CN205564114U - Teaching machine people is carried to stack formula - Google Patents
Teaching machine people is carried to stack formula Download PDFInfo
- Publication number
- CN205564114U CN205564114U CN201620161748.4U CN201620161748U CN205564114U CN 205564114 U CN205564114 U CN 205564114U CN 201620161748 U CN201620161748 U CN 201620161748U CN 205564114 U CN205564114 U CN 205564114U
- Authority
- CN
- China
- Prior art keywords
- paw
- finger
- sensor
- lifting
- motor
- 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.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses that teaching machine people is carried to stack formula relates to is a teaching equipment, especially a robot of synthesizing the function of industrial robot and AGV robot. Including manipulator and motion chassis, the manipulator is installed on the chassis of moving, the manipulator includes lifting unit spare, hand claw spare, translation part and pivoting part, the motion chassis includes bottom plate, left wheel, right wheel and universal wheel, be equipped with the surrounding edge around bottom plate top, surrounding edge and bottom formation the cavity, the left front of cavity is provided with the step motor driver, operating panel is equipped with to the left back of cavity, the rear of cavity is equipped with the battery, the right front of cavity is equipped with control circuit board, control circuit board includes ARM control mainboard and wheel motor drive board. By the position of pivoting part control hand claw, the height of lifting unit spare control hand claw, the flexible position of translation unit control hand claw, the hand claw is realized from three parameter through control angle of revolution, upper and lower high peaceful displacement in the position in space.
Description
Technical field
This utility model stack type carrying teaching robot refers to a kind of teaching equipment, the robot of the function of a kind of integrated industrial robot and AGV robot.
Background technology
Along with the application in all trades and professions of the various robots is constantly promoted, each school has offered the teaching of correlation machine people's course one after another, but robot teaching's equipment that current each institution of higher learning are used or be expensive industrial robot, whole Training Room configuration number of units is few, it is impossible to meet the demand of teaching；Being the toy-type robot of simple in construction, function is simple, it is impossible to is closely connected with institution of higher learning correlated curriculuies, does not has good teaching efficiency.
Utility model content
The purpose of this utility model is to provide a kind of stack type carrying teaching robot for above-mentioned weak point, it is made up of mechanical hand and motion chassis two large divisions, combine industrial robot and the function of AGV robot, both can compete for various robots as match platform, it is also possible to be applied in the robot teaching of each institution of higher learning as Practical training equipment.
This utility model takes techniques below scheme to realize:
Stack type carrying teaching robot includes mechanical hand and motion chassis, and mechanical hand is arranged on motion chassis；
Mechanical hand includes Lift Part, paw parts, member of translational and pivoting part；
Pivoting part is arranged on the base plate part on robot motion chassis, can rotate around vertical axis；Described pivoting part includes that rotary table, turning motor fix seat, revolution motor, column fix seat, swiveling gear and gyroaxis gear；Rotary table is arranged on motion chassis, and turning motor fixed seating is contained on rotary table；Revolution motor is fixed seat with turning motor and is connected, and the output shaft of revolution motor is provided with swiveling gear；Column is fixed seat and is arranged in rotary table, fixes being set with gyroaxis gear on seat at column；Described gyroaxis gear and swiveling gear are meshed；
Described Lift Part includes upright post base, lifting column, riser guide, lifting drag chain and lifting motor, and lifting column is fixed on the column of pivoting part and fixes in seat, and riser guide is arranged on lifting column；Lifting motor is mounted on the lifter plate in the middle part of riser guide, and lifting motor is connected with riser guide end by lifting drag chain；Bottom riser guide, it is provided with lifting origin sensor, is provided with warning lamp at lifting column top；
Member of translational is connected with Lift Part, and described member of translational includes translating motor, shiftable gear, translation drag chain, translated linear guide rail and translating rack；Translated linear guide rails assembling is on the lifter plate of Lift Part, translating rack is fixed on translated linear guide rail, translation motor is also mounted on the lifter plate of Lift Part, and shiftable gear is connected with the output shaft of translation motor, and shiftable gear is meshed with translating rack；One end of translation drag chain is connected with the lifter plate of Lift Part, and the other end of translation drag chain is connected with paw parts；
Paw parts are arranged on translated linear guide rail by paw guide rod seat, and paw parts move horizontally along the translated linear guide rail of member of translational；Described paw parts include paw guide rod seat, finger slide, paw motor, paw parts fixed plate, finger tooth bar, finger gear, finger vee-block pressing plate, finger vee-block and finger body, finger tooth bar is arranged in paw parts fixed plate, paw motor is arranged on paw parts fixed plate back, finger gear is arranged on the output shaft of paw motor, and finger gear is meshed with finger tooth bar；Finger body is arranged on finger slide；Finger vee-block is arranged on finger body, and the most solid by finger vee-block pressing plate；Described finger body, finger vee-block and finger V shaped slab pressing plate are respectively provided with two, are used for gripping goods；Described paw parts are provided with two groups altogether.
Motion chassis includes base plate, left wheel, right wheel and universal wheel；It is provided around surrounding edge above base plate, surrounding edge and base plate define cavity, the left front of cavity is provided with stepper motor driver, the left back of cavity is equipped with guidance panel, the rear of cavity is provided with battery, the right front of cavity is equipped with control circuit plate, and described control circuit plate includes that ARM controls mainboard and wheel electrical machine drives plate；Symmetrical position under base plate is respectively provided with left wheel and right wheel, and the front portion under base plate is equipped with universal wheel, and pan front is provided with and follows line sensor；Anterior equipped with infrared photoelectric sensor at surrounding edge；Being also equipped with left wheel motor and right wheel electrical machine under base plate, the output shaft of left wheel motor is connected with left wheel axle, and the output shaft of right wheel electrical machine is connected with right axletree.
Described infrared photoelectric sensor is provided with two, lays respectively at before surrounding edge right part before left part and surrounding edge；Infrared photoelectric sensor is the obstacle in front in sniffing robot walking way, gets around in time after finding obstacle.
Equipped with translation origin sensor on the lifter plate of Lift Part；It is provided with 1# paw sensor and 2# paw sensor on paw parts fixed plate top.
ARM control mainboard respectively with infrared photoelectric sensor, follow line sensor and lifting origin sensor, translation origin sensor, 1# paw sensor and 2# paw sensor are connected；Lifting origin sensor, translation origin sensor, 1# paw sensor and 2# paw sensor are referred to as position of manipulator sensor, and ARM controls mainboard and drives plate, lifting stepper motor driver, revolution stepper motor driver, paw stepper motor driver and translation stepper motor driver to be connected by the I/O interface on ARM control mainboard with wheel electrical machine；Infrared photoelectric sensor, follow line sensor and positional information is sent to ARM and controls mainboard by position of manipulator sensor respectively, ARM controls mainboard and control information is sent to wheel electrical machine driving plate, lifting stepper motor driver, revolution stepper motor driver, paw stepper motor driver and translation stepper motor driver, so that robot carries out action.
The information transmitted by following line sensor can determine the deviation distance of robot and border, limiting field ground, thus carry out following line and run；
Position of manipulator sensor obtains the lifting of mechanical hand, translates, turns round and the physical location of paw parts, and makes reaction in time.
This utility model is rational in infrastructure, pivoting part control the orientation of paw, and Lift Part controls the height of paw, member of translational controls the telescopic location of paw, therefore, paw, in the position in space, can realize by controlling angle of revolution, upper-lower height and three parameters of translation distance.Robot section possesses lifting, turns round, translates common three degree of freedom, and its paw parts can capture various goods；Running chassis to be furnished with and follow line sensor, can move along landing ground white guide ribs, the infrared photoelectric sensor of installation can detect the barrier running front, and avoids in time.ARM controls mainboard and uses ARMCPU, and low-power consumption, the speed of service is fast, software resource is abundant, and player can directly run in robot and use large-scale algorithm, write the program passed through on large-scale desktop computer, so that robot is provided with the highest intelligence；Meanwhile, its mainboard possesses again the abundantest I/O mouth, can connect substantial amounts of external equipment, expands the perception of robot information to external world further and performs disposal ability.
This utility model can implement function such as:
1) line counting walking, path planning are followed；
2) thing, automatic piling are automatically taken；
3) multiple goods picks and places task scheme and can freely design；
4) can self-changeable paw structure to meet the crawl task of different size, shaped cargo.
Accompanying drawing explanation
Below with reference to accompanying drawing, this utility model is described further:
Fig. 1 is the structural representation of this utility model stack type carrying teaching robot；
Fig. 2 is the structural representation on motion chassis of the present utility model；
Fig. 3 is the structural representation of pivoting part of the present utility model；
Fig. 4 is the structural representation of Lift Part of the present utility model；
Fig. 5 is the structural representation of member of translational of the present utility model；
Fig. 6 is the structural representation of paw parts of the present utility model；
Fig. 7 is control mode block diagram of the present utility model.
nullIn figure: 1、Left wheel，2、Guidance panel，3、Battery，4、Surrounding edge，5、Right wheel，6、Base plate，7、Infrared photoelectric sensor，8、Universal wheel，9、Follow line sensor，10、Gyroaxis gear，11、Swiveling gear，12、Turning motor fixes seat，13、Revolution motor，14、Seat fixed by column，15、Rotary table，16、Lifting drag chain，17、Riser guide，18、Lifting motor，19、Lifting origin sensor，20、Upright post base，21、Warning lamp，22、Translation motor，23、Shiftable gear，24、Translation drag chain，25、Translated linear guide rail，26、Translating rack，27、Paw motor，28、Finger tooth bar，29、Finger gear，30、Finger vee-block pressing plate，31、Finger vee-block，32、Finger body， 33、Paw parts fixed plate，34、1# paw sensor，35、2# paw sensor，36、Finger slide，37、Paw guide rod seat，38、Translation origin sensor，39、Lifting column，40、Lifter plate.
Detailed description of the invention
Referring to the drawings 1 ~ 7, stack type carrying teaching robot includes mechanical hand and motion chassis, and mechanical hand is arranged on motion chassis；
Mechanical hand includes Lift Part, paw parts, member of translational and pivoting part；
Pivoting part is arranged on the base plate part on robot motion chassis, can rotate around vertical axis；Described pivoting part includes that rotary table 15, turning motor fix seat 12, revolution motor 13, column fix seat 14, swiveling gear 11 and gyroaxis gear 10；Rotary table 15 is arranged on motion chassis, and turning motor is fixed seat 12 and is sleeved on rotary table 15；Revolution motor 13 is fixed seat 12 and is connected with turning motor, and the output shaft of revolution motor 13 is provided with swiveling gear 11；Column is fixed seat 14 and is arranged in rotary table 15, fixes being set with gyroaxis gear 10 on seat 14 at column；Described gyroaxis gear 10 and swiveling gear 11 are meshed；
Described Lift Part includes upright post base 20, lifting column 39, riser guide 17, lifting drag chain 16 and lifting motor 18, and lifting column 39 is fixed on the column of pivoting part and fixes in seat 14, and riser guide 17 is arranged on lifting column 39；Lifting motor 18 is mounted on the lifter plate 40 in the middle part of riser guide 17, and lifting motor 18 is connected with riser guide 17 end by lifting drag chain 16；Bottom riser guide 17, it is provided with lifting origin sensor 19, is provided with warning lamp 21 at lifting column 39 top；
Member of translational is connected with Lift Part, and described member of translational includes translating motor 22, shiftable gear 23, translation drag chain 24, translated linear guide rail 25 and translating rack 26；Translated linear guide rail 25 is arranged on the lifter plate 40 of Lift Part, translating rack 26 is fixed on translated linear guide rail 25, translation motor 22 is arranged on the lifter plate 40 of Lift Part, shiftable gear 23 is connected with the output shaft of translation motor 22, and shiftable gear 23 is meshed with translating rack 26；One end of translation drag chain 24 is connected with the lifter plate 40 of Lift Part, and the other end of translation drag chain 24 is connected with paw parts；
Paw parts are arranged on translated linear guide rail 25 by paw guide rod seat 37, and paw parts move horizontally along the translated linear guide rail 25 of member of translational；Described paw parts include paw guide rod seat 37, finger slide 36, paw motor 27, paw parts fixed plate 33, finger tooth bar 28, finger gear 29, finger vee-block pressing plate 30, finger vee-block 31 and finger body 32, finger tooth bar 28 is arranged in paw parts fixed plate 33, paw motor 27 is arranged on paw parts fixed plate 33 back, finger gear 29 is arranged on the output shaft of paw motor 27, and finger gear 29 is meshed with finger tooth bar 28；Finger body 32 is arranged on finger slide 36；Finger vee-block 31 is arranged on finger body 32, and the most solid by finger vee-block pressing plate 30；Described finger body 32, finger vee-block 31 and finger V shaped slab pressing plate 30 are respectively provided with two, and described paw parts are provided with two groups altogether, it is simple to gripping goods.
Motion chassis includes base plate 6, left wheel 1, right wheel 5 and universal wheel 8；It is provided around surrounding edge 4 above base plate 6, surrounding edge 4 and base plate 6 define cavity, the left front of cavity is provided with stepper motor driver, the left back of cavity is equipped with guidance panel 2, the rear of cavity is provided with battery 3, the right front of cavity is equipped with control circuit plate, and described control circuit plate includes that ARM controls mainboard and wheel electrical machine drives plate；Symmetrical position under base plate 6 is respectively provided with left wheel 1 and right wheel 5, and the front portion under base plate 6 is equipped with universal wheel 8, and base plate 6 front portion is provided with follows line sensor 9；In surrounding edge 4 front portion equipped with infrared photoelectric sensor 7；Being also equipped with left wheel motor and right wheel electrical machine for 6 times at base plate, the output shaft of left wheel motor is connected with left wheel axle, and the output shaft of right wheel electrical machine is connected with right axletree.
Described infrared photoelectric sensor 7 is provided with two, lays respectively at before surrounding edge 4 right part before left part and surrounding edge 4；Infrared photoelectric sensor 7 is the obstacle in front in sniffing robot walking way, gets around in time after finding obstacle.
Equipped with translation origin sensor 38 on the lifter plate 40 of Lift Part；It is provided with 1# paw sensor 34 and 2# paw sensor 35 on paw parts fixed plate 33 top.
ARM control mainboard respectively with infrared photoelectric sensor 7, follow line sensor 9 and lifting origin sensor 19, translation origin sensor 38,1# paw sensor 34 and 2# paw sensor 35 are connected；Lifting origin sensor 19, translation origin sensor 38,1# paw sensor 34 and 2# paw sensor 35 are referred to as position of manipulator sensor, and ARM controls mainboard and drives plate, lifting stepper motor driver, revolution stepper motor driver, paw stepper motor driver and translation stepper motor driver to be connected by the I/O interface on ARM control mainboard with wheel electrical machine；Infrared photoelectric sensor 7, follow line sensor 9 and positional information is sent to ARM and controls mainboard by position of manipulator sensor respectively, ARM controls mainboard and control information is sent to wheel electrical machine driving plate, lifting stepper motor driver, revolution stepper motor driver, paw stepper motor driver and translation stepper motor driver, so that robot carries out action.
The information transmitted by following line sensor 9 can determine the deviation distance of robot and border, limiting field ground, thus carry out following line and run；
Position of manipulator sensor obtains the lifting of mechanical hand, translates, turns round and the physical location of paw parts, and makes reaction in time.
The mainboard that controls of robot is arranged on the robot base plate 6 of walking vehicle chassis component, CPU on mainboard drives plate to send control instruction to wheel electrical machine, drive plate to control left and right wheels motor to rotate with the most independent speed and direction, thus control the advance of robot, retreat, turn left and turn right；CPU knows the robot deviation relative to the guiding informal voucher on competition area by the line sensor 9 that follows being arranged under walking vehicle chassis component, and controls to walk chassis along informal voucher advance；By using electronic chart, robot is it can also be seen that self particular location in place；Whether the signal that CPU returns according to the infrared photoelectric sensor 7 being arranged on walking vehicle chassis component front is it is known that around exist barrier, and controls robot and get around obstacle.
After robot arrives certain station platform, the goods on station platform can be grabbed in robot by the mechanical hand being made up of Lift Part, paw parts, member of translational and pivoting part, or is placed on station platform by the goods in robot.Mechanical hand has revolution, lifts and translate 3 freedoms of motion, and revolution motor 13 drives whole mechanical hand to realize 360 degree of rotations by the transmission of swiveling gear 11 and gyroaxis gear 10；Lifting motor 18 drives member of translational and paw parts to move up and down along riser guide 17, relies on lifting origin sensor 19 to may determine that initial position；Translation motor 22 drives paw parts to complete anterior-posterior translation by the transmission of shiftable gear 23 and translating rack 26 and moves, and relies on translation origin sensor 38 to may determine that initial position；2 fingers that paw motor 27 controls to be collectively constituted by finger vee-block pressing plate 30, finger vee-block 31, finger body 32 realize crawl and the unloading of goods.
This utility model is when competing for robot, owing to all having laid guiding informal voucher on competition area, therefore can follow line sensor by utilization and follow line operation, and may be used to determine the robot deviation distance relative to some informal voucher, if employing electronic chart, robot is it can also be seen that self particular location in place.
Claims (4)
1. a stack type carrying teaching robot, including mechanical hand and motion chassis, mechanical hand is arranged on motion chassis；It is characterized in that:
Mechanical hand includes Lift Part, paw parts, member of translational and pivoting part；
Pivoting part is arranged on the base plate part on robot motion chassis, can rotate around vertical axis；Described pivoting part includes that rotary table, turning motor fix seat, revolution motor, column fix seat, swiveling gear and gyroaxis gear；Rotary table is arranged on motion chassis, and turning motor fixed seating is contained on rotary table；Revolution motor is fixed seat with turning motor and is connected, and the output shaft of revolution motor is provided with swiveling gear；Column is fixed seat and is arranged in rotary table, fixes being set with gyroaxis gear on seat at column；Described gyroaxis gear and swiveling gear are meshed；
Described Lift Part includes upright post base, lifting column, riser guide, lifting drag chain and lifting motor, and lifting column is fixed on the column of pivoting part and fixes in seat, and riser guide is arranged on lifting column；Lifting motor is mounted on the lifter plate in the middle part of riser guide, and lifting motor is connected with riser guide end by lifting drag chain；Bottom riser guide, it is provided with lifting origin sensor, is provided with warning lamp at lifting column top；
Member of translational is connected with Lift Part, and described member of translational includes translating motor, shiftable gear, translation drag chain, translated linear guide rail and translating rack；Translated linear guide rails assembling is on the lifter plate of Lift Part, translating rack is fixed on translated linear guide rail, translation motor is also mounted on the lifter plate of Lift Part, and shiftable gear is connected with the output shaft of translation motor, and shiftable gear is meshed with translating rack；One end of translation drag chain is connected with the lifter plate of Lift Part, and the other end of translation drag chain is connected with paw parts；
Paw parts are arranged on translated linear guide rail by paw guide rod seat, and paw parts move horizontally along the translated linear guide rail of member of translational；Described paw parts include paw guide rod seat, finger slide, paw motor, paw parts fixed plate, finger tooth bar, finger gear, finger vee-block pressing plate, finger vee-block and finger body, finger tooth bar is arranged in paw parts fixed plate, paw motor is arranged on paw parts fixed plate back, finger gear is arranged on the output shaft of paw motor, and finger gear is meshed with finger tooth bar；Finger body is arranged on finger slide；Finger vee-block is arranged on finger body, and the most solid by finger vee-block pressing plate；Described finger body, finger vee-block and finger V shaped slab pressing plate are respectively provided with two, are used for gripping goods；Described paw parts are provided with two groups altogether；
Motion chassis includes base plate, left wheel, right wheel and universal wheel；It is provided around surrounding edge above base plate, surrounding edge and base plate define cavity, the left front of cavity is provided with stepper motor driver, the left back of cavity is equipped with guidance panel, the rear of cavity is provided with battery, the right front of cavity is equipped with control circuit plate, and described control circuit plate includes that ARM controls mainboard and wheel electrical machine drives plate；Symmetrical position under base plate is respectively provided with left wheel and right wheel, and the front portion under base plate is equipped with universal wheel, and pan front is provided with and follows line sensor；Anterior equipped with infrared photoelectric sensor at surrounding edge；Being also equipped with left wheel motor and right wheel electrical machine under base plate, the output shaft of left wheel motor is connected with left wheel axle, and the output shaft of right wheel electrical machine is connected with right axletree.
Stack type carrying teaching robot the most according to claim 1, it is characterised in that: described infrared photoelectric sensor is provided with two, lays respectively at before surrounding edge right part before left part and surrounding edge；Infrared photoelectric sensor is the obstacle in front in sniffing robot walking way, gets around in time after finding obstacle.
Stack type carrying teaching robot the most according to claim 1, it is characterised in that: equipped with translation origin sensor on the lifter plate of Lift Part；It is provided with 1# paw sensor and 2# paw sensor on paw parts fixed plate top.
Stack type carrying teaching robot the most according to claim 1, it is characterised in that: described ARM control mainboard respectively with infrared photoelectric sensor, follow line sensor and lifting origin sensor, translation origin sensor, 1# paw sensor and 2# paw sensor are connected；Lifting origin sensor, translation origin sensor, 1# paw sensor and 2# paw sensor are referred to as position of manipulator sensor, and ARM controls mainboard and drives plate, lifting stepper motor driver, revolution stepper motor driver, paw stepper motor driver and translation stepper motor driver to be connected by the I/O interface on ARM control mainboard with wheel electrical machine；Infrared photoelectric sensor, follow line sensor and positional information is sent to ARM and controls mainboard by position of manipulator sensor respectively, ARM controls mainboard and control information is sent to wheel electrical machine driving plate, lifting stepper motor driver, revolution stepper motor driver, paw stepper motor driver and translation stepper motor driver, so that robot carries out action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161748.4U CN205564114U (en) | 2016-03-03 | 2016-03-03 | Teaching machine people is carried to stack formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161748.4U CN205564114U (en) | 2016-03-03 | 2016-03-03 | Teaching machine people is carried to stack formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205564114U true CN205564114U (en) | 2016-09-07 |
Family
ID=56816673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620161748.4U Expired - Fee Related CN205564114U (en) | 2016-03-03 | 2016-03-03 | Teaching machine people is carried to stack formula |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205564114U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279637A (en) * | 2018-04-11 | 2018-07-13 | 四川文理学院 | Robot and robot system |
| CN110642188A (en) * | 2019-08-30 | 2020-01-03 | 兰州石化职业技术学院 | Cargo carrying robot and carrying method thereof |
| WO2020177621A1 (en) * | 2019-03-01 | 2020-09-10 | 云机工业设计(义乌)有限公司 | Commodity picking robot |
-
2016
- 2016-03-03 CN CN201620161748.4U patent/CN205564114U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279637A (en) * | 2018-04-11 | 2018-07-13 | 四川文理学院 | Robot and robot system |
| WO2020177621A1 (en) * | 2019-03-01 | 2020-09-10 | 云机工业设计(义乌)有限公司 | Commodity picking robot |
| CN110642188A (en) * | 2019-08-30 | 2020-01-03 | 兰州石化职业技术学院 | Cargo carrying robot and carrying method thereof |
| CN110642188B (en) * | 2019-08-30 | 2022-08-02 | 兰州石化职业技术学院 | Cargo carrying robot and carrying method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205564114U (en) | Teaching machine people is carried to stack formula | |
| CN102699914A (en) | Robot | |
| CN101954191B (en) | Intelligent entertainment mobile robot | |
| CN106985141A (en) | A kind of both arms cooperation robot | |
| CN105082160B (en) | A kind of mobile robot's surgery systems with anti-collision | |
| CN101428655B (en) | Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle | |
| CN106965196A (en) | A kind of service robot | |
| CN102431604A (en) | Humanoid robot with function of interchanging double-foot walking with wheeled moving | |
| CN106741275B (en) | Sliding type lifting barrier-surpassing robot | |
| CN105013182B (en) | Wheel can become born of the same parents' toy robot completely | |
| CN100361792C (en) | Controlling system of movable manipulator | |
| CN110815245A (en) | Service robot for welcoming | |
| CN105082137A (en) | Novel robot | |
| CN109795577A (en) | A kind of bionic 6-leg robot | |
| CN107932528A (en) | A kind of control system and control method for intelligent storage handling facilities | |
| CN210416730U (en) | Robot removes with walking bottom plate | |
| CN106627828B (en) | Swinging lift barrier-surpassing robot | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| CN106239511A (en) | A kind of robot based on head movement moves control mode | |
| CN113184078A (en) | Intelligent quadruped robot | |
| CN113001553A (en) | Intelligent inspection robot | |
| CN102152321A (en) | Device for realizing multiple-degree-of-freedom force feedback of fingers | |
| CN204932836U (en) | Wheel can become born of the same parents' toy robot completely | |
| CN203643838U (en) | Dual-core four-wheeled micro-computer mouse and fast sprinting controller thereof | |
| CN206086670U (en) | Trade level platform truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160907 Termination date: 20210303 |