CN114454135A - Intelligent inspection robot with obstacle crossing function - Google Patents
Intelligent inspection robot with obstacle crossing function Download PDFInfo
- Publication number
- CN114454135A CN114454135A CN202111382238.1A CN202111382238A CN114454135A CN 114454135 A CN114454135 A CN 114454135A CN 202111382238 A CN202111382238 A CN 202111382238A CN 114454135 A CN114454135 A CN 114454135A
- Authority
- CN
- China
- Prior art keywords
- base plate
- wheel
- plate
- main shaft
- fixed
- 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.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 239000000758 substrate Substances 0.000 abstract description 16
- 230000006870 function Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of inspection robots, and particularly discloses an intelligent inspection robot with an obstacle crossing function, which comprises a substrate, the upper part of the base plate is provided with a monitoring mechanism, one end of the bottom of the base plate is rotationally connected with a driving box through a central shaft, both sides of the driving box are rotatably connected with one end of an electric push rod through a second connecting shaft, the other end of the electric push rod is rotatably connected with the bottom of the base plate through a first connecting shaft, a driving motor is arranged in the driving box and drives the main shaft to rotate through a transmission structure, the main shaft is rotationally connected with the driving box, the main shaft is parallel to the substrate, two ends of the main shaft are coaxially connected with the main wheel, the outer edge of the main wheel is annularly provided with the supporting rods, and the extension lines of the central lines of the supporting rods pass through the central line of the main shaft.
Description
Technical Field
The invention belongs to the field of inspection robots, and particularly discloses an intelligent inspection robot with an obstacle crossing function.
Background
Adopt the robot to replace the manual work to patrol and examine and can reduce the human cost, have extensive application, the robot of patrolling and examining among the prior art generally all includes mobile device, mobile device's upper portion sets up monitoring mechanism, patrol and examine through monitoring mechanism, carry out the plane removal of plane removal or certain gradient through mobile device, this kind of robot of patrolling and examining often is comparatively heavy, receives easily when meetting the barrier and blocks and stop moving, has great limitation, needs to improve.
Disclosure of Invention
In view of the above, the present invention is directed to a smart inspection robot with obstacle crossing function, so as to solve the problems of the prior art.
In order to achieve the above purposes, the invention provides an intelligent inspection robot with obstacle crossing function, which comprises a substrate, wherein a monitoring mechanism is arranged at the upper part of the substrate, one end of the bottom of the substrate is rotatably connected with a driving box through a central shaft, two sides of the driving box are both rotatably connected with one end of an electric push rod through a second connecting shaft, the other end of the electric push rod is rotatably connected with the bottom of the substrate through a first connecting shaft, a driving motor is arranged in the driving box and drives a main shaft to rotate through a transmission structure, the main shaft is rotatably connected with the driving box and is parallel to the substrate, two ends of the main shaft are both coaxially connected with a main wheel, supporting rods are arranged on the outer edge of the main wheel in an annular array mode, the extension line of the central line of the supporting rods passes through the central line of the main shaft, the other end of the supporting rods is connected with an elastic supporting mechanism, and two sides of the other end of the bottom of the substrate are provided with rotating wheel structures, the runner structure includes the fixed plate, the perpendicular fixed connection base plate's in upper end bottom of fixed plate, the lower extreme of fixed plate is perpendicular to be rotated the one end of connecting the pivot, the perpendicular fixed connection connecting plate's of the other end one end of pivot, the other end of connecting plate is rotated through the shaft and is connected with the auxiliary wheel, be connected with the torsional spring between connecting plate and the fixed plate, the torsional spring suit is in the pivot.
In the above technical scheme, preferably, the bottom of base plate is equipped with the install bin, be equipped with power and controller in the install bin, the controller passes through the wire and is connected with the power, the drive box passes through the wire and is connected with the controller, the controller passes through the wire and is connected with driving motor and electric putter.
In the above technical scheme, it is preferred, monitoring mechanism includes the spacing ring, the spacing ring is fixed on the base plate, the fluted disc is installed to the spacing ring internal rotation, the upper portion of fluted disc is fixed with the camera through the extension board, fluted disc and gear engagement, the gear is connected with the output shaft end coaxial of motor, the motor passes through the top surface of mounting panel fixed connection base plate, motor and camera all are connected with the controller through the signal line.
In the above technical scheme, it is preferred, the elastic support mechanism includes the support, the tip of support fixed connection branch, the tip of branch passes fixedly connected with stopper behind the upper end of sliding fit's support with it, branch is close to tip department and is fixed with the limiting plate, the cover is equipped with the spring on the branch between limiting plate and the support, the lower extreme of supporting wheel is fixed with the supporting wheel, the surface cover of supporting wheel is equipped with the rubber circle.
In the above technical solution, preferably, the main wheel is a metal wheel, and the edge of the main wheel is annularly arrayed with anti-slip grooves, which are triangular grooves.
In the above technical solution, preferably, each main wheel is connected with six support rods, and an included angle between adjacent support rods is 60 °.
Compared with the prior art, the invention has the following beneficial effects: the base plate is used as a main mounting structure, the monitoring mechanism is arranged on the base plate and moves together with the base plate, inspection can be conveniently carried out in the moving process, the driving box can be adjusted to rotate through the electric push rod, the moving direction is adjusted, the monitoring mechanism moves forward through rotation of the elastic supporting mechanisms in the moving process, when an obstacle is encountered, the obstacle can be conveniently crossed through a gap between adjacent elastic supporting mechanisms, the obstacle crossing capability of the inspection robot can be improved, the rotating wheel structure is divided into the fixed plate and the connecting plate, the two sections of structures can freely rotate, and therefore after the main wheel crosses the obstacle, the connecting plate also crosses the obstacle through a mode of rotating a certain angle, stable obstacle crossing can be achieved, and adaptability of the inspection robot is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure at A in FIG. 1;
FIG. 3 is a schematic bottom view of the present invention;
FIG. 4 is a schematic view of the structure at B in FIG. 3;
FIG. 5 is another schematic structural view of the present invention;
fig. 6 is a schematic structural diagram at C in fig. 5.
In the figure: the anti-skidding mechanism comprises a base plate 1, a fixing plate 2, a connecting plate 3, an auxiliary wheel 4, a support 5, a main wheel 6, an anti-skidding groove 7, a mounting plate 8, a motor 9, a camera 10, a support plate 11, a limiting ring 12, a fluted disc 13, a gear 14, a first connecting shaft 15, an electric push rod 16, a second connecting shaft 17, a driving box 18, a spring 19, a support rod 20, a mounting box 21, a rotating shaft 22, a wheel shaft 23, a torsion spring 24, a limiting block 25, a rubber ring 26, a supporting wheel 27, a limiting plate 28 and a main shaft 29.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
The intelligent inspection robot with the obstacle crossing function as shown in fig. 1-6 comprises a substrate 1, a monitoring mechanism is arranged on the upper portion of the substrate 1, one end of the bottom of the substrate 1 is rotatably connected with a driving box 18 through a central shaft, two sides of the driving box 18 are rotatably connected with one end of an electric push rod 16 through a second connecting shaft 17, the other end of the electric push rod 16 is rotatably connected with the bottom of the substrate 1 through a first connecting shaft 15, a driving motor is arranged in the driving box 18 and drives a main shaft 29 to rotate through a transmission structure, the main shaft 29 is rotatably connected with the driving box 18, the main shaft 29 is parallel to the substrate 1, two ends of the main shaft 29 are coaxially connected with a main wheel 6, supporting rods 20 are arranged on an outer edge annular array of the main wheel 6, an extension line of a central line of the supporting rods 20 passes through a central line of the main shaft 29, an elastic supporting mechanism is connected with the other end of the supporting rods 20, and rotating wheel structures are arranged on two sides of the other end of the bottom of the substrate 1, the runner structure includes fixed plate 2, the perpendicular fixed connection base plate's in upper end bottom of fixed plate 2, and the lower extreme of fixed plate 2 rotates the one end of connecting pivot 22 perpendicularly, the perpendicular fixed connection connecting plate's of the other end one end of pivot 22, and the other end of connecting plate 3 rotates through shaft 23 and is connected with auxiliary wheel 4, is connected with torsional spring 24 between connecting plate 3 and the fixed plate 2, and torsional spring 24 suit is on pivot 22.
The driving motor drives the main shaft 29 to rotate, the transmission structure can be specifically a driving gear and a transmission gear, the driving gear is coaxially connected with an output shaft of the driving motor, the transmission gear is coaxially connected with the main shaft 29, the driving gear is meshed with the transmission gear, the driving motor is fixed in the driving box 18, the driving box 18 can rotate around a central shaft through the extension and contraction of the two electric push rods 16, so as to control the moving direction of the robot, under the condition that the main shaft 29 rotates, the plurality of supporting rods 20 rotate, the plurality of elastic supporting mechanisms sequentially contact with the ground, when an obstacle is met, gaps between the adjacent supporting rods 20 can be used for crossing the obstacle, after the main wheel 6 crosses the obstacle, as the upper part fixing plate 2 and the lower part connecting plate 3 of the runner structure are rotatably connected through the rotating shaft 22, when the obstacle is met, the lower part connecting plate 3 can rotate around the rotating shaft 22, thereby avoiding the obstacle.
The bottom of base plate 1 is equipped with install bin 21, is equipped with power and controller in the install bin 21, and the controller passes through the wire to be connected with the power, and drive box 18 passes through the wire to be connected with the controller, and the controller passes through the wire to be connected with driving motor and electric putter 16. The monitoring mechanism comprises a limiting ring 12, the limiting ring 12 is fixed on the substrate 1, a fluted disc 13 is installed in the limiting ring 12 in a rotating mode, a camera 10 is fixed on the upper portion of the fluted disc 13 through a supporting plate 11, the fluted disc 13 is meshed with a gear 14, the gear 14 is coaxially connected with the end portion of an output shaft of the motor 9, the motor 9 is fixedly connected with the top surface of the substrate 1 through a mounting plate 8, and the motor 9 and the camera 10 are both connected with a controller through signal lines.
The controller plays a role in comprehensive control, the power supply is specifically a storage battery, the controller is connected with the memory through a signal line, the memory is arranged in the installation box 21, the content shot and recorded by the camera 10 is stored in the memory, and the controller can adjust the shooting direction of the camera 10 by controlling the motor 9 to rotate.
The elastic supporting mechanism comprises a support 5, the support 5 is fixedly connected with the end part of a supporting rod 20, the end part of the supporting rod 20 penetrates through a limiting block 25 fixedly connected with the upper end of the support 5 in sliding fit with the end part of the supporting rod, a limiting plate 28 is fixed on the position, close to the end part, of the supporting rod 20, a spring 19 is sleeved on the supporting rod 20 between the limiting plate 28 and the support 5, a supporting wheel 27 is fixed at the lower end of the supporting wheel 27, and a rubber ring 26 is sleeved on the surface of the supporting wheel 27. The main wheel 6 is a metal wheel, the edge of the main wheel 6 is annularly arrayed with anti-skid grooves 7, and the anti-skid grooves 7 are triangular grooves. Each main wheel 6 is connected with six supporting rods 20, and the included angle between every two adjacent supporting rods 20 is 60 degrees.
Can reduce the vibrations of robot at the removal in-process through setting up elastic support mechanism, spring 19 plays absorbing effect, and rubber circle 26 plays flexible absorbing effect, and main wheel 6 can play the supporting role when crossing the top of barrier, and anti-skidding groove 7 can increase the anti-skidding effect on the surface of main wheel 6.
In the present invention, the terms "mounting," "connecting," "fixing," and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the appearances of the phrases "one embodiment," "some embodiments," "a specific embodiment," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment or example, but rather to the same embodiment or example. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. Robot is patrolled and examined to intelligence with function of crossing obstacles, including base plate (1), its characterized in that, the upper portion of base plate (1) is equipped with monitoring mechanism, the bottom one end of base plate (1) is connected with drive box (18) through the axis rotation, the both sides of drive box (18) are all rotated the one end of connecting electric putter (16) through second even axle (17), the bottom of connecting base plate (1) is rotated through first even axle (15) to the other end of electric putter (16), be provided with driving motor in drive box (18), driving motor passes through transmission structure drive main shaft (29) and rotates, main shaft (29) are rotated and are connected drive box (18), main shaft (29) are on a parallel with base plate (1), the both ends of main shaft (29) all coaxial coupling have main wheel (6), the outer fringe annular array of main wheel (6) has branch (20), the center line extension line of branch (20) is through the center line of main shaft (29), the other end of branch (20) is connected with elastic support mechanism, the bottom other end both sides of base plate (1) are equipped with the runner structure, the runner structure includes fixed plate (2), the bottom of the perpendicular fixed connection base plate in upper end (1) of fixed plate (2), the lower extreme of fixed plate (2) is perpendicularly rotated the one end of connecting pivot (22), the one end of the perpendicular fixed connection connecting plate in other end (3) of pivot (22), the other end of connecting plate (3) is rotated through shaft (23) and is connected with auxiliary wheel (4), be connected with torsional spring (24) between connecting plate (3) and fixed plate (2), torsional spring (24) suit is in pivot (22).
2. The intelligent inspection robot with the obstacle crossing function according to claim 1, wherein an installation box (21) is arranged at the bottom of the base plate (1), a power supply and a controller are arranged in the installation box (21), the controller is connected with the power supply through a lead, the driving box (18) is connected with the controller through a lead, and the controller is connected with the driving motor and the electric push rod (16) through leads.
3. The robot is patrolled and examined to intelligence with hinder function more according to claim 2, characterized in that, monitoring mechanism includes spacing ring (12), spacing ring (12) are fixed on base plate (1), fluted disc (13) are installed to spacing ring (12) internal rotation, the upper portion of fluted disc (13) is fixed with camera (10) through extension board (11), fluted disc (13) and gear (14) meshing, gear (14) and the output shaft tip coaxial coupling of motor (9), motor (9) are through the top surface of mounting panel (8) fixed connection base plate (1), motor (9) and camera (10) are all connected with the controller through the signal line.
4. The robot is patrolled and examined to intelligence with hinder function more according to claim 3, characterized in that, elastic support mechanism includes support (5), the tip of support (5) fixed connection branch (20), fixedly connected with stopper (25) behind the upper end of support (5) with it sliding fit is passed to the tip of branch (20), branch (20) are close to tip department and are fixed with limiting plate (28), the cover is equipped with spring (19) on branch (20) between limiting plate (28) and support (5), the lower extreme of supporting wheel (27) is fixed with supporting wheel (27), the surface cover of supporting wheel (27) is equipped with rubber circle (26).
5. The intelligent inspection robot with the obstacle crossing function according to claim 1, wherein the main wheel (6) is a metal wheel, the edge of the main wheel (6) is annularly arrayed with anti-skid grooves (7), and the anti-skid grooves (7) are triangular grooves.
6. The intelligent inspection robot with the obstacle crossing function according to claim 1, wherein six supporting rods (20) are connected to each main wheel (6), and the included angle between every two adjacent supporting rods (20) is 60 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111382238.1A CN114454135B (en) | 2021-11-20 | 2021-11-20 | Intelligent inspection robot with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111382238.1A CN114454135B (en) | 2021-11-20 | 2021-11-20 | Intelligent inspection robot with obstacle crossing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114454135A true CN114454135A (en) | 2022-05-10 |
| CN114454135B CN114454135B (en) | 2024-02-06 |
Family
ID=81405036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111382238.1A Active CN114454135B (en) | 2021-11-20 | 2021-11-20 | Intelligent inspection robot with obstacle crossing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114454135B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN204978936U (en) * | 2015-07-15 | 2016-01-20 | 昆明理工大学 | Building machine ware people is climbed to intelligence |
| CN105662282A (en) * | 2016-01-15 | 2016-06-15 | 浙江机电职业技术学院 | Dual-purpose cleaning robot for flat ground and corridors |
| CN107415577A (en) * | 2017-08-09 | 2017-12-01 | 南京工程学院 | A kind of turnable planetary gear set traveling mechanism |
| CN210592212U (en) * | 2019-10-23 | 2020-05-22 | 魏晋 | Obstacle crossing robot |
| CN112264984A (en) * | 2020-10-30 | 2021-01-26 | 海容(无锡)能源科技有限公司 | Elasticity hinders subassembly and photovoltaic board cleans equipment more |
| DE202021103463U1 (en) * | 2021-06-16 | 2021-07-19 | Huazhong University Of Science And Technology | Planetary gear driven obstacle crossing robot |
| CN113371093A (en) * | 2021-06-25 | 2021-09-10 | 广东职业技术学院 | Obstacle-crossing wheel-leg type garden inspection insect robot |
| CN113428254A (en) * | 2021-07-07 | 2021-09-24 | 中国科学院沈阳自动化研究所 | Wheel leg formula mobile robot can twist reverse |
-
2021
- 2021-11-20 CN CN202111382238.1A patent/CN114454135B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN204978936U (en) * | 2015-07-15 | 2016-01-20 | 昆明理工大学 | Building machine ware people is climbed to intelligence |
| CN105662282A (en) * | 2016-01-15 | 2016-06-15 | 浙江机电职业技术学院 | Dual-purpose cleaning robot for flat ground and corridors |
| CN107415577A (en) * | 2017-08-09 | 2017-12-01 | 南京工程学院 | A kind of turnable planetary gear set traveling mechanism |
| CN210592212U (en) * | 2019-10-23 | 2020-05-22 | 魏晋 | Obstacle crossing robot |
| CN112264984A (en) * | 2020-10-30 | 2021-01-26 | 海容(无锡)能源科技有限公司 | Elasticity hinders subassembly and photovoltaic board cleans equipment more |
| DE202021103463U1 (en) * | 2021-06-16 | 2021-07-19 | Huazhong University Of Science And Technology | Planetary gear driven obstacle crossing robot |
| CN113371093A (en) * | 2021-06-25 | 2021-09-10 | 广东职业技术学院 | Obstacle-crossing wheel-leg type garden inspection insect robot |
| CN113428254A (en) * | 2021-07-07 | 2021-09-24 | 中国科学院沈阳自动化研究所 | Wheel leg formula mobile robot can twist reverse |
Non-Patent Citations (1)
| Title |
|---|
| 孙洪涛;宋光明;张军;乔贵方;李志文;宋爱国;: "一种具有弹跳功能的翻滚式机器人设计与实现", 机器人, no. 06 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114454135B (en) | 2024-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106826907A (en) | A kind of single-degree-of-freedom linkage flexible charging joint of robot group | |
| CN202580477U (en) | Spiral pipe robot | |
| CN103934825B (en) | A kind of flapping articulation robot | |
| CN110786128B (en) | A weeding equipment that reliability is high for lawn mowing | |
| CN208665379U (en) | A kind of the steering wheel suspension and omnidirectional's automatic guided vehicle of automatic guided vehicle | |
| CN106945542A (en) | A kind of flexible charging robot driven based on closed loop line | |
| CN105383582A (en) | Swinging arm type unmanned four-wheel driving platform | |
| CN103240737B (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN109174734A (en) | A kind of rotatable flexible drive photovoltaic clean robot and control method | |
| CN106584484B (en) | Fuselage rotary overhead line operation robot structure and application | |
| CN114454135A (en) | Intelligent inspection robot with obstacle crossing function | |
| CN112936215B (en) | Obstacle avoidance robot for industrial production based on artificial intelligence and use method thereof | |
| CN111113448A (en) | Guide tracked inspection robot | |
| CN107128382A (en) | Ball shape robot | |
| US4932489A (en) | Steering and drive means for robot vehicle | |
| CN212098838U (en) | Novel walking structure of high-voltage line inspection robot | |
| CN108871862B (en) | Grain depot grain surface mobile device platform | |
| CN107054489A (en) | Ball shape robot | |
| CN109559547A (en) | A kind of automobile is unmanned to monitor device for searching with stop parking stall | |
| CN205203189U (en) | Unmanned 4 wheel driven platform of swing arm formula | |
| CN214492399U (en) | Omnidirectional forward moving type AGV driving axle | |
| WO2018077106A1 (en) | Dual-axle tracking apparatus | |
| CN115026035A (en) | Intelligent self-adaptive photovoltaic panel unmanned cleaning robot | |
| CN209644794U (en) | Multivariant glass cleaning device | |
| CN207027489U (en) | A kind of three shaft industrial robots for being capable of fast assembling-disassembling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |