CN208342828U - The change rail structure of suspension type robot - Google Patents
The change rail structure of suspension type robot Download PDFInfo
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- CN208342828U CN208342828U CN201820663011.1U CN201820663011U CN208342828U CN 208342828 U CN208342828 U CN 208342828U CN 201820663011 U CN201820663011 U CN 201820663011U CN 208342828 U CN208342828 U CN 208342828U
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- hanger rail
- rail
- movable
- fixed
- movable hanger
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Abstract
The utility model discloses a kind of change rail structures of suspension type robot, it include: hanger rail, the hanger rail section is in the rectangle of hollow out, the rectangular base setting of the hollow out has the gap, the driving wheel of suspension type robot can travel on rectangular base, suspension type robot passes through the gap and couples with driving wheel, hanger rail is fixed through bracket and building, hanger rail is provided with one section of movable hanger rail, it further include executing agency, the executing agency can make movable hanger rail integrate with hanger rail, also it can make movable hanger rail shift position, expose the open end of hanger rail, driving wheel is so as to leaving hanger rail and movable hanger rail.Executing agency includes the rotation of control activity hanger rail, translation and lift structure, further includes manual, automatic structure.The utility model is with structure is simple, optional technical solution is more, becomes the fireballing beneficial effect of rail.
Description
Technical field
The utility model relates to a kind of change rail structures of suspension type robot.
Background technique
China Patent No. 201720671822.1 discloses suspension type guide rails of robots, suspension type robot and its operation system
System, the patent is using the structure of Two-wheeled asymmetry suspension robot, and structure is although fairly simple but travel speed and machine
Device people load-carrying will receive limitation, and in order to improve the deficiency, the driving wheel of suspension type robot can use four wheel constructions, such as scheme
Shown in 3 and 4, the hanger rail section of driving wheel traveling is in the rectangle of hollow out, and the rectangular base setting of the hollow out has the gap, four drivings
Wheel can travel on rectangular base, and suspension type robot passes through the gap and couples with driving wheel, when needing three-dimensional laying track,
It needs to carry out change rail to hanger rail.
Utility model content
The utility model provides a kind of change rail structure of suspension type robot according to the above needs.
The technical solution of the utility model is:
A kind of change rail structure of suspension type robot, comprising:
Hanger rail, section are in hollow shape, and the bottom surface of hanger rail, which opens up, to be had the gap, and the driving wheel of suspension type robot can manage it
It sails on bottom surface, suspension type robot passes through the gap and couples with driving wheel, and hanger rail is fixed through bracket and building, hanger rail setting
There is one section of movable hanger rail, further includes executing agency, which can move movable hanger rail, and movable hanger rail can be made to connect with hanger rail
Rail, can also make movable hanger rail shift position, and driving wheel is so as to leaving or drive into hanger rail.
Movable hanger rail shift position is the necessary condition for becoming rail.
It should also be noted that, becoming rail also can be suitably used for the maintenance of suspension type robot, when the driving of suspension type robot
When any components in wheel construction break down or need conventional maintenance, need by driving wheel automatic running or manually draw from
It holds funeral rites rail, it is therefore desirable to which the open end for exposing hanger rail takes out or drive into driving wheel structure from the open end.
Hanger rail can be straight rail, bending track, can intersect.
Hanger rail section is in hollow shape, the preferred rectangle of the shape or bottom surface is plane, other faces are arc surface,
It is plane that either top surface, which is the other faces of arc surface,.
Suspension type robot can be delivery robot, sorting machine people etc., and suspension type robot has traveling, and selection is handed over
One ability in track is pitched, also there is the ability of unloading cargo, cargo is discharged in the ability of specified destination.
It should also be noted that, can according to the length of hanger rail be arranged Rational number movable hanger rail, this include straight line or
Curved hanger rail, correspondingly, movable hanger rail are also straight line or curved structure.
The executing agency includes:
One of preferably, hinge, two, the hanger rail bottom surface on one end and the right fixes, the other end and movable hanging
Rail bottom of right side is fixed, and movable hanger rail can be rotated centered on hinge, and two hinges are separately fixed at the two sides in gap；
Keeper, two, the hanger rail bottom surface on keeper frame and the left side is fixed, and bolt penetrates keeper frame and can move, when bolt is stretched
When out, the free end on the energy support activity hanger rail left side, so as to make movable hanger rail and hanger rail integrate with, when bolt is shunk, activity
The free end of hanger rail moves down；
It further include movable hanger rail suspender, two, one end is fixed with the free end, the other end is hung with the left side
Rail is fixed, and when bolt inside contracts, the free end of movable hanger rail moves down, can be held by movable hanger rail suspender, to make movable hanging
Rail is obliquely installed.
After movable hanger rail inclination, it can integrate with the hanger rail of installation thereunder.
The activity hanger rail is by two pieces of slab constructions, two pieces of separation and symmetrically arranged L-shaped structure or section and hanger rail phase
Same structure composition, when movable hanger rail structure identical with hanger rail using section, the portion of hanger rail of the movable hanger rail close to the left side
There are rotation vacancy for position.
It should be noted that the shape of movable hanger rail can be identical as the shape of hanger rail, can also be different, two pieces of plate knots
Constitute that this is minimum, the rectangular base setting that two pieces of separation and symmetrically arranged L-shaped structure are equivalent to hollow out has the gap also removal square
Top surface in shape, L-shaped structure can also be arranged to half height, make driving wheel exposed portion, than two pieces plate knots of intensity of L-shaped structure
Structure will be got well.
Preferably, the activity hanger rail suspender includes:
Suspension plate is provided with sliding slot；
Hinge column can hingedly fix the hanger rail on suspension plate and the left side；
Traveller, the free end for being inserted into the sliding slot and the movable hanger rail of suspension plate are fixed, and traveller can slide in sliding slot.
Alternatively, the activity hanger rail suspender includes:
Chain, one end fixes with suspension plate, the hanger rail on the other end and the left side is fixed, chain there are the length stretched.
Preferably, the executing agency includes at least a set of hoisting mechanism, which includes:
Slide bar, low side are fixed with the movable hanger rail；
Guide rail, two, guide rail is fixed relative to the bracket, and slide bar is only capable of moving up and down along guide rail；It needs to illustrate
, guide rail is fixed relative to the bracket refers to that bracket can have various shape that can have such as lateral frame and perpendicular support,
Guide rail is directly anchored on bracket, rail brackets for fixing guide rails also can be set, then rail brackets are fixed on bracket
On.
Cross bar is fixed at the top of slide bar, and the length of cross bar is greater than the distance between two guide rails, and it is downward to limit slide bar
Skid off guide rail；
Casing, one end closing, the closed end and bracket are hinged；
Telescopic rod, outer end and slide bar are hinged, casing is inserted into inner end；
Pressure spring is placed in casing and can control telescopic rod extension；
Manually when upper top activity hanger rail, telescopic rod compression, slide bar is moved up along guide rail, and telescopic rod is upheld, movable hanger rail from
It holds funeral rites rail；When artificial drop-down activity hanger rail, telescopic rod compression, slide bar is moved down along guide rail and is limited by cross bar, and telescopic rod is upheld,
Movable hanger rail integrates with hanger rail.
Other than Manual structure, the executing agency includes at least a set of motor-driven hoisting mechanism, the motor-driven hoisting mechanism packet
It includes:
It promotes push-rod electric machine, lifting cylinder, lifting hydraulic cylinder or promotes electromagnetic coil, shell is relative to the bracket
Fixed, interlocking lever is fixed with the movable hanger rail, and when interlocking lever is shunk, movable hanger rail leaves the hanger rail, when even
When lever is upheld, movable hanger rail integrates with hanger rail.
It should be noted that promoting push-rod electric machine, lifting cylinder, lifting hydraulic cylinder or promoting electromagnetic coil relative to described
Bracket it is fixed refer to that bracket can have various shape that can have such as lateral frame and perpendicular support, promote push-rod electric machine, promote gas
The shell of cylinder, lifting hydraulic cylinder or promotion electromagnetic coil is directly anchored on bracket, also be can be set and is promoted push rod for fixed
Motor, lifting cylinder, lifting hydraulic cylinder or the lifting bracket for promoting solenoid housing, then lifting bracket is fixed on bracket
On.
Preferably, the executing agency includes:
Sideslip bar, is fixed relative to the bracket by two；
Sliding sleeve, two, sliding sleeve and movable hanger rail top are fixed, and sliding sleeve is covered moves in sideslip bar external enwergy along sideslip bar
Dynamic, movable hanger rail can follow sliding sleeve to leave the hanger rail or integrate with hanger rail.
It should be noted that sideslip bar refers to that bracket can have various shape that can have example relative to the bracket fixation
Such as lateral frame and perpendicular support, sideslip bar is directly anchored on bracket, and the sideslip bracket for fixing sideslip bar also can be set, then
Sideslip bracket is fixed on bracket.
It should also be noted that, the frictional force between reasonable sliding sleeve and sideslip bar can be set, it can be ensured that movable hanging
Rail will not be traversing at work, but can be enable by artificial thrust movable hanger rail follow sliding sleeve leave the hanger rail or with
Hanger rail integrates with.Unidirectional gag lever post can also be set on sideslip bar, which can ensure that movable hanger rail accurately connects with hanger rail
Rail.
In addition to it is artificial it is horizontal push away movable hanger rail other than, further, further includes:
Traversing push-rod electric machine, transverse cylinder, traversing hydraulic cylinder or traversing electromagnetic coil, shell is relative to the bracket
Fixed, the interlocking lever connection movable hanger rail, when interlocking lever is shunk, movable hanger rail leaves the hanger rail, works as gearing
When bar is upheld, movable hanger rail and hanger rail.
It should be noted that traversing push-rod electric machine, transverse cylinder, traversing hydraulic cylinder or traversing solenoid housing relative to
The bracket fixation refers to that bracket can have various shape that can have such as lateral frame and perpendicular support, traversing push-rod electric machine, cross
It moves cylinder, traversing hydraulic cylinder or traversing solenoid housing to be directly anchored on bracket, also can be set for installing traversing push away
The traversing bracket of bar motor, transverse cylinder, traversing hydraulic cylinder or traversing solenoid housing, then traversing bracket is fixed on bracket
On.
Obviously, it is easier to operate to by traversing push-rod electric machine, transverse cylinder, traversing hydraulic cylinder or traversing electromagnetic coil.
Preferably, the executing agency includes:
Hinge, two, the hanger rail bottom surface on one end and the right is fixed, the other end is fixed with movable hanger rail bottom of right side, living
Dynamic hanger rail can be rotated centered on hinge, and two hinges are separately fixed at the two sides in gap；
Rotating push-rod motor, rotation cylinder, rotational hydraulic cylinder or rotation electromagnetic coil, shell and the bracket are cut with scissors
It connects, is hinged at the top of interlocking lever and movable hanger rail, when interlocking lever is upheld, the hanger rail is left in movable hanger rail one end, works as gearing
When bar is shunk, movable hanger rail integrates with hanger rail.
When movable hanger rail is moved up or translated, other hanger rails, suspension type robot traveling can be set on a corresponding position
It moves up or translates followed by movable hanger rail on to movable hanger rail, finally integrate with other hanger rails.
The utility model is with structure is simple, optional technical solution is more, becomes the fireballing beneficial effect of rail.
Detailed description of the invention
Fig. 1 is the utility model hinge and the relevant structural schematic diagram of bolt.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the structural schematic diagram of suspension type robot and hanger rail.
Fig. 4 is the cross-sectional view of the vertical view of Fig. 3.
Fig. 5 is the bottom view of Fig. 1.
Fig. 6 is view when movable hanger rail free end moves down in Fig. 1.
Fig. 7 is the structural schematic diagram using rotating push-rod motor control activity hanger rail.
Fig. 8 is the structural schematic diagram of lifting mechanism control activity hanger rail.
Fig. 9 is the top view of Fig. 8.
Figure 10 is the structural schematic diagram for promoting push-rod electric machine control activity hanger rail.
Figure 11 is the structural schematic diagram of traversing push-rod electric machine control activity hanger rail.
Specific embodiment
The utility model is further described now in conjunction with attached drawing:
As shown, a kind of change rail structure of suspension type robot, comprising:
Hanger rail 1, section are in hollow shape, and the bottom surface of hanger rail 1, which opens up, has the gap 10, the driving wheel of suspension type robot
It can travel on bottom surface, suspension type robot passes through the gap 10 and couples with driving wheel, and hanger rail 1 is fixed through bracket 3 with building,
Hanger rail 1 is provided with one section of movable hanger rail 11, further includes executing agency, which can move movable hanger rail 11, can make activity
Hanger rail 11 integrates with hanger rail 1, can also make movable 11 shift position of hanger rail, and driving wheel is so as to leaving or drive into hanger rail 1.
One of embodiment, executing agency include:
As shown in Figure 1, Figure 2, shown in Fig. 5, Fig. 6, hinge 22, two, 1 bottom surface of hanger rail on one end and the right fixed, the other end
It is fixed with movable 11 bottom of right side of hanger rail, movable hanger rail 11 can be rotated centered on hinge 22, and two hinges 22 are separately fixed at
The two sides in gap 10；
Keeper, two, keeper frame 211 and 1 bottom surface of hanger rail on the left side are fixed, and bolt 212 penetrates keeper frame 211 and can move
It is dynamic, when bolt 212 stretches out, the free end 111 on 11 left side of energy support activity hanger rail, so as to make movable hanger rail 11 and hanger rail 11
It integrates with, when bolt 212 is shunk, the free end 111 of movable hanger rail 11 is moved down；It further include movable hanger rail suspender, two, one
End and free end 111 be fixed, the hanger rail 1 on the other end and the left side is fixed, when bolt 212 inside contracts, the free end 111 of movable hanger rail 11
When moving down, it can be held by movable hanger rail suspender, so that movable hanger rail 11 be made to be obliquely installed.
Movable hanger rail 11 is separated by two pieces of slab constructions, two pieces and symmetrically arranged L-shaped structure or section are identical as hanger rail 1
Structure composition, when movable hanger rail 11 using section with 1 identical structure of hanger rail when, hanger rail 1 of the movable hanger rail 11 close to the left side
Position there are rotation vacancy 111.
Movable hanger rail suspender includes:
Suspension plate 25, is provided with sliding slot；
Hinge column 23, can be hingedly fixed by the hanger rail 1 on suspension plate 25 and the left side；
The free end 111 of traveller 24, the sliding slot and movable hanger rail 11 that are inserted into suspension plate 25 is fixed, and traveller 24 can be in sliding slot
Interior sliding.
Alternatively, movable hanger rail suspender includes:
Chain, one end and suspension plate 25 be fixed, the hanger rail 1 on the other end and the left side is fixed, chain there are the length stretched
Degree.
One of embodiment, executing agency include at least a set of hoisting mechanism, and as shown in Figure 8, Figure 9, which includes:
Slide bar 42, low side and movable hanger rail 11 are fixed；
Guide rail 41, two, guide rail 41 is fixed relative to bracket 3, and slide bar 42 is only capable of moving up and down along guide rail 41；
Fixed at the top of cross bar 421, with slide bar 42, the length of cross bar 421 is greater than the distance between two guide rails 41, can limit
Slide bar 42 processed skids off downwards guide rail 41；
Casing 44, one end closing, the closed end and bracket 3 are hinged；
Telescopic rod 45, outer end and slide bar 42 are hinged, casing 44 is inserted into inner end；
Pressure spring 33 is placed in casing 44 and can control the extension of telescopic rod 45；
Manually when upper top activity hanger rail 11, telescopic rod 45 compresses, and slide bar 42 is moved up along guide rail 41, and telescopic rod 45 is upheld,
Movable hanger rail 11 leaves hanger rail 1；When artificial drop-down activity hanger rail 11, telescopic rod 45 compresses, slide bar 42 moved down along guide rail 41 and
It is limited by cross bar 421, telescopic rod 45 is upheld, and movable hanger rail 11 integrates with hanger rail 1.
One of embodiment, executing agency include at least a set of motor-driven hoisting mechanism, as shown in Figure 10, the motor-driven hoisting mechanism
Include:
It promotes push-rod electric machine 5, lifting cylinder, lifting hydraulic cylinder or promotes electromagnetic coil, shell is solid relative to bracket 3
Fixed, interlocking lever and movable hanger rail 11 are fixed, and when interlocking lever is shunk, movable hanger rail 11 leaves the hanger rail 1, work as interlocking lever
When extension, movable hanger rail 11 integrates with hanger rail 1.
As shown in figure 11, executing agency includes:
Sideslip bar 61, it is two, fixed relative to bracket 3；
Sliding sleeve 62, two, fixed at the top of sliding sleeve 62 and movable hanger rail 11,62 sets of sliding sleeve in 61 external enwergy of sideslip bar along sideslip
Bar 61 is mobile, and movable hanger rail 11 can follow sliding sleeve 62 to leave hanger rail 1 or integrate with hanger rail 1.
As shown in figure 11, further, further includes:
Traversing push-rod electric machine 63, transverse cylinder, traversing hydraulic cylinder or traversing electromagnetic coil, shell are solid relative to bracket 3
Fixed, interlocking lever connection activity hanger rail 11, when interlocking lever is shunk, movable hanger rail 11 leaves the hanger rail 1, when interlocking lever is stretched
Zhang Shi, movable hanger rail 11 integrate with hanger rail 1.
As shown in fig. 7, executing agency includes:
Hinge 22, two, 1 bottom surface of hanger rail on one end and the right is fixed, the other end and movable 11 bottom of right side of hanger rail are solid
Fixed, movable hanger rail 11 can be rotated centered on hinge 22, and two hinges 22 are separately fixed at the two sides in gap 10；
Rotating push-rod motor 26, rotation cylinder, rotational hydraulic cylinder or rotation electromagnetic coil, shell and bracket 3 are hinged, connect
Lever and 11 top of movable hanger rail are hinged, and when interlocking lever is upheld, the hanger rail 1 is left in movable 11 one end of hanger rail, work as gearing
When bar is shunk, movable hanger rail 11 integrates with hanger rail 1.
Claims (9)
1. a kind of change rail structure of suspension type robot, characterized in that include:
Hanger rail (1), section are in hollow shape, and the bottom surface of hanger rail (1), which opens up, to be had the gap (10), the driving of suspension type robot
Wheel can travel on bottom surface, and suspension type robot couples with driving wheel across the gap (10), hanger rail (1) through bracket (3) with build
It builds object to fix, it further includes executing agency, which can move movable hanging that hanger rail (1), which is provided with one section of movable hanger rail (11),
Rail (11), can make movable hanger rail (11) integrate with hanger rail (1), can also make movable hanger rail (11) shift position, driving wheel so as to
Leave or drive into hanger rail (1).
2. a kind of change rail structure of suspension type robot as described in claim 1, characterized in that the executing agency includes:
Hinge (22), two, hanger rail (1) bottom surface on one end and the right fixes, the other end and movable hanger rail (11) bottom of right side
Fixed, movable hanger rail (11) can be rotated centered on hinge (22), and two hinges (22) are separately fixed at the two sides of gap (10)；
Keeper, two, keeper frame (211) and hanger rail (1) bottom surface on the left side are fixed, and bolt (212) penetrates keeper frame (211) energy
It is mobile, when bolt (212) are stretched out, the free end (111) on energy support activity hanger rail (11) left side, so as to make movable hanger rail
(11) it integrates with hanger rail (11), when bolt (212) are shunk, the free end (111) of movable hanger rail (11) is moved down；
It further include movable hanger rail suspender, two, the one end and free end (111) fixed, the other end and the left side
Hanger rail (1) is fixed, when bolt (212) inside contracts, the free end (111) of movable hanger rail (11) moves down, can be hung by movable hanger rail
Part is held, so that movable hanger rail (11) be made to be obliquely installed.
3. a kind of change rail structure of suspension type robot as claimed in claim 2, characterized in that the activity hanger rail (11) by
Two pieces of slab constructions, two pieces of separation and symmetrically arranged L-shaped structure or section and the identical structure composition of hanger rail (1), work as activity
Hanger rail (11) using section and when hanger rail (1) identical structure, movable hanger rail (11) close to the position of the hanger rail (1) on the left side there are
It rotates vacancy (110).
4. a kind of change rail structure of suspension type robot as claimed in claim 3, characterized in that the activity hanger rail suspender
Include:
Suspension plate (25), is provided with sliding slot；
Hinge column (23), can be hingedly fixed by the hanger rail (1) on suspension plate (25) and the left side；
The free end (111) of traveller (24), the sliding slot and the movable hanger rail (11) that are inserted into suspension plate (25) is fixed, traveller
(24) it can be slided in sliding slot；
Alternatively, the activity hanger rail suspender includes:
Chain, one end and suspension plate (25) are fixed, the hanger rail (1) on the other end and the left side is fixed, chain there are the length stretched
Degree.
5. a kind of change rail structure of suspension type robot as described in claim 1, characterized in that the executing agency includes extremely
Few a set of hoisting mechanism, the hoisting mechanism include:
Slide bar (42), low side and the movable hanger rail (11) are fixed；
Guide rail (41), two, guide rail (41) is fixed relative to the bracket (3), and slide bar (42) is only capable of along on guide rail (41)
Lower movement；
Cross bar (421) is fixed at the top of slide bar (42), and the length of cross bar (421) is greater than the distance between two guide rails (41),
Slide bar (42) can be limited and skid off guide rail (41) downwards；
Casing (44), one end closing, the closed end and bracket (3) are hinged；
Telescopic rod (45), outer end and slide bar (42) are hinged, inner end insertion casing (44)；
Pressure spring (33) is placed in casing (44) and can control telescopic rod (45) extension；
Manually when upper top activity hanger rail (11), telescopic rod (45) compression, slide bar (42) is moved up along guide rail (41), telescopic rod (45)
It upholds, movable hanger rail (11) leaves hanger rail (1)；When artificial drop-down activity hanger rail (11), telescopic rod (45) compression, slide bar (42) edge
Guide rail (41) move down and limited by cross bar (421), telescopic rod (45) is upheld, and movable hanger rail (11) integrates with hanger rail (1).
6. a kind of change rail structure of suspension type robot as described in claim 1, characterized in that the executing agency includes extremely
Few a set of motor-driven hoisting mechanism, the motor-driven hoisting mechanism include:
It promotes push-rod electric machine (5), lifting cylinder, lifting hydraulic cylinder or promotes electromagnetic coil, shell is relative to the bracket
(3) fixed, interlocking lever and the movable hanger rail (11) are fixed, and when interlocking lever is shunk, movable hanger rail (11) is left described
Hanger rail (1), when interlocking lever uphold when, movable hanger rail (11) integrates with hanger rail (1).
7. a kind of change rail structure of suspension type robot as described in claim 1, characterized in that the executing agency includes:
Sideslip bar (61), it is two, fixed relative to the bracket (3)；
Sliding sleeve (62), two, sliding sleeve (62) and the movable hanger rail (11) top are fixed, and sliding sleeve (62) is covered in sideslip bar (61)
External enwergy is mobile along sideslip bar (61), and movable hanger rail (11) can follow sliding sleeve (62) to leave the hanger rail (1) or and hanger rail
(1) it integrates with.
8. a kind of change rail structure of suspension type robot as claimed in claim 7, characterized in that further include:
Traversing push-rod electric machine (63), transverse cylinder, traversing hydraulic cylinder or traversing electromagnetic coil, shell is relative to the bracket
(3) fixed, the interlocking lever connection movable hanger rail (11), when interlocking lever is shunk, movable hanger rail (11) is left described
Hanger rail (1), when interlocking lever is upheld, movable hanger rail (11) integrates with hanger rail (1).
9. a kind of change rail structure of suspension type robot as described in claim 1, characterized in that the executing agency includes:
Hinge (22), two, hanger rail (1) bottom surface on one end and the right fixes, the other end and movable hanger rail (11) bottom of right side
Fixed, movable hanger rail (11) can be rotated centered on hinge (22), and two hinges (22) are separately fixed at the two sides of gap (10)；
Rotating push-rod motor (26), rotation cylinder, rotational hydraulic cylinder or rotation electromagnetic coil, shell and the bracket (3)
Hingedly, interlocking lever and movable hanger rail (11) top are hinged, and when interlocking lever is upheld, described hang is left in movable hanger rail (11) one end
Rail (1), when interlocking lever is shunk, movable hanger rail (11) integrates with hanger rail (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820663011.1U CN208342828U (en) | 2018-05-04 | 2018-05-04 | The change rail structure of suspension type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820663011.1U CN208342828U (en) | 2018-05-04 | 2018-05-04 | The change rail structure of suspension type robot |
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| Publication Number | Publication Date |
|---|---|
| CN208342828U true CN208342828U (en) | 2019-01-08 |
Family
ID=64888282
Family Applications (1)
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| CN201820663011.1U Active CN208342828U (en) | 2018-05-04 | 2018-05-04 | The change rail structure of suspension type robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007691A (en) * | 2019-05-13 | 2019-07-12 | 招商局重庆交通科研设计院有限公司 | A kind of running gear for tunnel crusing robot |
| CN112008686A (en) * | 2020-09-03 | 2020-12-01 | 南京派光高速载运智慧感知研究院有限公司 | Track suspension device arranged along suspension track |
-
2018
- 2018-05-04 CN CN201820663011.1U patent/CN208342828U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007691A (en) * | 2019-05-13 | 2019-07-12 | 招商局重庆交通科研设计院有限公司 | A kind of running gear for tunnel crusing robot |
| CN110007691B (en) * | 2019-05-13 | 2024-02-27 | 招商局重庆交通科研设计院有限公司 | Running system for tunnel inspection robot |
| CN112008686A (en) * | 2020-09-03 | 2020-12-01 | 南京派光高速载运智慧感知研究院有限公司 | Track suspension device arranged along suspension track |
| CN112008686B (en) * | 2020-09-03 | 2021-07-30 | 南京派光高速载运智慧感知研究院有限公司 | Track suspension device arranged along suspension track |
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