CN204110198U - A kind of complex road surface transfer robot based on parallel institution - Google Patents
A kind of complex road surface transfer robot based on parallel institution Download PDFInfo
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- CN204110198U CN204110198U CN201420499114.0U CN201420499114U CN204110198U CN 204110198 U CN204110198 U CN 204110198U CN 201420499114 U CN201420499114 U CN 201420499114U CN 204110198 U CN204110198 U CN 204110198U
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Abstract
The utility model relates to conveying mechanical field, a kind of complex road surface transfer robot based on parallel institution specifically, comprise the first parallel institution, propelling unit, the second parallel institution, the 3rd parallel institution, Hydraulic Pump, battery, air pump and objective table, described propelling unit is positioned at above the first parallel institution; Second parallel institution is connected with propelling unit, and the first parallel institution and the second parallel institution can realize the function turning to and walk under the effect of propelling unit; 3rd parallel institution is arranged on above the second parallel institution, has and keeps load pulsation-free function; Hydraulic Pump is connected with the second parallel institution; Controller is positioned at Hydraulic Pump front; Battery is positioned at controller front; Air pump is arranged on the second parallel institution, can be the 3rd parallel institution and provides power; Objective table is connected with the 3rd parallel institution.The utility model can complete the transport of complex road surface, solves current complex road surface transport problem not easily, improves conveying efficiency.
Description
Technical field
The utility model relates to conveying mechanical field, is a kind of complex road surface transfer robot based on parallel institution specifically.
Background technology
Nowadays, the state of the develop rapidly that China's economy is in, in the process of economic development, transport is always in occupation of very important status, no matter be that large-area goods is allocated or the goods adjustment of small size, these links all be unable to do without transport, in transportation, the selection of transportation means is also very important, transportation means selected by different traffic conditions is not identical yet, allocate for large-area goods, aircraft can be selected, boats and ships, the transportation means such as truck and trac. carries out goods transport, when the goods adjustment facing small size, we can select fork truck, hand barrow and three-wheel vehicle etc., these transportation meanss are also the main conveyance that current China uses, also in occupation of irreplaceable status in the economic development of China, but these transportation meanss in use also have certain limitation, as the transportation problem in the face of rough house finishing material, the problem of tourist attractions goods plank road transport, during the transportation problem of the small size complex road surfaces such as the problem of floor resident room furniture carrying and the problem of mountain area crops transport, above-described transportation means seems just can not great Zhan martial prowess, therefore, the goods transport problem of complex road surface has become one piece of stumbling-block of current China economic development.In recent years, market occurs there is the machinery at Special complex road surface transportation function, application number be 200710007471.5 Chinese patent disclose automatic carrying machine working on stairs, application number be 201010225320.9 Chinese patent disclose simple folding stair transfer car, application number be 200810048808.1 Chinese patent disclose a kind of domestic stair porter robot, above-described three Chinese patents can only complete special complex road surface transport, namely the transport on stair road, and they also lack corresponding mechanization steering hardware in the process of stair transport, it in use still has certain limitation.
Along with the development of China's economy, the transportation environment faced is also in continuous change, transportation problem on smooth-riding surface is eased substantially, but the transportation problem of complex road surface annoyings people always, greatly have impact on the productive life of people, therefore, people are badly in need of a kind of transportation means of mechanization to complete the transport of complex road surface, meanwhile, the transport of complex road surface also proposes new demand to transportation means, at present, in the process of complex road surface goods transport, generally following problem is faced:
(1) transport of existing most of complex road surface also mainly relies on manpower to complete, and lack corresponding motorisation unit and transport, on complex road surface, manually carrying out goods transport, not only conveying efficiency is low, and can bring threat to the lives and properties of work people.
(2) existing market has occurred the transportation means of some complex road surfaces, but it can only complete the complex road surface transport under specific environment, range of use is limited, and therefore, the transportation problem of complex road surface can not obtain actv. and solve.
For Problems existing in above complex road surface transportation, can find out that prior art can not meet the needs of people's productive life, therefore, a kind of novel complex road surface transportation means of exigence, i.e. a kind of complex road surface transfer robot based on parallel institution, the transport on the complex road surface such as stair, massif can be completed, liberated labour power, greatly improved conveying efficiency.
Summary of the invention
For making up the deficiencies in the prior art, the utility model provides a kind of complex road surface transfer robot based on parallel institution, can complete the transport on the complex road surface such as stair, massif.
The utility model will solve its technical matters and realize by the following technical solutions.
A kind of complex road surface transfer robot based on parallel institution, comprise the first parallel institution, propelling unit, second parallel institution, 3rd parallel institution, Hydraulic Pump, controller, battery, air pump and objective table, described propelling unit is positioned at above the first parallel institution, the second described parallel institution is connected by moving sets with between propelling unit, first parallel institution and the second parallel institution can realize the function turning to and walk under the effect of propelling unit, the 3rd described parallel institution is arranged on above the second parallel institution, 3rd parallel institution has the function of stable load, described Hydraulic Pump is connected with the second parallel institution by bolt, the motion that Hydraulic Pump can be the first parallel institution and the second parallel institution provides power, described controller is positioned at the front of Hydraulic Pump, controller is for controlling the motion of each component, described battery is arranged on controller front, described air pump is connected with the second parallel institution, and air pump is positioned at the right side of Hydraulic Pump, air pump is used for providing power for the 3rd parallel institution, described objective table is connected with the 3rd parallel institution by bolt, and objective table front is provided with camera, camera can be used for environment of surveying the terrain, objective table is for loading transport thing.
The 3rd described parallel institution comprises front and back parallel institution and left and right parallel institution, front and back parallel institution comprises bearing, cylinder, spherical hinge and six double end mount pads, described bearing, the quantity of cylinder and spherical hinge is 12, bearing symmetry is arranged on the left and right sides of the second parallel institution, cylinder is arranged on bearing, and opposite tilt between every two of homonymy cylinder, double end mount pad is connected with two cylinder tops of opposite tilt by spherical hinge, front and back parallel institution can be used for regulating the stability on objective table fore-and-aft direction, left and right parallel institution comprises bearing, cylinder, spherical hinge and single head mount pad, its quantity is four, bearing symmetry is arranged on both sides before and after the second parallel institution, cylinder is arranged on bearing respectively, and opposite tilt between homonymy cylinder, single head mount pad is connected with cylinder top by spherical hinge, stability on the adjustable objective table left and right directions of left and right parallel institution, 3rd parallel-connection structure can keep the stability of article on objective table, and can reduce in transportation because distance is jolted the damage brought article.
Described propelling unit comprises two slide block longerons, two ring wales, four rotating shafts, four miniature gearss, two annular racks, four annular grooves, four motors, four drop-gear boxs, two bearings, two electric pushrods and two No. two bearings, two slide block longerons are connected with the second parallel institution, slide block longeron can on the second parallel institution slide anteroposterior, two ring wales are arranged on slide block longeron two ends, and ring wale is provided with two symmetric support posts, four rotating shafts are arranged in the middle part of pillar stiffener by bearing, miniature gears is connected with rotating shaft outer end by key, annular rack is connected mutually with the first parallel institution, and annular rack is meshed with miniature gears, be connected mutually bottom annular groove and pillar stiffener, motor is arranged on below annular groove by bolt, be connected mutually inside drop-gear box and annular groove, and drop-gear box upper part can be connected with rotating shaft the inner, drop-gear box lower part can be connected with electric machine main shaft, motor carries out cyclic drive by drop-gear box to miniature gears, the function that turns to is realized by the periodic rotary of miniature gears, two bearings respectively symmetry are arranged on ring wale, two electric pushrod bottoms are connected with a bearing by pin, its top is connected with No. two bearings, and No. two bearings are connected mutually with the second parallel institution, the displacement of transport thing generation forward can be made by the reciprocal telescopic of electric pushrod.
The first described parallel institution comprises two longerons, four walking foots and two ring slider crossbeams, four walking foots are connected mutually with two longeron two ends respectively, two ring slider crossbeams are connected with two longerons, second parallel institution comprises two No. two longerons, two chute crossbeams, adapter plate and four walking foots, two chute crossbeams are connected mutually with two No. two longerons, chute crossbeam inside is provided with square chute, adapter plate is connected mutually with chute crossbeam, four walking foots are arranged on two longeron two ends respectively, walking foot comprises hydraulic actuating cylinder, supporting leg, spherical hinge and rubber pad, supporting leg is connected with hydraulic actuating cylinder, spherical hinge one end is connected mutually with supporting leg, the other end is connected mutually with rubber pad, rubber pad can realize multiple degree of freedom and rotate, make walking can meet the walking requirement of different terrain completely, the advance that first parallel institution and the second parallel institution can realize object under the effect of propelling unit and the function turned to, above-described annular groove, ring wale, annular rack, with the center of circle of ring slider crossbeam on same vertical axis, and it can rotate around this axis, thus the function that turns to can be realized.
The beneficial effects of the utility model are:
(1) the utility model uses parallel institution to complete the transport of object at complex road surface, the stability of object can be kept in transportation, and reduce object in the process of transport because distance is jolted the infringement brought to object, effectively raise the conveying efficiency of complex road surface, ensure shipping mass;
(2) miniature gears in propelling unit of the present utility model and annular rack are located at the outermost end of S. A., effectively can increase rotary arm, thus are convenient to the function that the utility model realizes turning to;
(3) the walking foot in the utility model comprises hydraulic actuating cylinder, supporting leg, universal hinge and rubber pad, rubber pad freely rotates by universal hinge is attainable, make adjacent two walkings can adapt to the road surface of different gradient completely, and rubber pad can increase friction force, makes transportation more stable;
(4) the utility model adopts motorisation unit can carry out goods transport on complex road surface, can significantly reduce people's labor content, effectively raise the quality of life of people.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is further illustrated.
Fig. 1 is structural representation of the present utility model;
Fig. 2 is walking states structural representation of the present utility model;
Fig. 3 is the 3rd parallel institution structural representation of the present utility model;
Fig. 4 is the structural representation of double end mount pad of the present utility model;
Fig. 5 is the structural representation of single head mount pad of the present utility model;
Fig. 6 is the part sectional view of left view of the present utility model;
Fig. 7 is the first parallel institution of the present utility model and propelling unit partial component assembly relation schematic diagram;
Fig. 8 is the structural representation of the first parallel institution of the present utility model;
Fig. 9 is the structural representation of the second parallel institution of the present utility model;
Figure 10 is the A-A cutaway view of Fig. 6;
Figure 11 is the part sectional view of walking foot of the present utility model;
1. first parallel institutions in figure, 2. propelling unit, 3. the second parallel institution, 4. the 3rd parallel institution, 5. Hydraulic Pump, 6. controller, 7. battery, 8. air pump, 9. objective table, No. 11. longerons, 12. walking foots, 13. ring slider crossbeams, 121. hydraulic actuating cylinder, 122. supporting leg, 123. universal hinges, 124. rubber pad, 125. sensor, 201. slide block longerons, 202. ring wale, 203. rotating shaft, 204. miniature gears, 205. annular rack, 206. annular groove, 207. motor, 208. drop-gear box, 209. bearings, 210. electric pushrod, 211. No. two bearings, 31. No. two longerons, 32. chute crossbeams, 33. adapter plates, parallel institution before and after 41., about 42. parallel institutions, 411. bearing, 412. cylinder, 413. spherical hinge, 414. double end mount pads, 421. single head mount pads.
Detailed description of the invention
The technological means realized to make the utility model, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the utility model further.
As depicted in figs. 1 and 2, a kind of complex road surface transfer robot based on parallel institution, comprise the first parallel institution 1, propelling unit 2, second parallel institution 3, 3rd parallel institution 4, Hydraulic Pump 5, controller 6, battery 7, air pump 8 and objective table 9, described propelling unit 2 is positioned at above the first parallel institution 1, the second described parallel institution 3 is connected by moving sets with between propelling unit 2, first parallel institution 1 and the second parallel institution 3 can realize the function turning to and walk under the effect of propelling unit 2, the 3rd described parallel institution 4 is arranged on above the second parallel institution 3, 3rd parallel institution 4 can keep load steady, described Hydraulic Pump 5 is connected with the second parallel institution 3 by bolt, the motion that Hydraulic Pump 5 can be the first parallel institution 1 and the second parallel institution 3 provides power, described controller 6 is positioned at the front of Hydraulic Pump 5, controller 6 is for controlling the motion of each component, described battery 7 is arranged on controller 6 front, described air pump 8 is connected with the second parallel institution 3, and air pump 8 is positioned at the right side of Hydraulic Pump 5, air pump 8 is for providing power for the 3rd parallel institution 4, described objective table 9 is connected with the 3rd parallel institution 4 by bolt, and objective table 9 front is provided with camera, objective table 9 is for loading transport thing.
As Fig. 1, Fig. 3, Fig. 4, shown in Fig. 5, the 3rd described parallel institution 4 comprises front and back parallel institution 41 and left and right parallel institution 42, described front and back parallel institution 41 comprises bearing 411, cylinder 412, spherical hinge 413 and six double end mount pads 414, described bearing 411, the quantity of cylinder 412 and spherical hinge 413 is 12, bearing 411 symmetry is arranged on the left and right sides of the second parallel institution 3, cylinder 412 is connected with bearing 411, and opposite tilt between every two of homonymy cylinder 412, double end mount pad 414 is connected with two cylinder 412 tops of opposite tilt by spherical hinge 413, front and back parallel institution 41 can be used for regulating the stability on objective table 9 fore-and-aft direction, left and right parallel institution 42 comprises bearing 411, cylinder 412, spherical hinge 413 and single head mount pad 421, its quantity is four, described bearing 411 symmetry is arranged on both sides before and after the second parallel institution 3, cylinder 412 is arranged on bearing 411 respectively, and opposite tilt between homonymy cylinder 412, single head mount pad 421 is connected with cylinder 412 top by spherical hinge 413, stability on the left and right directions of the adjustable objective table 9 of left and right parallel institution 42, 3rd parallel-connection structure 4 can keep the stability of article on objective table 9, and can reduce in transportation because distance is jolted the damage brought article.
As Fig. 1, shown in Fig. 6 and Fig. 7, described propelling unit 2 comprises two slide block longerons 201, two ring wales 202, four rotating shafts 203, four miniature gearss 204, two annular racks 205, four annular grooves 206, four motors 207, four drop-gear boxs 208, two bearings 209, two electric pushrods 210 and two No. two bearings 211, two slide block longerons 201 are connected with the second parallel institution 3, two ring wales 202 are arranged on slide block longeron 201 two ends, and ring wale 202 is provided with two symmetric support posts, four rotating shafts 203 are arranged in the middle part of pillar stiffener by bearing, miniature gears 204 is connected with rotating shaft 203 outer end by key, annular rack 205 is connected mutually with the first parallel institution 1, and annular rack 205 is meshed with miniature gears 204, be connected mutually bottom annular groove 206 and pillar stiffener, motor 207 is arranged on below annular groove 206 by bolt, be connected mutually inside drop-gear box 208 and annular groove 206, and drop-gear box 208 upper part can be connected with rotating shaft 203 the inner, drop-gear box 208 lower part can be connected with motor 207 main shaft, motor 207 carries out cyclic drive by drop-gear box 208 pairs of miniature gearss 204, the function that turns to is realized by the periodic rotary of miniature gears 204, two bearings 209 respectively symmetry are arranged on ring wale 202, two electric pushrod 210 bottoms are connected with a bearing 209 by pin, its top is connected with the second parallel institution 3 by No. two bearings 211, the displacement of transport thing generation forward can be made by the reciprocal telescopic of electric pushrod 210.
As Fig. 8, Fig. 9, shown in Figure 10 and Figure 11, the first described parallel institution 1 comprises two longerons 11, four walking foots 12 and two ring slider crossbeams 13, four walking foots 12 are connected mutually with two No. one longeron 11 two ends respectively, two described ring slider crossbeams 13 are connected with two longerons 11, second parallel institution 3 comprises two No. two longerons 31, two chute crossbeams 32, adapter plate 33 and four walking foots 12, two chute crossbeams 32 are connected mutually with two No. two longerons 31, chute crossbeam 32 inside is provided with square chute, adapter plate 33 is connected mutually with chute crossbeam 32, four walking foots 12 are arranged on two No. two longeron 31 two ends respectively, walking foot 12 comprises hydraulic actuating cylinder 121, supporting leg 122, universal hinge 123, rubber pad 124 and sensor 125, described supporting leg 122 is connected with hydraulic actuating cylinder 121, described universal hinge 123 one end is connected mutually with supporting leg 122, the other end is connected mutually with rubber pad 124, rubber pad 124 can realize multiple degree of freedom and rotate, described sensor 125 is arranged on hydraulic actuating cylinder 121, the advance that first parallel institution 1 and the second parallel institution 3 can realize object under the effect of propelling unit 2 and the function turned to, the center of circle of above-described ring slider crossbeam 13, ring wale 202, annular rack 205 and annular groove 206 is on same vertical axis, and it can rotate around this axis, thus the function that turns to can be realized.
During work, first parallel-connection structure 1 can take the lead in work under the effect of Hydraulic Pump 5, sensor 125 on walking foot 12 can judge floor level, then by signal feedback to controller 6, controller 6 drives hydraulic actuating cylinder 121 to stretch according to the diff-H at front and back two place, make the first parallel institution 1 can adapt to Various Complex road surface, steadily land, rear 3rd parallel institution 4 works under the effect of air pump 8, objective table 9 is finely tuned, it is made to be in horizontality, goods is put on objective table 9, camera is started working, observe surrounding terrain environment, second parallel institution 3 is advancing along slide block longeron 201 slides under the effect of electric pushrod 210 simultaneously, the component be arranged on the second parallel institution 3 also can advance thereupon, second parallel institution 2 is according to after landform advance certain distance, hydraulic actuating cylinder 121 on second parallel institution 3 starts to stretch under the effect of sensor 125, walking foot 12 on first parallel institution 1 starts to shrink, electric pushrod 210 shrinks simultaneously, first parallel institution 1 advances, thus achieve the function of advance of the present utility model, when run into turn to road conditions time, motor 207 drives miniature gears 204 to rotate, the second parallel institution 3 can be made to rotate, thus the component on the second parallel institution 3 also rotates thereupon, when the second parallel institution 3 lands, motor 207 drives miniature gears 204 to turn round, thus the first parallel institution 1 is turned to, the order that turns to of the first parallel institution 1 and the second parallel institution 3 can exchange according to condition herein, by cooperatively interacting of each component above, finally achieve the transportation function of the utility model on complex road surface.
More than show and describe groundwork of the present utility model, principal character and advantage.The technical personnel of the industry should be understood; the utility model is not restricted to the described embodiments; description in above-mentioned embodiment and specification sheets principle of the present utility model is just described; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (6)
1. the complex road surface transfer robot based on parallel institution, comprise the first parallel institution (1), propelling unit (2), the second parallel institution (3), the 3rd parallel institution (4), Hydraulic Pump (5), controller (6), battery (7), air pump (8) and objective table (9), it is characterized in that: described propelling unit (2) is positioned at the first parallel institution (1) top; Described the second parallel institution (3) is connected by moving sets with between propelling unit (2); The 3rd described parallel institution (4) is arranged on the second parallel institution (3) top; Described Hydraulic Pump (5) is connected with the second parallel institution (3) by bolt; Described controller (6) is positioned at the front of Hydraulic Pump (5); Described battery (7) is arranged on controller (6) front; Described air pump (8) is connected with the second parallel institution (3), and air pump (8) is positioned at the right side of Hydraulic Pump (5); Described objective table (9) is connected with the 3rd parallel institution (4) by bolt, and objective table (9) front is provided with camera; Wherein:
The 3rd described parallel institution (4) comprises front and back parallel institution (41) and left and right parallel institution (42), described front and back parallel institution (41) comprises bearing (411), cylinder (412), spherical hinge (413) and six double end mount pads (414), and the quantity of described bearing (411), cylinder (412) and spherical hinge (413) is 12; Described twelve earthly branches seat (411) symmetry is arranged on the left and right sides of the second parallel institution (3); Described cylinder (412) is connected with bearing (411), and opposite tilt between every two of homonymy cylinder (412); Described double end mount pad (414) is connected with two cylinder (412) tops of opposite tilt by spherical hinge (413); Described left and right parallel institution (42) comprises bearing (411), cylinder (412), spherical hinge (413) and single head mount pad (421), and its quantity is four; Described bearing (411) symmetry is arranged on both sides before and after the second parallel institution (3); Described cylinder (412) is arranged on bearing (411) respectively, and opposite tilt between homonymy cylinder (412); Described single head mount pad (421) is connected with cylinder (412) top by spherical hinge (413).
2. a kind of complex road surface transfer robot based on parallel institution according to claim 1, it is characterized in that: described propelling unit (2) comprises two slide block longerons (201), two ring wales (202), four rotating shafts (203), four miniature gearss (204), two annular racks (205), four annular grooves (206), four motors (207), four drop-gear boxs (208), two No. one bearing (209), two electric pushrods (210) and two No. two bearings (211), two described slide block longerons (201) are connected with the second parallel institution (3), two described ring wales (202) are arranged on slide block longeron (201) two ends, and ring wale (202) is provided with two symmetric support posts, four described rotating shafts (203) are arranged in the middle part of pillar stiffener by bearing, described miniature gears (204) is connected with rotating shaft (203) outer end by key, described annular rack (205) is connected mutually with the first parallel institution (1), and annular rack (205) is meshed with miniature gears (204), be connected mutually bottom described annular groove (206) and pillar stiffener, described motor (207) is arranged on annular groove (206) below by bolt, described drop-gear box (208) is connected mutually with annular groove (206) inner side, and drop-gear box (208) upper part can be connected with rotating shaft (203) the inner, drop-gear box (208) lower part can be connected with motor (207) main shaft, two No. one described bearing (209) respectively symmetry is arranged on ring wale (202), and is positioned at outside pillar stiffener, two described electric pushrod (210) bottoms are connected with a bearing (209), and top is connected with the second parallel institution (3) by No. two bearings (211).
3. a kind of complex road surface transfer robot based on parallel institution according to claim 2, it is characterized in that: described the first parallel institution (1) comprises two No. one longeron (11), four walking foots (12) and two ring slider crossbeams (13), and four described walkings foot (12) are connected mutually with two No. one longeron (11) two ends respectively; Two described ring slider crossbeams (13) are connected with two No. one longeron (11).
4. a kind of complex road surface transfer robot based on parallel institution according to claim 1, it is characterized in that: described the second parallel institution (3) comprises two No. two longerons (31), two chute crossbeams (32), adapter plate (33) and four walkings foot (12), two described chute crossbeams (32) are connected mutually with two No. two longerons (31), and chute crossbeam (32) inside is provided with square chute; Described adapter plate (33) is connected mutually with chute crossbeam (32); Four described walkings foot (12) are arranged on two No. two longeron (31) two ends respectively.
5. a kind of complex road surface transfer robot based on parallel institution according to claim 4, it is characterized in that: described walking foot (12) comprises hydraulic actuating cylinder (121), supporting leg (122), universal hinge (123), rubber pad (124) and sensor (125), and described supporting leg (122) is connected with hydraulic actuating cylinder (121); Described universal hinge (123) one end is connected mutually with supporting leg (122), and the other end is connected mutually with rubber pad (124); Rubber pad (124) can realize how freely rotating; Described sensor (125) is arranged on hydraulic actuating cylinder (121).
6. a kind of complex road surface transfer robot based on parallel institution according to claim 3, is characterized in that: the center of circle of described ring slider crossbeam (13), ring wale (202), annular rack (205) and annular groove (206) is on same vertical axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420499114.0U CN204110198U (en) | 2014-09-01 | 2014-09-01 | A kind of complex road surface transfer robot based on parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420499114.0U CN204110198U (en) | 2014-09-01 | 2014-09-01 | A kind of complex road surface transfer robot based on parallel institution |
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| CN204110198U true CN204110198U (en) | 2015-01-21 |
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| CN201420499114.0U Withdrawn - After Issue CN204110198U (en) | 2014-09-01 | 2014-09-01 | A kind of complex road surface transfer robot based on parallel institution |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149872A (en) * | 2014-09-01 | 2014-11-19 | 安徽理工大学 | Complex road surface transfer robot based on parallel mechanisms |
| CN105346619A (en) * | 2015-12-09 | 2016-02-24 | 宁波高新区新诚电子有限公司 | Soft-body crawling robot with four feet |
| CN105620575A (en) * | 2016-01-20 | 2016-06-01 | 安徽理工大学 | Steering device of complex pavement carrying robot |
| CN106938673A (en) * | 2017-04-28 | 2017-07-11 | 健芮智能科技（昆山）有限公司 | Transfer robot |
| CN108438084A (en) * | 2018-04-02 | 2018-08-24 | 夏贵荣 | A kind of pedestal mobile device for robot ambulation |
-
2014
- 2014-09-01 CN CN201420499114.0U patent/CN204110198U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149872A (en) * | 2014-09-01 | 2014-11-19 | 安徽理工大学 | Complex road surface transfer robot based on parallel mechanisms |
| CN105346619A (en) * | 2015-12-09 | 2016-02-24 | 宁波高新区新诚电子有限公司 | Soft-body crawling robot with four feet |
| CN105346619B (en) * | 2015-12-09 | 2018-08-21 | 宁波高新区新诚电子有限公司 | A kind of software Four-feet creeping robot |
| CN105620575A (en) * | 2016-01-20 | 2016-06-01 | 安徽理工大学 | Steering device of complex pavement carrying robot |
| CN106938673A (en) * | 2017-04-28 | 2017-07-11 | 健芮智能科技（昆山）有限公司 | Transfer robot |
| CN108438084A (en) * | 2018-04-02 | 2018-08-24 | 夏贵荣 | A kind of pedestal mobile device for robot ambulation |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150121 Effective date of abandoning: 20160511 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |