CN208262873U - A kind of foot formula walking intermittent work robot - Google Patents
A kind of foot formula walking intermittent work robot Download PDFInfo
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- CN208262873U CN208262873U CN201820751741.7U CN201820751741U CN208262873U CN 208262873 U CN208262873 U CN 208262873U CN 201820751741 U CN201820751741 U CN 201820751741U CN 208262873 U CN208262873 U CN 208262873U
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- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 239000011232 storage material Substances 0.000 claims 1
- 230000009466 transformation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 239000007921 spray Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000002917 insecticide Substances 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of sufficient formula walking intermittent work robot, belong to field of agricultural machinery, the utility model includes the first mobile holder (1), second mobile holder (2), driving power device (3), power control system (4), guide rail (5), slide (6), steering system (7), telescopic outrigger (8), work system (9), telescopic outrigger (8) are equipped on first mobile holder (1) and the second mobile holder (2), it is equipped with driving power device (3) between the two, guide rail (5) is connected on the first mobile holder (1), slide (6) is arranged on the second mobile holder (2), steering system (7) is turned to for robot, tuning movement, power control system (4) controls each section and cooperates, and energy is provided for the work of entire robot, work System (9) is arranged on the first mobile holder (1) for farmland labor operation, scheme, structure to be more succinct compared with prior art for the utility model, it controls simpler, cost is cheaper, and practicability is further promoted, and will not reduce working performance.
Description
Technical field
The utility model relates to a kind of agricultural machinery equipments, in particular relate to a kind of sufficient formula walking intermittent work machine
People.
Background technique
Existing farm machinery is mostly wheeled construction as chassis, but wheeled construction walks be easily damaged agriculture in the fields
Crop, such as be just not suitable for using wheeled construction as walking chassis when farmland carries out spray drug operation, interplanting operation.To solve
This problem, my company has carried out innovation research to it, and has applied for a patent of invention, a kind of foot formula running machine
People's (number of patent application 2017105178907), the target that this patented technology is pursued are the at the uniform velocity fortune by guaranteeing work system
High-quality work dynamic and then that realization equipment is under uniform rate, but found in our practice processes, pursue work
The uniform motion of system is a kind of approach for realizing high-quality work, but the cost is relatively high for the complete machine of this scheme, if
It will be further simplified the structure of robot using the mode replacement at the uniform velocity mode of intermittent work and reduce complete machine and be produced into
This, and working effect will not reduce.It is deeply practiced by our team, innovation improves, structure is laid out again, I
Design this new improvement project again.Design scheme disclosed by the utility model is compared with disclosed scheme before, structure
More succinct, control is simpler, and cost is cheaper, and practicability is further promoted, and will not reduce working performance.
Summary of the invention
In order to realize that this kind of robot architecture is more succinct, control simpler, cost is cheaper, practicability obtain into
One step is promoted, and does not reduce working performance this purpose, and the utility model discloses a kind of sufficient formula walking intermittent work machine
People, the utility model include the first mobile holder, the second mobile holder, driving power device, power control system, guide rail, cunning
It is equipped with telescopic outrigger on seat, steering system, telescopic outrigger, work system, the first mobile holder and the second mobile holder, first
Guide rail and slide are equipped between mobile holder and the second mobile holder, guide rail is connected on the first mobile holder, and slide setting exists
On second mobile holder, driving power device is equipped between the first mobile holder and the second mobile holder, driving power device can
So that the first mobile holder and the second mobile holder this two parts do relatively reciprocating motion, steering system setting is in the second walking branch
Between frame and slide, steering system can drive and relatively rotate between the first mobile holder and the second mobile holder, in turn
Realize that robot is turned in the process of walking, tuning acts, power control system controls each section collaborative work, and is whole
A robot work provides energy, and by the relative motion between the first mobile holder of control and the second mobile holder and cooperation is stretched
Stretching for contracting supporting leg, allows robot integrally to be advanced, backward movement, and work system is arranged in the first mobile holder
On, work system is used for farmland labor operation.
Preferably, first mobile holder and the second mobile holder are equipped with telescopic outrigger, the first mobile holder and the
3 telescopic outriggers are respectively set on two mobile holders, the second mobile holder is integrally in Y-shaped, and two supporting legs are arranged in front,
One supporting leg is arranged in rear portion, and the supporting leg arrangement of the first mobile holder is opposite with the second mobile holder.
Preferably, the driving power device is driven to Multi-stage cylinder.
Preferably, the telescopic outrigger and driving power device are driven to pneumatic linear actuator.
Preferably, the power control system includes control drive module, power module, air force module, video biography
Defeated module, controlling terminal, control drive module can connect suspension control signal and control each power unit work of driving, power supply mould
Block provides electric energy for robot complete machine, and air force module can produce high pressure gas, and high pressure gas is transferred to each power cylinder and drives
Its movement is moved, video transmission module can acquire robot periphery vision signal, and vision signal is constantly transferred to control eventually
End issues corresponding control instruction to robot according to robot surrounding condition convenient for operator.
Preferably, the slide is equipped with support rod, and support rod and support plate are connected, power control system and job family
The storing bin of system these relatively heavy component be all disposed in support plate.
Preferably, the steering system includes the first support plate, middle part thrust bearing, the second support plate, lower thrust axis
It holds, location nut, transmission shaft, shaft coupling, steering motor, the first support plate is fixedly connected with slide, the first support plate and second
Middle part thrust bearing is equipped between support plate, the second support plate is fixedly connected with the second mobile holder, below the second mobile holder
Equipped with lower thrust bearing, transmission shaft is fixedly connected with the first support plate, and passes through the second mobile holder and its axis connection, under
Location nut is equipped on the downside of portion's thrust bearing, location nut is threadedly coupled with transmission shaft, and location nut will go here and there by transmission shaft
Along transmission shafts to being fixed, steering motor is fixed on the second mobile holder and passes through with transmission shaft each section therein
Shaft coupling connection.Middle part thrust bearing can select nylon sheet, the preferred decelerating step motor of steering motor.
Preferably, the work system includes storing bin, material conveying passage, mechanical arm, equipment, and storing bin is used for
Material is stored, material conveying passage is placed between storing bin and equipment, undertakes material transferring task between the two, mechanical arm
Equipment can be moved to the position for needing work, equipment undertakes various labour tasks.
Preferably, the mechanical arm is in Three shaft frame, and in three-axis reference, mechanical arm can be moved equipment
The position of any required work is moved, equipment can complete various labour tasks with ground proximity.This kind of topology layout is applicable in
In working conditions such as crops interplanting, pickings.
Preferably, the mechanical arm is in swing rod structure, and swing rod can be swung within the scope of 180 degree, and equipment is arranged in
On swing rod, equipment is worked in a plane domain above the crops, is not necessarily to ground proximity.This kind of topology layout spy
Not Shi Yongyu farmland spray insecticide, spray the working conditions such as foliar fertilizer.
It is, of course, understood that the robot is mainly used for farmland operation, but can be used for other suitable occasions,
Agricultural is the most important applicable situation of the robot, but is not the restriction to robot use scope.
Through the above technical solutions, the utility model and existing scheme structure compared are more succinct, control is simpler, makes
Valence is cheaper, and practicability is further promoted, and will not reduce working performance.
Other features and advantages of the utility model will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.Attached drawing is for providing to the utility model
Further understand, and constitute part of specification, be used to explain that this is practical new together with following specific embodiment
Type, but do not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is integral structure layout of robot schematic diagram；
Fig. 2 is robot power control system partial structure diagram；
Fig. 3 is robot slide support section structural schematic diagram；
Fig. 4 is robot steering system partial structure diagram；
Fig. 5 is three axis frame-type mechanical arm work system structural schematic diagram of robot；
Fig. 6 is robot oscillating rod type mechanical arm work system structural schematic diagram.
Description of symbols
1, the first mobile holder；2, the second mobile holder；3, driving power device；4, power control system；401, it controls
Drive module；402, power module；403, air force module；404, video transmission module；405, controlling terminal；5, guide rail；
6, slide；601, support rod；602, support plate；7, steering system；701, the first support plate；702, middle part thrust bearing；703,
Second support plate；704, lower thrust bearing；705, location nut；706, transmission shaft；707, shaft coupling；708, steering motor；
8, telescopic outrigger；9, work system；901, storing bin；902, material conveying passage；903, mechanical arm；904, equipment.
Specific embodiment
Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing.It should be understood that herein
Described specific embodiment is only used for describing and explaining the present invention, and is not intended to limit the utility model.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom " is usually
Be for direction shown in the drawings either for it is vertical, vertically or on gravity direction for each component mutual alignment
Relationship description word.The noun of locality used such as " left and right " refers to the left and right orientation in attached drawing.
As shown in Figure 1, the utility model provides a kind of sufficient formula walking intermittent work robot, which includes
First mobile holder 1, the second mobile holder 2, driving power device 3, power control system 4, guide rail 5, slide 6, steering system
7, telescopic outrigger 8, the first walking are equipped on telescopic outrigger 8, work system 9, the first mobile holder 1 and the second mobile holder 2
Guide rail 5 and slide 6 are equipped between bracket 1 and the second mobile holder 2, guide rail 5 is connected on the first mobile holder 1, and slide 6 is arranged
On the second mobile holder 2, driving power device 3, driving power are equipped between the first mobile holder 1 and the second mobile holder 2
Device 3 can make that the first row walks bracket 1 and second mobile holder 2 this two parts do relatively reciprocating motion, and the setting of steering system 7 exists
Between second mobile holder 2 and slide 6, steering system 7 can drive and send out between the first mobile holder 1 and the second mobile holder 2
It is raw to relatively rotate, and then realize that robot is turned in the process of walking, tuning acts, power control system 4 controls each portion
Point cooperate, and provide energy for the work of entire robot, by control the first mobile holder 1 and the second mobile holder 2 it
Between relative motion and cooperate the flexible of telescopic outrigger 8, robot is integrally advanced, backward movement, job family
System 9 is arranged on the first mobile holder 1, and work system 9 is used for farmland labor operation, quiet in the first mobile holder 1 when work
During only, work system 9 carries out labor operation to farmland, while the second mobile holder 2 moves forward a station, works as the first row
When walking the movement of bracket 1, work system 9 can stop working, and thereby realize the first mobile holder 1 and the second mobile holder 2
In interval traveling process, work system 9 carries out labour work to this section of field advanced when the first mobile holder 1 is in static
Industry, the final purpose for realizing sufficient formula walking intermittent work.It can be understood that work system 9 also may be arranged at the second walking branch
On frame 2, work in the second mobile holder 2 lower work system 9 that remains static.It will also be appreciated that work system 9
It can stop working, can not also stop working in moving process, this can according to need selection.
First mobile holder 1 and the second mobile holder 2 are equipped with telescopic outrigger 8, the first mobile holder 1 and the second walking branch
3 telescopic outriggers 8 are respectively set on frame 2, it is in Y-shaped that the second mobile holder 2 is whole, and two supporting legs are arranged in front, and one
Supporting leg be arranged in rear portion, the supporting leg arrangement of the first mobile holder 1 and the second mobile holder 2 on the contrary, be arranged so supporting leg can
So that robot has maximum travel distance in a traveling process, and then improves robot traveling efficiency and reduce
Destructive rate of the supporting leg to crops.
The preferred Multi-stage cylinder of the driving of driving power device 3, such as multi-stage cylinder or multistage hydraulic cylinder, driving power device 3
It selects Multi-stage cylinder to be conducive to improve travel distance of the robot in a traveling process, is convenient for space layout.
In order to reduce complete machine manufacturing cost, robot travel speed, the drive of telescopic outrigger 8 and driving power device 3 are improved
Preferred pneumatic linear actuator is moved as power source.
As shown in Fig. 2, power control system 4 includes control drive module 401, power module 402, air force module
403, video transmission module 404, controlling terminal 405, control drive module 401 can connect suspension control signal and control driving respectively
Power unit work, power module 402 provide electric energy for robot complete machine, and power module 402 selects battery or fuel hair
Motor, air force module 403 can produce high pressure gas, and high pressure gas is transferred to each power cylinder and drives its movement, and video passes
Defeated module 404 can acquire robot periphery vision signal, and vision signal is constantly transferred to controlling terminal 405, convenient for behaviour
Author issues corresponding control instruction to robot according to robot surrounding condition.
As shown in figure 3, slide 6 and 5 nested encryptions of guide rail, slide 6 can be slided along guide rail 5, support rod 601 is connected in cunning
On seat 6, support rod 601 and support plate 602 are connected, and storing bin 901 of power control system 4 and work system 9 etc. is heavier
Component layout in support plate 602, be arranged so be conducive to complete machine center of gravity be in always three be in holding state supporting legs
The triangle interior that line is formed, it can be ensured that the balance of complete machine.
As shown in figure 4, steering system 7 include the first support plate 701, middle part thrust bearing 702, the second support plate 703, under
Portion's thrust bearing 704, location nut 705, transmission shaft 706, shaft coupling 707, steering motor 708, the first support plate 701 and slide
6 are fixedly connected, and are equipped with middle part thrust bearing 702 between the first support plate 701 and the second support plate 703, the second support plate 703 with
Second mobile holder 2 is fixedly connected, and lower thrust bearing 704, transmission shaft 706 and first are equipped with below the second mobile holder 2
Fagging 701 is fixedly connected, and passes through the second mobile holder 2 and its axis connection, and positioning spiral shell is equipped on the downside of lower thrust bearing 704
Mother 705, location nut 705 is threadedly coupled with transmission shaft 706, and location nut 705 will be gone here and there in each portion wherein by transmission shaft 706
Divide and be axially fixed along transmission shaft 706, steering motor 708 is fixed on the second mobile holder 2 and passes through with transmission shaft 706
Shaft coupling 707 connects.Middle part thrust bearing 702 can select nylon sheet, the preferred decelerating step motor of steering motor 708.
As shown in figure 5, work system 9 includes storing bin 901, material conveying passage 902, mechanical arm 903, equipment
904, for storing material, material conveying passage 902 is placed between storing bin 901 and equipment 904, undertakes storing bin 901
Material transferring task between the two, mechanical arm 903 are in Three shaft frame, equipment 904 can be moved to any need
The position of work, equipment 904 undertake various labour tasks.It is understood that equipment 904 can be according to different works
The work such as work is replaced, this kind of topology layout is interplanted especially suitable for crops, picked.
As shown in fig. 6, the mechanical arm 903 of work system 9 is in swing rod structure, swing rod can be swung within the scope of 180 degree, work
Make device 904 to be arranged on swing rod, this kind of topology layout sprays insecticide especially suitable for farmland, sprays the work such as foliar fertilizer.
It is, of course, understood that the robot is mainly used for farmland operation, but can be used for other suitable occasions,
Agricultural is the most important applicable situation of the robot, but is not the restriction to robot use scope.
For the clearer structure and function for reacting the robot, the course of work of the robot, this measure are presently described
Example is only one of multiple choices scheme, is not limitations of the present invention.
As shown in Figure 1, robot is transported in the field for needing operation in conjunction with following all figures, all telescopic outriggers 8 are outward
It stretches out, then all telescopic outriggers 8 on the second mobile holder 2 are shunk, after telescopic outrigger 8 is shunk in place, at this moment the first walking
Bracket 1 contacts fixation with the earth, and driving power device 3 is shunk, and the second mobile holder 2 is driven forwards a station, advances dynamic
After power device 3 is shunk in place, all telescopic outriggers 8 on the second mobile holder 2 are protruding, after stretching out in place, the first walking
All telescopic outriggers 8 on bracket 1 are shunk, after all telescopic outriggers 8 on the first mobile holder 1 are shunk in place, at this moment second
Mobile holder 2 contacts fixation with the earth, and driving power device 3 is protruding to drive forwards a station for the first mobile holder 1,
Thereby realize robot forward motion.
The mechanical arm 903 of work system 9 is arranged on the first mobile holder 1, is contacted admittedly in the first mobile holder 1 with the earth
Periodically, work system 9 relative to the earth be also it is static, in 2 rotation forward movement of the second mobile holder, work system
9 also complete corresponding task, intermittent movement cooperation between such first mobile holder 1 and the second mobile holder 2
The intermittent work of work system 9 is achieved that the work in the gamut of farmland.
When robot needs to turn to, the second mobile holder 2 is moved to predeterminated position, all on the second mobile holder 2
Telescopic outrigger 8 is shunk, and in the case where the steering motor 708 in steering system 7 acts on, the second mobile holder 2 is relative to the first walking branch
Frame 1 rotates, and the angle of rotation controls as needed, and after reaching predetermined angle, steering motor 708 stops operating, the second row
The stretching of all telescopic outriggers 8 walked on bracket 2 is supported robot, and all telescopic outriggers 8 on the first mobile holder 1 are received
Contracting, in the case where the steering motor 708 in steering system 7 acts on, the first mobile holder 1 rotates relative to the second mobile holder 2,
The angular dimension of rotation is exactly the angle that the second mobile holder 2 rotates relative to the first mobile holder 1, such first walking
Bracket 1 and the second mobile holder 2 just restore original relative position, and robot is integrally achieved that steering, and can be 360
It realizes in degree range and turns at any angle.It is, of course, understood that showing of also wandering off in the process of walking of robot
As this needs in the process of walking to move towards robot to carry out direction correcting, and the process of correction is similar to the step of turning to, only
It is equivalent to low-angle steering, and during tuning, work system 9 be can work normally.
Through the above technical solutions, the utility model scheme compared with prior art, structure is more succinct, controls simpler
Single, cost is cheaper, and practicability is further promoted, and will not reduce working performance.
Preferred embodiments of the present invention, still, the utility model and unlimited are described in detail in conjunction with attached drawing above
Detail in above embodiment can be to the skill of the utility model in the range of the technology design of the utility model
Art scheme carries out a variety of simple variants, and is combined with the partial function structure in my company issued patents scheme, this
A little simple variants, combination belong to the protection scope of the utility model.
Claims (10)
- The intermittent work robot 1. a kind of foot formula is walked, which is characterized in that the robot includes the first mobile holder (1), the Two mobile holders (2), power control system (4), guide rail (5), slide (6), steering system (7), are stretched driving power device (3) It is equipped with telescopic outrigger (8) on contracting supporting leg (8), work system (9), the first mobile holder (1) and the second mobile holder (2), the Guide rail (5) and slide (6) are equipped between one mobile holder (1) and the second mobile holder (2), guide rail (5) is connected in the first walking On bracket (1), slide (6) is arranged on the second mobile holder (2), between the first mobile holder (1) and the second mobile holder (2) Equipped with driving power device (3), driving power device (3) can make the first row walk bracket (1) and the second mobile holder (2) this two Part does relatively reciprocating motion, and steering system (7) is arranged between the second mobile holder (2) and slide (6), steering system (7) It can drive and relatively rotate between the first mobile holder (1) and the second mobile holder (2), and then realize that robot is walking It is turned in the process, tuning movement, power control system (4) controls each section and cooperates, and works for entire robot Energy is provided, by the relative motion between control the first mobile holder (1) and the second mobile holder (2) and cooperates telescopic outrigger (8) stretch, allows robot integrally to be advanced, backward movement, and work system (9) is arranged in the first mobile holder (1) on, work system (9) is used for farmland labor operation.
- The intermittent work robot 2. a kind of sufficient formula according to claim 1 is walked, which is characterized in that first walking Bracket (1) and the second mobile holder (2) are equipped with telescopic outrigger (8), on the first mobile holder (1) and the second mobile holder (2) Respectively 3 telescopic outriggers (8) of setting, the second mobile holder (2) is in integrally Y-shaped, and two supporting legs are arranged in front, a branch Leg is arranged in rear portion, and the supporting leg arrangement of the first mobile holder (1) is opposite with the second mobile holder (2).
- The intermittent work robot 3. a kind of sufficient formula according to claim 1 is walked, which is characterized in that the driving power Device (3) is driven to Multi-stage cylinder.
- The intermittent work robot 4. a kind of sufficient formula according to claim 1 is walked, which is characterized in that the telescopic outrigger (8) and driving power device (3) is driven to pneumatic linear actuator.
- The intermittent work robot 5. a kind of sufficient formula according to claim 1 is walked, which is characterized in that the dynamic Control System (4) includes control drive module (401), power module (402), air force module (403), video transmission module (404), controlling terminal (405), control drive module (401) can connect suspension control signal and control each power unit work of driving Make, power module (402) provides electric energy for robot complete machine, and air force module (403) can produce high pressure gas, high pressure gas Body is transferred to each power cylinder and drives its movement, and video transmission module (404) can acquire robot periphery vision signal, and will view Frequency signal is constantly transferred to controlling terminal (405), is issued accordingly according to robot surrounding condition to robot convenient for operator Control instruction.
- The intermittent work robot 6. a kind of sufficient formula according to claim 1 is walked, which is characterized in that the slide (6) It is equipped with support rod (601), support rod (601) and support plate (602) are connected, power control system (4) and work system (9) Storing bin (901) these relatively heavy component be all disposed on support plate (602).
- The intermittent work robot 7. a kind of sufficient formula according to claim 1 is walked, which is characterized in that the steering system (7) include the first support plate (701), middle part thrust bearing (702), the second support plate (703), lower thrust bearing (704), determine Position nut (705), transmission shaft (706), shaft coupling (707), steering motor (708), the first support plate (701) and slide (6) are solid Fixed connection, is equipped with middle part thrust bearing (702) between the first support plate (701) and the second support plate (703), the second support plate (703) it is fixedly connected with the second mobile holder (2), is equipped with lower thrust bearing (704) below the second mobile holder (2), transmission Axis (706) is fixedly connected with the first support plate (701), and passes through the second mobile holder (2) and its axis connection, lower thrust axis It holds and is equipped with location nut (705) on the downside of (704), location nut (705) is threadedly coupled with transmission shaft (706), location nut (705) It will be gone here and there by transmission shaft (706) and be axially fixed in each section wherein along transmission shaft (706), steering motor (708) is fixed It is connected on the second mobile holder (2) and with transmission shaft (706) by shaft coupling (707).
- The intermittent work robot 8. a kind of sufficient formula according to claim 1 is walked, which is characterized in that the work system It (9) include storing bin (901), material conveying passage (902), mechanical arm (903), equipment (904), storing bin (901) is used In storage material, material conveying passage (902) is placed between storing bin (901) and equipment (904), undertakes object between the two Expect that equipment (904) can be moved to the position for needing work by transformation task, mechanical arm (903), equipment (904) is held Carry on a shoulder pole various labour tasks.
- The intermittent work robot 9. a kind of sufficient formula according to claim 8 is walked, which is characterized in that the mechanical arm It (903) is in Three shaft frame, in three-axis reference, equipment (904) can be moved to any need by mechanical arm (903) The position to be worked, equipment (904) can complete various labour tasks with ground proximity.
- The intermittent work robot 10. a kind of sufficient formula according to claim 8 is walked, which is characterized in that the mechanical arm It (903) is in swing rod structure, swing rod can be swung within the scope of 180 degree, and equipment (904) is arranged on swing rod, equipment (904) it is worked above the crops in a plane domain, is not necessarily to ground proximity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820751741.7U CN208262873U (en) | 2018-05-21 | 2018-05-21 | A kind of foot formula walking intermittent work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820751741.7U CN208262873U (en) | 2018-05-21 | 2018-05-21 | A kind of foot formula walking intermittent work robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208262873U true CN208262873U (en) | 2018-12-21 |
Family
ID=64685270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820751741.7U Withdrawn - After Issue CN208262873U (en) | 2018-05-21 | 2018-05-21 | A kind of foot formula walking intermittent work robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208262873U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406846A (en) * | 2018-05-21 | 2018-08-17 | 济宁山云宇内机电科技有限公司 | A kind of foot formula walking intermittent work robot |
-
2018
- 2018-05-21 CN CN201820751741.7U patent/CN208262873U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406846A (en) * | 2018-05-21 | 2018-08-17 | 济宁山云宇内机电科技有限公司 | A kind of foot formula walking intermittent work robot |
| CN108406846B (en) * | 2018-05-21 | 2024-07-12 | 济宁山云宇内机电科技有限公司 | Foot-type walking intermittent working robot |
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