CN114771677A - Modular underwater robot crawler driving device - Google Patents
Modular underwater robot crawler driving device Download PDFInfo
- Publication number
- CN114771677A CN114771677A CN202210488017.0A CN202210488017A CN114771677A CN 114771677 A CN114771677 A CN 114771677A CN 202210488017 A CN202210488017 A CN 202210488017A CN 114771677 A CN114771677 A CN 114771677A
- Authority
- CN
- China
- Prior art keywords
- driving
- wheel
- module
- tensioning
- sealing
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
- B62D55/0887—Track-articulation sealings against dust, water, mud or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modular underwater robot crawler driving device which comprises a sealing driving module, a driving wheel module, a tensioning synchronous wheel module, a bottom supporting wheel module, a crawler and a connecting support. The driving wheel module, the tensioning synchronizing wheel module and the bottom supporting wheel module are respectively fixed at the front end, the rear end and the bottom of the sealing driving module. The crawler belt is wrapped on the outer sides of the sealing driving module, the driving wheel module, the tensioning synchronizing wheel module and the bottom supporting wheel module, is driven by the driving wheel module, is tensioned by the tensioning synchronizing wheel module and is supported by the bottom supporting wheel module. The sealing driving module drives the driving wheel module through chain transmission, and the driving wheel module further drives the crawler belt to rotate forwards or backwards. The connecting support is used for being connected with the underwater robot body so as to drive the underwater robot to move. The invention relates to a crawler driving device of a modular underwater robot, which is mainly used for driving the underwater robot to move under water.
Description
Technical Field
The invention belongs to the field of underwater robot driving mechanisms, and particularly relates to a modular underwater robot crawler driving device.
Background
An underwater robot moving on the water bottom is an important category of underwater robots and is suitable for maintenance operation of the pool bottom of hydropower stations and nuclear power stations. The crawler-type driving mechanism is widely applied to various robots due to the strong terrain adaptability and obstacle crossing capability. At present, an underwater crawler-type driving mechanism is generally integrated with an underwater robot, driving torque comes from the inside of the robot, the whole robot is easy to lose efficacy due to the sealing problem when the underwater crawler-type driving mechanism is used underwater, the reliability is low, and the maintenance is inconvenient.
Disclosure of Invention
In order to solve the technical problems, the invention provides a modular underwater robot track driving device, which integrates a driving source such as a driving motor and the like, a transmission mechanism, a sealing mechanism and a tensioning mechanism into a whole, and is quickly connected with a robot body through a mechanical interface and an electrical interface to provide a moving function for the robot body.
In order to achieve the purpose, the invention adopts the technical scheme that:
a modular underwater robot crawler driving device comprises a tensioning synchronous wheel module, a sealing driving module, a crawler, a bottom supporting wheel module, a connecting support and a driving wheel module; the sealing driving module is provided with a tensioning synchronous wheel module, a bottom supporting wheel module, a connecting bracket and a driving wheel module, and the crawler belt is arranged on the outer sides of the tensioning synchronous wheel module, the bottom supporting wheel module and the driving wheel module;
the tensioning synchronous wheel module comprises a synchronous wheel, a tensioning screw, a tensioning sliding block, a synchronous wheel supporting shaft, a tensioning spring and tensioning wheel side plates, the two tensioning wheel side plates are respectively arranged on the left side and the right side of the rear end of the sealing driving module, the tensioning screw, the tensioning sliding block and the tensioning spring are arranged on the tensioning wheel side plates, the synchronous wheel is rotatably connected with the synchronous wheel supporting shaft, and the synchronous wheel supporting shaft is fixedly connected with the tensioning sliding block;
the sealing driving module comprises a sealing cabin body, a driving speed reducing motor, a driving motor mounting seat, a coupler, a driving shaft a, a driving bevel gear b, a driving shaft b, a driving chain wheel a and a dynamic sealing assembly, wherein the driving speed reducing motor is mounted on the driving motor mounting seat, transmits torque to the driving shaft b through the coupler, the driving shaft a, the driving bevel gear a and the driving bevel gear b, and is mounted inside the sealing cabin body;
the two connecting supports are respectively arranged at the front end and the rear end of the sealed cabin body. A threaded connector is designed on the connecting support, a corresponding threaded through hole is designed on the underwater robot body, and the quick connection can be realized through the matching of the threaded connector and the threaded through hole.
Furthermore, a cable connection interface is arranged on the sealing driving module and electrically connected with the underwater robot body, and a pressurizing mechanism and a pressure detection device are arranged on the sealing driving module, so that air pressure is added to the inside of the sealing cabin body of the sealing driving module, and the change of the pressure value is monitored.
Further, the bottom supporting wheel module comprises a supporting frame, a supporting wheel shaft and a supporting wheel; the supporting frame is fixedly connected with the bottom of the sealed cabin body, the supporting wheel shaft is welded on the supporting frame, and the supporting wheels are rotatably arranged on the supporting wheel shaft and are in contact with the caterpillar band.
Furthermore, the driving wheel module comprises driving wheel side plates, a driving wheel, a driving chain wheel b and driving wheel shafts, the two driving wheel side plates are respectively installed on the left side and the right side of the front end of the sealed cabin body, the driving chain wheel b is fixedly connected with the driving wheel, the driving chain wheel b is driven by the driving chain wheel a through a chain to rotate, the driving wheel shafts are rotatably connected with the driving wheel and are fixedly connected with the driving wheel side plates, and the driving wheel is used for driving the caterpillar track to rotate.
Further, sealed drive module still includes sealed cabin body lid, sealed cabin body lid is installed in sealed cabin body upper portion and is sealed through O type circle, the dynamic seal subassembly is installed in the sealed cabin body outside and is sealed through O type circle, be provided with dynamic seal circle on the dynamic seal subassembly and with drive shaft b rotatable coupling, drive sprocket a and drive shaft b fixed connection.
Has the beneficial effects that:
the robot body is integrated with a driving source such as a driving motor, a transmission mechanism, a sealing mechanism and a tensioning mechanism, and can be quickly connected and detached with the robot body through a mechanical interface and an electrical interface, so that a moving function is provided for the robot body. The sealing transmission method has a stable and reliable sealing transmission structure, is simple in structure and convenient to maintain, and provides a novel walking driving scheme for the underwater robot applied to the current social underwater environment. The invention can improve the integrity, reliability and maintenance convenience of the crawler driving device, simplify the design process of the underwater robot and reduce the working difficulty of designers.
Drawings
FIG. 1 is a schematic view of a modular underwater robotic track drive of the present invention;
FIG. 2 is a schematic view of a tension synchronizing wheel module of a modular underwater robotic track drive of the present invention;
FIG. 3 is a schematic view of a seal drive module of a modular underwater robotic crawler drive of the present invention;
FIG. 4 is a schematic view of a bottom support wheel module of a modular underwater robotic track drive of the present invention;
fig. 5 is a schematic view of a driving wheel module of a modular track drive for an underwater robot of the present invention.
The reference numbers in the figures are: 1. the device comprises a tensioning synchronous wheel module, a 2 sealing driving module, a 3 crawler belt, a 4 bottom supporting wheel module, a 5 connecting support, a 6 driving wheel module, a 101 synchronous wheel, a 102 tensioning screw, a 103 tensioning slide block, a 104 synchronous wheel supporting shaft, a 105 tensioning spring, a 106 tensioning wheel side plate, a 201 sealing cabin body, a 202 sealing cabin body cover, a 203 driving speed reducing motor, a 204 driving motor installation seat, a 205 coupling, a 206 driving shaft a, a 207 driving bevel gear a, a 208 driving bevel gear b, a 209 driving shaft b, a 210 driving chain wheel a, a 211 driving sealing assembly, a 212 cable connection interface, a 213 pressurizing mechanism, a 214 pressure detecting device, a 401 supporting frame, a 402 supporting wheel shaft, a 403 supporting wheel, a 601 driving wheel side plate, a 602 driving wheel, a 603 driving chain wheel b, 604 driving wheel shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more 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 do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the modular underwater robot track driving device of the present invention includes a tensioning synchronizing wheel module 1, a sealing driving module 2, a track 3, a bottom supporting wheel module 4, a connecting bracket 5, and a driving wheel module 6, wherein the tensioning synchronizing wheel module 1, the bottom supporting wheel module 4, the connecting bracket 5, and the driving wheel module 6 are mounted on the sealing driving module 2, and the track 3 is mounted on the outer sides of the tensioning synchronizing wheel module 1, the bottom supporting wheel module 4, and the driving wheel module 6.
As shown in fig. 2, the tensioning synchronizing wheel module 1 includes a synchronizing wheel 101, a tensioning screw 102, a tensioning slider 103, a synchronizing wheel support shaft 104, a tensioning spring 105, and tensioning wheel side plates 106, wherein the two tensioning wheel side plates 106 are respectively mounted on the left and right sides of the rear end of the sealing driving module 2, the tensioning screw 102, the tensioning slider 103, and the tensioning spring 105 are mounted on the tensioning wheel side plates 106, the synchronizing wheel 101 is rotatably connected to the synchronizing wheel support shaft 104, and the synchronizing wheel support shaft 104 is fixedly connected to the tensioning slider 103.
As shown in fig. 3, the sealed driving module 2 comprises a sealed cabin 201, a sealed cabin cover 202, a driving speed reduction motor 203, a driving motor mounting seat 204, a coupling 205, a driving shaft a 206, a driving bevel gear a 207, a driving bevel gear b 208, a driving shaft b 209, a driving chain wheel a 210 and a dynamic sealing assembly 211, wherein the driving speed reduction motor 203 is mounted on the driving motor mounting seat 204, the driving speed reduction motor 203 transmits torque to the driving shaft b 209 through the coupling 205, the driving shaft a 206, the driving bevel gear a 207 and the driving bevel gear b 208, the driving motor mounting seat 204, the driving shaft b 209 are mounted inside the sealed cabin 201, the sealed cabin cover 202 is mounted on the upper portion of the sealed cabin 201 and sealed by O-rings, the dynamic sealing assembly 211 is mounted on the outer side of the sealed cabin 201 and sealed by O-rings, the dynamic seal assembly 211 is provided with a dynamic seal ring and is rotatably connected with the driving shaft b 209, and the driving chain wheel a 210 is fixedly connected with the driving shaft b 209.
The sealing driving module 2 is provided with a cable connection interface 212 which can be electrically connected with the robot body, and the sealing driving module 2 is provided with a pressurizing mechanism 213 and a pressure detecting device 214 which can pressurize the inside of the sealing cabin 201 of the sealing driving module 2 and monitor the change of the pressure value.
As shown in fig. 4, the bottom support wheel module 4 comprises a support frame 401, a support wheel shaft 402, and support wheels 403. The supporting frame 401 is fixedly connected with the bottom of the sealed cabin 201, the supporting wheel shaft 402 is welded on the supporting frame 401, and the supporting wheels 403 are rotatably mounted on the supporting wheel shaft 402 and are in contact with the caterpillar 3.
The connecting support 5 can be connected with the underwater robot body quickly, the two connecting supports 5 are installed at the front end and the rear end of the sealing cabin body 201 respectively, a threaded interface is designed on the connecting support 5, a corresponding threaded through hole is designed on the underwater robot body, and the connecting support can be connected with the threaded through hole quickly through the matching of the threaded interface and the threaded through hole.
As shown in fig. 5, the driving wheel module 6 includes two driving wheel side plates 601, a driving wheel 602, a driving sprocket b 603, and a driving wheel axle 604, the two driving wheel side plates 601 are respectively installed at the left and right sides of the front end of the sealed cabin 201, the driving sprocket b 603 is fixedly connected to the driving wheel 602, the driving sprocket b 603 is driven by the driving sprocket a 210 through a chain to rotate, the driving wheel axle 604 is rotatably connected to the driving wheel 602 and is fixedly connected to the driving wheel side plates 601, and the driving wheel 602 can drive the caterpillar 3 to rotate.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. The utility model provides a modularization underwater robot track drive, its characterized in that: the device comprises a tensioning synchronous wheel module (1), a sealing driving module (2), a crawler belt (3), a bottom supporting wheel module (4), a connecting bracket (5) and a driving wheel module (6); the sealing driving module (2) is provided with a tensioning synchronous wheel module (1), a bottom supporting wheel module (4), a connecting bracket (5) and a driving wheel module (6), and the crawler belt (3) is arranged on the outer sides of the tensioning synchronous wheel module (1), the bottom supporting wheel module (4) and the driving wheel module (6);
the tensioning synchronous wheel module (1) comprises a synchronous wheel (101), a tensioning screw (102), a tensioning sliding block (103), a synchronous wheel supporting shaft (104), a tensioning spring (105) and tensioning wheel side plates (106), wherein the two tensioning wheel side plates (106) are respectively arranged on the left side and the right side of the rear end of the sealing driving module (2), the tensioning screw (102), the tensioning sliding block (103) and the tensioning spring (105) are arranged on the tensioning wheel side plates (106), the synchronous wheel (101) is rotatably connected with the synchronous wheel supporting shaft (104), and the synchronous wheel supporting shaft (104) is fixedly connected with the tensioning sliding block (103);
the sealing driving module (2) comprises a sealing cabin body (201), a driving speed reducing motor (203), a driving motor mounting seat (204), a coupling (205), a driving shaft a (206), a driving bevel gear a (207), a driving bevel gear b (208), a driving shaft b (209), a driving chain wheel a (210) and a dynamic sealing assembly (211), wherein the driving speed reducing motor (203) is mounted on the driving motor mounting seat (204), the driving speed reducing motor (203) transmits torque to the driving shaft b (209) through the coupling (205), the driving shaft a (206), the driving bevel gear a (207) and the driving bevel gear b (208), and the driving motor mounting seat (204) and the driving shaft b (209) are mounted inside the sealing cabin body (201);
two both ends around the sealed cabin body (201) are installed respectively in linking bridge (5), be provided with the hickey on linking bridge (5), be provided with the screw through-hole that corresponds on the underwater robot body, realize the high-speed joint with the underwater robot body through this hickey and screw through-hole cooperation.
2. The modular underwater robotic track drive of claim 1, wherein: be provided with cable junction interface (212) on sealed drive module (2), be connected with the underwater robot body electricity, be provided with loading system (213) and pressure measurement device (214) on sealed drive module (2), to the inside atmospheric pressure that adds of the sealed cabin body (201) of sealed drive module (2) and monitor the pressure value and change.
3. The modular underwater robotic track drive of claim 1, wherein: the bottom supporting wheel module (4) comprises a supporting frame (401), a supporting wheel shaft (402) and a supporting wheel (403); the supporting frame (401) is fixedly connected with the bottom of the sealed cabin body (201), the supporting wheel shaft (402) is welded on the supporting frame (401), and the supporting wheels (403) are rotatably arranged on the supporting wheel shaft (402) and are in contact with the crawler belt (3).
4. The modular underwater robotic track drive of claim 1, wherein: the driving wheel module (6) comprises driving wheel side plates (601), driving wheels (602), driving chain wheels b (603) and driving wheel shafts (604), wherein the two driving wheel side plates (601) are respectively installed at the left side and the right side of the front end of the sealed cabin body (201), the driving chain wheels b (603) are fixedly connected with the driving wheels (602), the driving chain wheels b (603) are driven by the driving chain wheels a (210) through chains to rotate, the driving wheel shafts (604) are rotatably connected with the driving wheels (602) and are fixedly connected with the driving wheel side plates (601), and the driving wheels (602) are used for driving the crawler belt (3) to rotate.
5. The modular underwater robotic track drive of claim 1, wherein: the sealing driving module (2) further comprises a sealing cabin cover (202), the sealing cabin cover (202) is installed on the upper portion of the sealing cabin body (201) and sealed through an O-shaped ring, a dynamic sealing assembly (211) is installed on the outer side of the sealing cabin body (201) and sealed through the O-shaped ring, a dynamic sealing ring is arranged on the dynamic sealing assembly (211) and rotatably connected with a driving shaft b (209), and a driving chain wheel a (210) is fixedly connected with the driving shaft b (209).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210488017.0A CN114771677B (en) | 2022-05-06 | 2022-05-06 | Modularized underwater robot crawler belt driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210488017.0A CN114771677B (en) | 2022-05-06 | 2022-05-06 | Modularized underwater robot crawler belt driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114771677A true CN114771677A (en) | 2022-07-22 |
| CN114771677B CN114771677B (en) | 2023-05-30 |
Family
ID=82435342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210488017.0A Active CN114771677B (en) | 2022-05-06 | 2022-05-06 | Modularized underwater robot crawler belt driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114771677B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201437380U (en) * | 2009-05-12 | 2010-04-14 | 北京拂尘龙科技发展有限公司 | Track module |
| US20100236844A1 (en) * | 2009-03-24 | 2010-09-23 | Howe And Howe Technologies, Inc. | Fast tracked ground vehicle |
| CN105438291A (en) * | 2015-12-16 | 2016-03-30 | 河北工业大学 | Robot moving platform with deformable tracks |
| US20180237083A1 (en) * | 2017-02-15 | 2018-08-23 | Soucy International Inc. | Rear track assembly for a vehicle |
| CN108860352A (en) * | 2018-08-08 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of Modular track and robot |
| CN109483561A (en) * | 2018-10-30 | 2019-03-19 | 武汉大学 | A kind of modularization support track type pipeline inner machine people |
| US20190106165A1 (en) * | 2017-10-06 | 2019-04-11 | CNH Industrial America, LLC | System for lubricating a pivot interface of a work vehicle |
| CN112092996A (en) * | 2020-09-25 | 2020-12-18 | 大连海事大学 | Adsorption and driving device of underwater ship body cleaning robot and working method thereof |
| CN212605717U (en) * | 2020-09-22 | 2021-02-26 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN112894748A (en) * | 2021-01-13 | 2021-06-04 | 中国科学院光电技术研究所 | Detection operation robot in radiation environment |
| CN214648645U (en) * | 2021-03-26 | 2021-11-09 | 昆明少科科技有限公司 | Damping device of robot |
-
2022
- 2022-05-06 CN CN202210488017.0A patent/CN114771677B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100236844A1 (en) * | 2009-03-24 | 2010-09-23 | Howe And Howe Technologies, Inc. | Fast tracked ground vehicle |
| CN201437380U (en) * | 2009-05-12 | 2010-04-14 | 北京拂尘龙科技发展有限公司 | Track module |
| CN105438291A (en) * | 2015-12-16 | 2016-03-30 | 河北工业大学 | Robot moving platform with deformable tracks |
| US20180237083A1 (en) * | 2017-02-15 | 2018-08-23 | Soucy International Inc. | Rear track assembly for a vehicle |
| US20190106165A1 (en) * | 2017-10-06 | 2019-04-11 | CNH Industrial America, LLC | System for lubricating a pivot interface of a work vehicle |
| CN108860352A (en) * | 2018-08-08 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of Modular track and robot |
| CN109483561A (en) * | 2018-10-30 | 2019-03-19 | 武汉大学 | A kind of modularization support track type pipeline inner machine people |
| CN212605717U (en) * | 2020-09-22 | 2021-02-26 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN112092996A (en) * | 2020-09-25 | 2020-12-18 | 大连海事大学 | Adsorption and driving device of underwater ship body cleaning robot and working method thereof |
| CN112894748A (en) * | 2021-01-13 | 2021-06-04 | 中国科学院光电技术研究所 | Detection operation robot in radiation environment |
| CN214648645U (en) * | 2021-03-26 | 2021-11-09 | 昆明少科科技有限公司 | Damping device of robot |
Non-Patent Citations (5)
| Title |
|---|
| 王明辉: "异构模块型可变形机器人狭窄空间转向性能研究" * |
| 翟旭强: "消力池水下巡检机器人结构设计与研究" * |
| 董晓威;潘长辉;: "掘进机履带行走部的设计研究" * |
| 高巧明: "全履带模块化无人农用动力底盘设计与仿真" * |
| 黄亚军等: "山推SD42-3新型推土机" * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114771677B (en) | 2023-05-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201516604U (en) | Modular track rocker-arm type colliery underground robotic explorer | |
| CA1060803A (en) | Vehicle drive and suspension system | |
| CN111824187B (en) | Driving wheel, inspection base and inspection system for pipe gallery inspection robot | |
| CN106514609A (en) | Modular wheel type magnetic-attraction wall-climbing robot | |
| GB1422558A (en) | High drive track-type vehicle | |
| CN114771677A (en) | Modular underwater robot crawler driving device | |
| CN210704897U (en) | Robot motor directly drives speed reducer wrist | |
| CN212073647U (en) | Four-wheel four-drive mobile robot | |
| CN212709369U (en) | Drive wheel, inspection base and inspection system for pipe rack inspection robot | |
| CN212231922U (en) | Explosion-proof inspection robot | |
| CN212073648U (en) | Four-wheel drive differential moving chassis | |
| CN203614668U (en) | Traveling speed reducer | |
| CN111452883A (en) | Differential drive mobile robot platform | |
| CN109990165B (en) | Pipeline robot support arm synchronous driving device with self-adaptive function | |
| CN111703514A (en) | Tractor | |
| CN216618994U (en) | Robot advancing mechanism | |
| CN218317181U (en) | Amphibious detection ship | |
| CN111810157A (en) | Intelligent continuous mining equipment for strip mine | |
| CN215204858U (en) | Driving part of rack rail clamping locomotive of mining explosion-proof diesel engine | |
| CN220973919U (en) | All-terrain transmission shaft type transport vehicle | |
| CN214138747U (en) | Tensioning device of high-horsepower bulldozer | |
| CN109305239A (en) | A kind of compound moving platform device of sealed wheel leg | |
| CN219102389U (en) | Wheeled walking module of pipeline inspection robot | |
| CN221293488U (en) | Speed measuring and bearing trolley for monorail crane | |
| CN218949355U (en) | Magnetic adsorption wall climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |