CN204466265U - A kind of facility leaf vegetables gather robot automatically switch tracks walking chassis - Google Patents
A kind of facility leaf vegetables gather robot automatically switch tracks walking chassis Download PDFInfo
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- CN204466265U CN204466265U CN201520006946.9U CN201520006946U CN204466265U CN 204466265 U CN204466265 U CN 204466265U CN 201520006946 U CN201520006946 U CN 201520006946U CN 204466265 U CN204466265 U CN 204466265U
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Abstract
The utility model relate to a kind of facility leaf vegetables gather robot automatically switch tracks walking chassis, the technical scheme of employing: comprise railcar chassis, motion, steering mechanism, controlling organization and accumulator.Described motion is used for the rotation and the walking that drive each road wheel when drive track car moves in orbit and stops and switching tracks; What control when steering mechanism is for switching tracks that each road wheel carries out determining for three times angle turns to work; Controlling organization is used for the displacement in each operating position of positioning track car, the time cooperation of controlled motion and steering mechanism and each motion process.The utility model can carry Work machine and complete transport, can stablize fast along orbital motion, accurately rests in track end setting stop position, independently completes the parallel multiple complex functions such as work that switch tracks.The utility model frame for movement is simple, and car body is compact, and the work floor space that switches tracks is little, and do not need other auxiliary equipment, automaticity is high, can carry out chamber operation that is full-automatic or Remote.
Description
Technical field
The utility model relates to field of agricultural robots, and especially a kind of facility leaf vegetables is gathered the walking chassis that automatically switches tracks of robot, the walking in greenhouse on parallel orbit and switching tracks.
Background technology
Railcar be a kind of can orbital motion the travel route utilizing track to set, thus reach the object at logistics transportation.Railcar can along programme path automatic running without the need to driving, and can do acceleration and deceleration and braking planning, parking spot is accurate.Compared with other automatical pilot transportation vehicle (AGV), railcar has and controls simple, reliability and the good feature of adaptability.
In industrialized agriculture is produced, greenhouse by solar heat only obtains heat by solar radiation at Cold Winter, can not meet crop growth needs completely, need supplement heating at application warming-up device.In conjunction with the above-mentioned advantage of railcar, can using the warming pipeline in greenhouse as running rail, greenhouse is become automatic control that semi-structure environment is convenient to realize chamber operation robot, reduce the input cost of Work robot, the facility Work robot of therefore walking in-orbit can be widely used in large-scale attached-greenhouse.But, be a bottleneck problem of above-mentioned application in-orbit from switching tracks of walking always.Its main cause mostly adopts parallel orbit in large greenhouse, and in order to improve space availability ratio and reduce input cost, U-shaped joining rails cannot be adopted to switch tracks mode, and can such railcar independently complete the work of switching tracks efficiently and just seem particularly important.
The existing railcar technology that switches tracks mainly concentrates on two kinds of modes: one is that track is overlapped in laying two, i.e. motion backbone and moving sets rail, simultaneously railcar be furnished with two cover wheels and elevator complete railcar respectively in the task of two cover moving on rails to complete the work that switches tracks of railcar; Another way sets up high-altitude orbit in the track end overhead of railcar, direct for railcar lifting mobile to another track will have been put down again the work that switches tracks of railcar with overhead traveling crane.These the two kinds modes that switch tracks all have obvious defect, due to needs servicing unit, add production cost, and the process that switches tracks is comparatively loaded down with trivial details, reduces the efficiency that switches tracks.
Owing to mainly comprising sowing, results and the operation such as logistics transportation in greenhouse, therefore work tool coordinates with walking chassis and should have high-adaptability and high operating efficiency, the chassis but current shortage can efficiently independently switch tracks and structure is simply walked.In the urgent need to inventing a kind of portable construction, simple to operate, adaptability is high and can the autonomous efficient parallel walking chassis switched tracks, realize carrying Work machine and complete transport, can stablize fast along orbital motion, accurately rest in desired location, independently complete the parallel objects such as work that switch tracks, improve greenhouse transport and operating efficiency, reduce production cost, tool is of great significance.
Summary of the invention
The utility model is for the defect of prior art, solve that walking in-orbit switches tracks that mode complexity, cost are high, automatically switch tracks walking chassis and the method that switches tracks that the problem of the poor efficiency that switches tracks and a kind of facility leaf vegetables of inventing gather robot, this walking chassis has carrying Work machine and completes transport, can stablize fast along orbital motion, accurately rest in desired location, independently complete the parallel multiple complex functions such as work that switch tracks.
The technical scheme that the walking chassis that automatically switches tracks that a kind of facility leaf vegetables of the utility model gathers robot adopts: comprise railcar chassis, motion, steering mechanism, controlling organization and accumulator.Described railcar chassis is used for fixing and supporting movement mechanism, steering mechanism, controlling organization and accumulator; Described motion is used for driving and control railcar on the one hand and moves in orbit and stop, and carries out the rotation and the walking that drive each road wheel when switching tracks motion after being used for railcar lower railway on the other hand; Steering mechanism is used for controlling the rotation that each road wheel carries out determining for twice angle after railcar lower railway, and control after railcar moves to another track each road wheel again turn to work; Controlling organization is used for each operating position of positioning track car, the cooperation controlling each composition institution staff moment and the displacement controlled in each motion process.
Described motion comprises road wheel, road wheel fixed mount, drive unit, set bolt and locking nut; Described road wheel fixed mount is universal wheel swivel mount, road wheel fixed mount top is the framework of cylindrical mesa and hollow, four road wheel fixed mounts are fixed on four angles on railcar chassis respectively by set bolt and locking nut, are called road wheel fixed mount one, road wheel fixed mount two, road wheel fixed mount three, road wheel fixed mount four; Described road wheel adopts bilateral rail wheel, and road wheel is fixedly placed in the centre of road wheel fixed mount respectively, is called road wheel one, road wheel two, road wheel three, road wheel four; Described drive unit is made up of drive motors, synchronizing wheel, Timing Belt, bearing and power transmission shaft; Described drive motors selects 12V DC speed-reducing, and drive motors is placed in motor fixing frame upper frame; Described synchronizing wheel one is placed on the power take-off of drive motors, and another is placed in the side of power transmission shaft in motion; Described Timing Belt tensioning connects two synchronizing wheels; Described bearing is placed in road wheel fixed mount both sides, coordinates to be fixed on by road wheel in road wheel fixed mount and to transmit power for it with power transmission shaft; The present invention adopts four motorized wheels, therefore each road wheel fixed mount and road wheel are all equipped with a set of such drive unit;
Described steering mechanism comprises ball-screw platform, spindle motor, shaft coupling, assembly pulley, steel wire rope and steel cable clamp; Described ball-screw platform is fixedly placed in upper center position, railcar chassis, slide block is fixed two lengthened plates; Described spindle motor is fixedly placed in ball-screw platform one end, is connected with ball-screw platform by shaft coupling; Described assembly pulley is double pulley, is made up of pulley, pulley fixed frame, set bolt, hold-down nut; Described pulley fixed frame is fixedly placed in corresponding position on railcar chassis by hold-down screw, wherein inside road wheel, each correspondence fixes one group of assembly pulley, ball-screw platform is often held and is fixed one group of assembly pulley, is called assembly pulley one, assembly pulley two, assembly pulley three, assembly pulley four, assembly pulley five, assembly pulley six; Described pulley is separately fixed at the two-layer up and down of pulley fixed frame by set bolt and hold-down nut, to be called on pulley one, on pulley two, on pulley three, on pulley four, on pulley five, on pulley six and pulley next, under pulley two, under pulley three, under pulley four, under pulley five, under pulley six; Described steel wire rope one end is fixedly connected on road wheel fixed mount Upper cylindrical platform side and after opposite side, walk around corresponding pulley respectively again, the other end is connected on ball-screw platform top shoe lengthened plate, to be called on steel wire rope one, on steel wire rope two, on steel wire rope three, on steel wire rope four and steel wire rope next, under steel wire rope two, under steel wire rope three, under steel wire rope four; Described steel cable clamp respectively by walk around two steel wire ropes before assembly pulley five and assembly pulley six fixing and only by steel cable around assembly pulley five and assembly pulley six.
In described steering mechanism, the annexation of all parts is: in upper part, on steel wire rope one one end connected row travelling wheel fixed mount one, to walk around on pulley on one and pulley six, the other end is connected to ball-screw platform; On steel wire rope two one end connected row travelling wheel fixed mount two, to walk around on pulley two, the other end to be connected on steel wire rope on one by steel cable clamp; On steel wire rope three one end connected row travelling wheel fixed mount three, to walk around on pulley on three and pulley five, the other end is connected to ball-screw platform; On steel wire rope four one end connected row travelling wheel fixed mount four, to walk around on pulley four, the other end to be connected on steel wire rope on three by steel cable clamp; The all parts of corresponding lower floor also adopts above-mentioned method of attachment.
Described controlling organization comprises proximity switch, single-chip microcomputer, electric machine controller, radio communication device and ground metal; Described proximity switch is placed in railcar chassis right middle section; Described ground metal to be placed under railcar required parking spot and railcar twice rotation after rail and to need the centre position, right side corresponding to parking spot vehicle body; Described single-chip microcomputer, drive motor controller and radio communication device are all placed in the control cabinet on railcar chassis, complete the controlled in wireless of each mechanism of railcar and automatically switching tracks of railcar.
A kind of facility leaf vegetables of the utility model gather robot automatically switch tracks walking chassis the method that switches tracks, comprise the steps:
1) first time turns to: under railcar, after rail, proximity switch transmits a signal to single-chip microcomputer after ground metal being detected, controls each drive motors and quits work; Control system controls ball-screw platform slide block again to away from spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel need rotate to the tangency location of road wheel plane and center chassis and the road wheel line of centres;
2) railcar turns around: first time turns to rear control system to be rotated forward by the drive motors of motor controller controls road wheel one, road wheel four correspondence, the drive motors reversion of road wheel two, road wheel three correspondence is until after car body rotates 180 °, proximity switch detects opposite side ground metal, signal is sent to single-chip microcomputer, controls each drive motors and quit work;
3) second time turns to: control system controls ball-screw platform slide block again to away from spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel need rotate to and relatively descend rail angular turn 90 °;
4) parallelly to switch tracks: control system is rotated forward by the drive motors of motor controller controls road wheel one, road wheel three correspondence, the drive motors reversion of road wheel two, road wheel four correspondence, railcar advances to the ground metal that proximity switch detects another track, and control system controls each drive motors and stops;
5) counter steer: control system controls ball-screw platform slide block to close to spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel needs half-twist to return to normal operation position;
6) rail in railcar: control system is by each drive motors motion of motor controller controls, and the upper rail of railcar advance, completes the work of switching tracks.
The gather walking chassis tool that automatically switches tracks of robot of a kind of facility leaf vegetables of the utility model has the following advantages:
1) the utility model can carry leaf vegetables and to gather robot or other chamber facility work tools, and the leaf vegetables completed based on greenhouse track is gathered or other agronomy operations;
2) the utility model frame for movement is simple, and car body is compact, and the work floor space that switches tracks is little, does not need other auxiliary equipment;
3) the utility model automaticity is high, can carry out full automatic greenhouse track operation or Remote control.
Accompanying drawing explanation
Fig. 1 be the utility model greenhouse parallel orbit automatically switch tracks walking chassis structural scheme of mechanism;
Fig. 2 be automatically switch tracks walking chassis front view;
Fig. 3 be automatically switch tracks walking chassis left view;
Fig. 4 be automatically switch tracks walking chassis upward view;
In figure: 1, railcar chassis 2, ball-screw platform 3, spindle motor 4, control cabinet 5, road wheel fixed mount 1, road wheel 1, road wheel fixed mount 28, road wheel 29, accumulator 10, road wheel fixed mount 4 11, road wheel 4 12, bearing 13, road wheel fixed mount 3 14, road wheel 3 15, synchronizing wheel 16, drive motors 17, power transmission shaft 18, Timing Belt 19, proximity switch 20, locking nut 21, pulley fixed frame 22, on steel wire rope 1, on pulley 1, on pulley 2 25, on steel wire rope 2 26, on pulley 6 27, steel cable clamp 28, on steel wire rope 3 29, on pulley 3 30, on pulley 4 31, on steel wire rope 4 32, on pulley five
Embodiment
Below in conjunction with accompanying drawing, the utility model patent is further detailed.A kind of facility leaf vegetables described in the utility model gather robot automatically switch tracks walking chassis, as shown in Figure 1,2,3, 4.Described motion comprises road wheel, road wheel fixed mount, drive unit, set bolt and locking nut (20).Described road wheel fixed mount is universal wheel swivel mount, road wheel fixed mount top is the framework of cylindrical mesa and hollow, four road wheel fixed mounts are fixed on four angles on railcar chassis (1) respectively by set bolt and locking nut (20), road wheel fixed mount one (5), road wheel fixed mount two (7), road wheel fixed mount three (13), road wheel fixed mount four (10); Described road wheel adopts bilateral rail wheel, and road wheel is fixedly placed in the centre of road wheel fixed mount respectively, road wheel one (6), road wheel two (8), road wheel three (14), road wheel four (11); Described drive unit is made up of drive motors (16), synchronizing wheel (15), Timing Belt (18), bearing (12) and power transmission shaft (17); Described drive motors (16) selects 12V DC speed-reducing, and drive motors (16) is placed in motor fixing frame upper frame; Described synchronizing wheel (15) one is placed on the power take-off of drive motors (16), and another is placed in the side of power transmission shaft in motion (17); Described Timing Belt (18) tensioning connects two synchronizing wheels (15); Described bearing (12) is placed in road wheel fixed mount both sides, coordinates to be fixed on by road wheel in road wheel fixed mount and to transmit power for it with power transmission shaft (17).The utility model adopts the independent drive system of four-wheel, therefore each road wheel fixed mount and road wheel are all equipped with a set of such drive unit.
Described steering mechanism comprises ball-screw platform (2), spindle motor (3), shaft coupling, assembly pulley, steel wire rope and steel cable clamp (27).Described ball-screw platform (2) is fixedly placed in railcar chassis (1) upper center position, slide block is fixed two lengthened plates; Described spindle motor (3) is fixedly placed in ball-screw platform (2) one end, is connected with ball-screw platform (2) by shaft coupling; Described assembly pulley is double pulley, is made up of pulley, pulley fixed frame (21), set bolt, hold-down nut; Described pulley fixed frame (21) is fixedly placed in upper corresponding position, railcar chassis (1) by hold-down screw, wherein inside road wheel, each correspondence fixes one group of assembly pulley, ball-screw platform (2) is often held and is fixed one group of assembly pulley, is called assembly pulley one, assembly pulley two, assembly pulley three, assembly pulley four, assembly pulley five, assembly pulley six; Described pulley is separately fixed at the two-layer up and down of pulley fixed frame (21) by set bolt and hold-down nut, to be called on pulley one (23), on pulley two (24), on pulley three (29), on pulley four (30), on pulley five (32), on pulley six (26) and pulley next, under pulley two, under pulley three, under pulley four, under pulley five, under pulley six; Described steel wire rope one end is fixedly connected on road wheel fixed mount Upper cylindrical platform side and after opposite side, walk around corresponding pulley respectively again, the other end is connected on ball-screw platform (2) top shoe lengthened plate, to be called on steel wire rope one (22), on steel wire rope two (25), on steel wire rope three (28), on steel wire rope four (31) and steel wire rope next, under steel wire rope two, under steel wire rope three, under steel wire rope four; Described steel cable clamp (27) respectively by walk around two steel wire ropes before assembly pulley five and assembly pulley six fixing and only by steel cable around assembly pulley five and assembly pulley six.
In described steering mechanism, the annexation of all parts is: in upper part, on steel wire rope one (22) one end connected row travelling wheel fixed mount one (5), to walk around on pulley on one (23) and pulley six (26), the other end is connected to ball-screw platform (2); On steel wire rope two (25) one end connected row travelling wheel fixed mount two (7), to walk around on pulley two (24), the other end to be connected on steel wire rope on one (23) by steel cable clamp (27); On steel wire rope three (28) one end connected row travelling wheel fixed mount three (13), to walk around on pulley on three (29) and pulley five (32), the other end is connected to ball-screw platform (2); One end connected row travelling wheel fixed mount four (10) of upper four (31) economized by steel wire, to walk around on pulley four (30), and the other end passes through steel cable clamp (27) and to be connected on steel wire rope on three (28).The all parts of corresponding lower floor also adopts above-mentioned method of attachment.
Described controlling organization comprises proximity switch (19), single-chip microcomputer, electric machine controller, radio communication device and ground metal.Described proximity switch (19) is placed in railcar chassis (1) right middle section; Described ground metal to be placed under railcar required parking spot and railcar twice rotation after rail and to need the centre position, right side corresponding to parking spot vehicle body; Described single-chip microcomputer, drive motor controller and radio communication device are all placed in the control cabinet (4) on railcar chassis (1), complete the controlled in wireless of each mechanism of railcar and automatically switching tracks of railcar.
A kind of facility leaf vegetables of the utility model gather robot automatically switch tracks walking chassis the method that switches tracks, comprise the steps:
1) first time turns to: transmit a signal to single-chip microcomputer after proximity switch (19) detects ground metal after rail under railcar, control each drive motors (16) and quit work; Control system controls ball-screw platform (2) slide block again to away from spindle motor (3) end motion, complete road wheel by steel wire rope and pulley to rotate, each road wheel need rotate to the tangency location of road wheel plane and center chassis and the road wheel line of centres;
2) railcar turns around: first time turns to rear control system to be rotated forward by the drive motors (16) of motor controller controls road wheel one (6), road wheel four (11) correspondence, drive motors (16) reversion that road wheel two (8), road wheel three (14) are corresponding is until after car body rotates 180 °, proximity switch (19) detects opposite side ground metal, signal is sent to single-chip microcomputer, controls each drive motors (16) and quit work;
3) second time turns to: control system controls ball-screw platform (2) slide block again to away from spindle motor (3) end motion, complete road wheel by steel wire rope and pulley to rotate, each road wheel need rotate to and relatively descend rail angular turn 90 °;
4) parallelly to switch tracks: control system is rotated forward by motor controller controls road wheel one (6), drive motors (16) that road wheel three (14) is corresponding, drive motors (16) reversion that road wheel two (8), road wheel four (11) are corresponding, railcar advances to the ground metal that proximity switch (19) detects another track, and control system controls each drive motors (16) and stops;
5) counter steer: control system controls ball-screw platform (2) slide block to close to spindle motor (3) end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel needs half-twist to return to normal operation position;
6) rail in railcar: control system is by each drive motors of motor controller controls (16) motion, and the upper rail of railcar advance, completes the work of switching tracks.
Claims (1)
1. facility leaf vegetables gather robot automatically switch tracks walking a chassis, it is characterized in that comprising railcar chassis, motion, steering mechanism, controlling organization and accumulator;
Described motion comprises road wheel, road wheel fixed mount, drive unit, set bolt and locking nut; Described road wheel fixed mount is universal wheel swivel mount, road wheel fixed mount top is the framework of cylindrical mesa and hollow, four road wheel fixed mounts are fixed on four angles on railcar chassis respectively by set bolt and locking nut, are called road wheel fixed mount one, road wheel fixed mount two, road wheel fixed mount three, road wheel fixed mount four; Described road wheel adopts bilateral rail wheel, and road wheel is fixedly placed in the centre of road wheel fixed mount respectively, is called road wheel one, road wheel two, road wheel three, road wheel four; Described drive unit is made up of drive motors, synchronizing wheel, Timing Belt, bearing and power transmission shaft; Described drive motors selects 12V DC speed-reducing, and drive motors is placed in motor fixing frame upper frame; Described synchronizing wheel one is placed on the power take-off of drive motors, and another is placed in the side of power transmission shaft in motion; Described Timing Belt tensioning connects two synchronizing wheels; Described bearing is placed in road wheel fixed mount both sides, coordinates to be fixed on by road wheel in road wheel fixed mount and to transmit power for it with power transmission shaft; The present invention adopts four motorized wheels, therefore each road wheel fixed mount and road wheel are all equipped with a set of such drive unit;
Described steering mechanism comprises ball-screw platform, spindle motor, shaft coupling, assembly pulley, steel wire rope and steel cable clamp; Described ball-screw platform is fixedly placed in upper center position, railcar chassis, slide block is fixed two lengthened plates; Described spindle motor is fixedly placed in ball-screw platform one end, is connected with ball-screw platform by shaft coupling; Described assembly pulley is double pulley, is made up of pulley, pulley fixed frame, set bolt, hold-down nut; Described pulley fixed frame is fixedly placed in corresponding position on railcar chassis by hold-down screw, wherein inside road wheel, each correspondence fixes one group of assembly pulley, ball-screw platform is often held and is fixed one group of assembly pulley, is called assembly pulley one, assembly pulley two, assembly pulley three, assembly pulley four, assembly pulley five, assembly pulley six; Described pulley is separately fixed at the two-layer up and down of pulley fixed frame by set bolt and hold-down nut, to be called on pulley one, on pulley two, on pulley three, on pulley four, on pulley five, on pulley six and pulley next, under pulley two, under pulley three, under pulley four, under pulley five, under pulley six; Described steel wire rope one end is fixedly connected on road wheel fixed mount Upper cylindrical platform side and after opposite side, walk around corresponding pulley respectively again, the other end is connected on ball-screw platform top shoe lengthened plate, to be called on steel wire rope one, on steel wire rope two, on steel wire rope three, on steel wire rope four and steel wire rope next, under steel wire rope two, under steel wire rope three, under steel wire rope four; Described steel cable clamp respectively by walk around two steel wire ropes before assembly pulley five and assembly pulley six fixing and only by steel cable around assembly pulley five and assembly pulley six;
In described steering mechanism, the annexation of all parts is: in upper part, on steel wire rope one one end connected row travelling wheel fixed mount one, to walk around on pulley on one and pulley six, the other end is connected to ball-screw platform; On steel wire rope two one end connected row travelling wheel fixed mount two, to walk around on pulley two, the other end to be connected on steel wire rope on one by steel cable clamp; On steel wire rope three one end connected row travelling wheel fixed mount three, to walk around on pulley on three and pulley five, the other end is connected to ball-screw platform; On steel wire rope four one end connected row travelling wheel fixed mount four, to walk around on pulley four, the other end to be connected on steel wire rope on three by steel cable clamp; The all parts of corresponding lower floor also adopts above-mentioned method of attachment;
Described controlling organization comprises proximity switch, single-chip microcomputer, electric machine controller, radio communication device and ground metal; Described proximity switch is placed in railcar chassis right middle section; Described ground metal to be placed under railcar required parking spot and railcar twice rotation after rail and to need the centre position, right side corresponding to parking spot vehicle body; Described single-chip microcomputer, drive motor controller and radio communication device are all placed in the control cabinet on railcar chassis, complete the controlled in wireless of each mechanism of railcar and automatically switching tracks of railcar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520006946.9U CN204466265U (en) | 2015-01-06 | 2015-01-06 | A kind of facility leaf vegetables gather robot automatically switch tracks walking chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520006946.9U CN204466265U (en) | 2015-01-06 | 2015-01-06 | A kind of facility leaf vegetables gather robot automatically switch tracks walking chassis |
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| CN204466265U true CN204466265U (en) | 2015-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520006946.9U Withdrawn - After Issue CN204466265U (en) | 2015-01-06 | 2015-01-06 | A kind of facility leaf vegetables gather robot automatically switch tracks walking chassis |
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| CN (1) | CN204466265U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104521434A (en) * | 2015-01-06 | 2015-04-22 | 山东农业大学 | Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method |
| CN106428292A (en) * | 2016-11-15 | 2017-02-22 | 深圳市中舟智能科技有限公司 | Quadricycle walking mechanism for moving robot |
-
2015
- 2015-01-06 CN CN201520006946.9U patent/CN204466265U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104521434A (en) * | 2015-01-06 | 2015-04-22 | 山东农业大学 | Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method |
| CN104521434B (en) * | 2015-01-06 | 2016-05-04 | 山东农业大学 | A kind of facility leaf vegetables gather automatically switch tracks walking chassis and the method that switches tracks of robot |
| CN106428292A (en) * | 2016-11-15 | 2017-02-22 | 深圳市中舟智能科技有限公司 | Quadricycle walking mechanism for moving robot |
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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: 20150715 Effective date of abandoning: 20160504 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |