assembly 2 includes: the fixing frame 21 is elastically connected with the frame 1; the clamping piece 22 is movably connected with the fixed frame 21; the energy supply assembly is arranged on the frame 1 and is electrically connected with the fixed frame 21 and the clamping piece 22.
The fixing frame 21 includes a first guide rail section 211 and a second guide rail section 212; one end of the second guide rail section 212 is rotatably connected with one end of the first guide rail section 211, and the first movable block 213 is movably connected with the first guide rail section 211; the second movable block 214 is movably connected with the second guide rail section 212, and the second movable block 214 is detachably connected with the first movable block 213. And the second movable block 214 can only move relative to the first guide rail segment 211 in a direction perpendicular to the first guide rail segment 211. The second movable block 214 is connected to the clamp 22.
During movement, the first movable block 213 drives the second movable block 214 and the clamping member 22 to move upwards, after the first movable block 213 stops moving after moving to the top end, the second movable block 214 drives the clamping member 22 to move along the second guide rail section 212. More specifically, an electromagnet is slidably coupled to the second rail segment 212. The second movable block 214 is a magnetizer. When the electromagnet is energized, the electromagnet can attract the second movable block 214 and drive the second movable block 214 to move synchronously. When the second movable block 214 needs to move together with the first movable block 213, the electromagnet drives the second movable block 214 to move back to the original position, and then the electromagnet is powered off.
In this embodiment, the upper end surface of the first movable block 213 is provided with a groove; the lower end face of the second movable block 214 is provided with a convex plate matched with the groove.
In the present embodiment, the clamp 22 includes: the movable piece 221, the clamping body 222 and the buffer sleeve 223, wherein the movable piece 221 is connected with the fixed frame 21 in a sliding manner; the clamping body 222 is slidably connected with the movable piece 221; the clamping bodies 222 are provided with a plurality of groups, and each group of clamping bodies 222 comprises a first permanent magnet plate, a first electromagnetic plate and a power supply piece electrically connected with the first electromagnetic plate; the buffer sleeve 223 is sleeved on the clamping body 222. The cushion cover 223 is an elastic cover. The buffer sleeve 223 is provided with a broken line structure. The movable member 221 is connected to the second movable block 214. The second movable block 214 drives the movable element 221 to move. The movable member 221 has a plate structure.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 6, further comprising a track assembly 4 movably connected to the frame 1. The provision of the track assemblies 4 further improves the trafficability of the robot in complex terrain conditions. The track assembly 4 is rotatably connected to the frame 1. Facilitates the retrieval of track assemblies 4 when the track assemblies 4 are not needed for operation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A construction handling industrial robot, comprising:
a frame (1);
a carrying assembly (2) arranged on the frame (1); and
a plurality of moving assemblies (3) are arranged; the moving assembly (3) comprises a first supporting leg (31) with one end movably connected with the frame (1), a second supporting leg (32) with the other end movably connected with the first supporting leg (31), and a roller assembly (33) arranged at one end, deviating from the first supporting leg (31), of the second supporting leg (32).
2. A construction handling industrial robot according to claim 1, wherein said second leg (32) comprises:
a first leg (321) movably connected with the frame (1);
a second leg (322), one end of which is connected with the first leg (321) in a sliding way, and the other end of which is connected with the roller assembly (33); and
a deformation piece (323) with one end connected with the first leg part (321); the other end is connected with the second leg part (322).
3. A construction handling industrial robot according to claim 2, wherein said roller assembly (33) comprises:
a roller body (331) rotatably connected to the second leg (322);
a driving member (332) disposed in the second leg (322) for driving the roller body (331) to rotate;
an energizing member (333) disposed within the first leg (31) or first leg (321) for electrical connection with the driving member (332); and
the temperature control component is connected with the driving piece (332) or/and the energy supply piece (333) and is used for regulating and controlling the temperature of the energy supply piece (333) or/and the driving piece (332).
4. A construction handling industrial robot as claimed in claim 3 wherein: the first supporting leg (31) is provided with a limiting head (311) electrically connected with the energy supply piece (333); a limiting groove (324) is formed in the first leg portion (321); an adapter head (325) electrically connected with the driving piece (332) is arranged in the limiting groove (324); the limiting groove (324) is matched with the limiting head (311).
5. A construction handling industrial robot according to claim 4, characterized in that the frame (1) comprises:
the chassis (11) is provided with a plurality of groups of the motion components (3);
a buffer (12) with one end connected with the chassis (11); a plurality of cavities for storing liquid are arranged in the buffer piece (12); the cavity is communicated with the temperature control assembly;
the cargo platform (13) is connected with the other end of the buffer piece (12); and
an elastic connecting piece (14) with one end connected with the chassis (11); the other end of the buffer piece penetrates through the buffer piece (12) to be connected with the cargo platform (13).
6. A construction handling industrial robot according to claim 1, characterized in that the handling assembly (2) comprises:
the fixing frame (21) is elastically connected with the frame (1);
the clamping piece (22) is movably connected with the fixed frame (21);
the energy supply assembly is arranged on the frame (1), and the energy supply assembly is electrically connected with the fixed frame (21) and the clamping piece (22).
7. A construction handling industrial robot as claimed in claim 6 wherein: the clamp (22) comprises:
the movable piece (221) is connected with the fixed frame (21) in a sliding manner;
a clamping body (222) slidably connected to the movable member (221); the clamping bodies (222) are provided with a plurality of groups, and each group of clamping bodies (222) comprises a first permanent magnet plate, a first electromagnetic plate and a power supply piece electrically connected with the first electromagnetic plate;
and the buffer sleeve (223) is sleeved on the clamping body (222).
8. A construction handling industrial robot as claimed in claim 1 wherein: the crawler belt assembly is movably connected with the frame (1).
9. A construction handling industrial robot as claimed in claim 1 wherein: the four groups of motion assemblies (3) are arranged, and the motion assemblies (3) are respectively arranged at the four corners of the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111408997.0A CN114044064A (en) | 2021-11-25 | 2021-11-25 | Industrial robot for carrying in building construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111408997.0A CN114044064A (en) | 2021-11-25 | 2021-11-25 | Industrial robot for carrying in building construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114044064A true CN114044064A (en) | 2022-02-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111408997.0A Pending CN114044064A (en) | 2021-11-25 | 2021-11-25 | Industrial robot for carrying in building construction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114044064A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1931652A (en) * | 2005-09-13 | 2007-03-21 | 北京航空航天大学 | Variable-structure leg wheel type machine insect |
| US20140057505A1 (en) * | 2012-08-22 | 2014-02-27 | Draganfly Holdings, Inc. | Wheel with folding segments |
| CN110789632A (en) * | 2019-11-11 | 2020-02-14 | 深圳市智擎新创科技有限公司 | Four-foot wheeled robot |
| CN112192615A (en) * | 2020-08-19 | 2021-01-08 | 江苏澳联科技开发有限公司 | Automatic discernment barrier pole-climbing robot |
| CN112776913A (en) * | 2021-01-28 | 2021-05-11 | 南方科技大学 | Biped robot |
| CN112874652A (en) * | 2021-02-04 | 2021-06-01 | 南方科技大学 | Variable-form leg structure and robot |
| CN213612118U (en) * | 2020-11-04 | 2021-07-06 | 北京中海兴达建设有限公司 | Energy-concerving and environment-protective panel paint spraying apparatus for construction |
| CN214356354U (en) * | 2020-12-11 | 2021-10-08 | 北京小米移动软件有限公司 | Leg assembly for foot robot and foot robot |
-
2021
- 2021-11-25 CN CN202111408997.0A patent/CN114044064A/en active Pending
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|---|---|---|---|---|
| CN1931652A (en) * | 2005-09-13 | 2007-03-21 | 北京航空航天大学 | Variable-structure leg wheel type machine insect |
| US20140057505A1 (en) * | 2012-08-22 | 2014-02-27 | Draganfly Holdings, Inc. | Wheel with folding segments |
| CN110789632A (en) * | 2019-11-11 | 2020-02-14 | 深圳市智擎新创科技有限公司 | Four-foot wheeled robot |
| CN112192615A (en) * | 2020-08-19 | 2021-01-08 | 江苏澳联科技开发有限公司 | Automatic discernment barrier pole-climbing robot |
| CN213612118U (en) * | 2020-11-04 | 2021-07-06 | 北京中海兴达建设有限公司 | Energy-concerving and environment-protective panel paint spraying apparatus for construction |
| CN214356354U (en) * | 2020-12-11 | 2021-10-08 | 北京小米移动软件有限公司 | Leg assembly for foot robot and foot robot |
| CN112776913A (en) * | 2021-01-28 | 2021-05-11 | 南方科技大学 | Biped robot |
| CN112874652A (en) * | 2021-02-04 | 2021-06-01 | 南方科技大学 | Variable-form leg structure and robot |
Non-Patent Citations (1)
| Title |
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| 朱雅光;程志海;郭童;吴永平;: "基于ARM的足式施工运输机器人腿部柔顺控制平台系统开发与测试", 机械设计, no. 07, 20 July 2016 (2016-07-20), pages 16 - 20 * |
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