CN208585344U - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN208585344U CN208585344U CN201820602177.2U CN201820602177U CN208585344U CN 208585344 U CN208585344 U CN 208585344U CN 201820602177 U CN201820602177 U CN 201820602177U CN 208585344 U CN208585344 U CN 208585344U
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- CN
- China
- Prior art keywords
- arm
- clasping
- component
- pole
- clasp
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The utility model provides a kind of robot.The robot of the utility model, comprising: scalable fuselage and be set on the scalable fuselage and clasp component；The component of clasping is for clasping pole-climbing mechanism when the scalable fuselage is in the first tensional state, and for being rotated when the scalable fuselage is shunk around the pole-climbing mechanism, and for unclamping the pole-climbing mechanism when the scalable fuselage is in the second tensional state；Wherein, tensile elongation when the scalable fuselage is in first tensional state is greater than fuselage length when the scalable fuselage is in second tensional state.Robot can be climbed from ground to plateau in the utility model, and obstacle climbing ability is preferable.
Description
Technical field
The utility model relates to automatic control machinery field more particularly to a kind of robots.
Background technique
With the continuous development of science and technology, the various robots or other mobile equipments for using remote control or automatic control mode
It is more and more widely used.
Currently, the mobile equipments such as robot can have chassis and running gear etc., running gear has generally included row
Walk wheel or traveling crawler.Robot can be realized by the reaction force between traveling wheel or traveling crawler and bottom surface in this way
Advance.In general, when ground is rugged and rough, or when there is more short barrier, robot can use biggish row
It walks wheel footpath or higher traveling crawler crosses the shorter barrier of height, to realize preferable passability.
However, robot is by walking when encountering plateau or other higher-height barriers when robot moves ahead
Wheel or traveling crawler are generally difficult to realize climbing and cross, thus can not rise on plateau.
Utility model content
The utility model provides a kind of robot, can climb from ground to plateau, obstacle climbing ability is preferable.
The utility model provides a kind of robot, comprising:
It scalable fuselage and is set on scalable fuselage and clasps component；
Component is clasped for clasping pole-climbing mechanism when scalable fuselage is in the first tensional state, and for scalable
It is rotated when fuselage is shunk around pole-climbing mechanism, and for unclamping pole-climbing mechanism when scalable fuselage is in the second tensional state；
Wherein, tensile elongation when scalable fuselage is in the first tensional state is greater than scalable fuselage and is in the second stretching
Fuselage length when state.
Optionally, clasp component include main body, the first actuator and at least one clasp arm；
First actuator is clasped arm and is arranged in main body, and the first actuator clasps arm and clasp pole-climbing mechanism for driving
Or unclamp pole-climbing mechanism.
Optionally, the quantity for clasping arm is two, and clasping component further includes link component, and the first actuator is for the company of driving
Bar component moves, so that link component drives two to clasp pole-climbing mechanism when clasping arm closure or unclamps pole-climbing when opening
Mechanism.
Optionally, two free ends of link component are rotatably arranged on two one end for clasping arm respectively, and link component is fixed
On the first actuator.
Optionally, link component includes the first connecting rod, second connecting rod, third connecting rod being successively articulated and connected；First connecting rod
Free end the one end for clasping arm is hingedly set, another one end for clasping arm is hingedly arranged in the free end of third connecting rod
Portion, second connecting rod are fixed on the first actuator.
Optionally, the first actuator includes the first cylinder, and second connecting rod is fixed on the first cylinder；Alternatively, the first driving
Part includes first motor and the screw rod by first motor driving, and second connecting rod is fixed on screw rod.
Optionally, when two are clasped arm in the closure state, first connecting rod, second connecting rod, third connecting rod connect into one
Straight line.
Optionally, the quantity for clasping arm is one, and to clasp arm hinged with main body around arm is clasped for driving for the first actuator
End rotation clasp pole-climbing mechanism when arm and main body are closed so that clasping or unclamp climbing pole machine when opening relative to main body
Structure.
Optionally, clasping component further includes the locking mechanism being set in main body, and locking mechanism is for clasping arm and master
Body will clasp arm when being closed and be locked in main body.
Optionally, locking mechanism includes bolt axle and the second actuator, the second actuator for drive bolt axle relative to
Main body moves, and the free end for clasping arm is equipped with the through-hole of cooperation bolt axle.
Optionally, the first actuator includes the second motor and transmission parts, and the second motor is passed by transmission parts and end
Dynamic connection；And/or
Second actuator includes the second cylinder, and the second cylinder drives by adapter and bolt axis connection, and by adapter
Dynamic bolt axle is moved relative to main body.
Optionally, clasping component further includes at least one first limit switch, at least one first limit switch is set to
Close to the first position of bolt axle, by least one of the second position of close end situation in main body, for detecting bolt axle
Whether be inserted into through-hole, clasp arm whether be located in initial rotational position at least one of.
Optionally, clasping component further includes the second limit switch, and the second limit switch is set in main body close to for embracing
The third place for holding the edge of pole-climbing mechanism, for detecting whether edge touches pole-climbing mechanism.
Optionally, the inner sidewall for clasping arm is equipped at least one idler wheel.
Optionally, pole-climbing mechanism includes column and platform, and platform is set to the one end of column far from ground and around column
Outside, platform is for supporting robot when clasping component and clasping column；The supporting surface for clasping component and platform is equipped with
At least one universal wheel.
The robot of the utility model embodiment specifically includes scalable fuselage and clasping on scalable fuselage is arranged in
Component clasps component for clasping pole-climbing mechanism when scalable fuselage is in the first tensional state, and in scalable receipts
It is rotated when contracting around pole-climbing mechanism, and for unclamping pole-climbing mechanism when scalable fuselage is in the second tensional state；Wherein, it can stretch
Contracting fuselage has different tensile elongations under different stretch state, and stretching when scalable fuselage is in the first tensional state
Length is greater than fuselage length when scalable fuselage is in the second tensional state.Robot can be by clasping climbing pole machine in this way
Structure realizes climbing, to cross over from ground to plateau, obstacle climbing ability is stronger.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is structural schematic diagram of the robot of the offer of the utility model embodiment one when shrinking；
Fig. 2 is structural schematic diagram of the robot of the offer of the utility model embodiment one in stretching, extension；
Fig. 3 is structural schematic diagram of the robot climbing of the offer of the utility model embodiment one when in pole-climbing mechanism；
Fig. 4 be the utility model embodiment one provide clasp component clasp arm open when first structure diagram；
Fig. 5 is to clasp second structural schematic diagram of the component when clasping arm and opening in Fig. 4；
Fig. 6 is to clasp first structure diagram of the component when clasping arm and holding tightly in Fig. 4；
Fig. 7 is to clasp second structural schematic diagram of the component when clasping arm and holding tightly in Fig. 4；
Fig. 8 is another clasp component when clasping arm and keeping the in robot that the utility model embodiment two provides
One structural schematic diagram；
Fig. 9 be the utility model embodiment two provide clasp second structural schematic diagram of the component when clasping arm and clasping；
Figure 10 be the utility model embodiment two provide clasp component clasp arm open when structural schematic diagram.
Description of symbols:
1-scalable fuselage；2-clasp component；21-main bodys；22-the first actuator；23,23a, 23b, 23c-are embraced
Gripping arm；24-link components；25-universal wheels；26-locking mechanisms；28-the second limit switch；231-idler wheels；241-the
One connecting rod；242-second connecting rods；243-third connecting rods；261-bolt axles；262-the second actuator；271,272-the first
Limit switch；2311-support shafts；2312-roller bodies.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Embodiment one
Fig. 1 is structural schematic diagram of the robot of the offer of the utility model embodiment one when shrinking.Fig. 2 is that this is practical
Structural schematic diagram of the robot that new embodiment one provides in stretching, extension.Fig. 3 is the machine that the utility model embodiment one provides
Device people climbs structural schematic diagram when in pole-climbing mechanism.Robot provided in this embodiment has generally included running gear, row
Walking apparatus generally includes the mechanisms such as crawler belt or wheel, to realize the movement on level land, and can such as be observed, be penetrated
It hits, the functions such as plateau is climbed up by holding on to.For example, when the higher-height barriers such as plateau are encountered by robot, it is difficult by crawler belt or wheel
To climb plateau, but the pole-climbing mechanism 10 by being arranged beside plateau, robot can be made by pole-climbing mechanism
10 are climbed up by holding on to, thus in climbing to higher-height plateau.Wherein, the height of pole-climbing mechanism can be with the height for climbing up by holding on to platform
It is adaptively adjusted, to meet the climbing requirement of robot.Specifically, as shown in Figure 1 to Figure 3, machine provided in this embodiment
Device people specifically includes scalable fuselage 1 and is arranged on scalable fuselage 1 and clasp component 2, clasps component 2 for that can stretch
Contracting fuselage 1 clasps pole-climbing mechanism 10 when being in the first tensional state, and for rotating in scalable contraction around pole-climbing mechanism 10,
And for unclamping pole-climbing mechanism 10 when scalable fuselage 1 is in the second tensional state.Wherein, scalable fuselage 1 is in different drawings
Stretching has different tensile elongations under state, and be greater than can for tensile elongation when scalable fuselage 1 is in the first tensional state
Flexible fuselage 1 is in fuselage length when the second tensional state.
Specifically, pole-climbing mechanism 10 usually may include column 101 and platform 102, column in order to climb for robot
101 are vertically arranged, and platform 102 is set to the one end of column 101 far from ground and around the outside of column 101.Wherein, it stands
Column 101 can provide climbing height for robot, and platform 102 is for supporting machine when clasping component 2 and clasping column 101
People prevents robot during rotating around column 101 from column so as to provide the supporting point of climbing for robot
It is slid on 101.
It is appreciated that in practical applications, pole-climbing mechanism 10 can not also include platform 102, i.e., robot, which only relies on, embraces
Clasping and rotating for component column 101 is held, plateau is climbed up by holding on in realization.
Specifically, be illustrated so that pole-climbing mechanism 10 includes column 101 and platform 102 as an example, robot is in order to by climbing
Linkage 10 and climb up by holding on to the plateau with certain altitude, need that scalable fuselage 1 is first allowed to carry out certain stretching, extension, so as to
The top of platform 102 can be extended to by clasping component 2, and be clasped on the column 101 of pole-climbing mechanism 10；Then allow scalable machine
Body 1 is shunk, so that it is liftoff hanging to make robot, and flying height is not less than the height of plateau, only passes through 10 conduct of pole-climbing mechanism
Supporting point, and the rotation under vacant state by itself relative to pole-climbing mechanism 10 in the horizontal direction, i.e., on platform 102
Rotation, such as 30 degree, 60 degree, 90 degree, 120 degree, 150 degree, 180 degree of rotation, and a sidespin of the separate plateau from pole-climbing mechanism 10
It goes to close to the side of plateau；The stretching, extension again of the scalable fuselage 1 of last resort and drop to robot and connect with high countertop
The position of touching, and the component of clasping of robot is made to unclamp column 101, to complete entire climbing step.
Further, robot also can have different contracted lengths, when robot is completed to plateau after climbing up by holding on to, machine
The scalable fuselage 1 of device people can be contracted to the contraction state of any length.
Wherein, when robot is when stretching first time, scalable fuselage 1 is in the first tensional state, the first tensional state
Under scalable fuselage 1 tensile elongation it is longer, in this way when robot clasps on pole-climbing mechanism 10, robot is clasped
Position is higher, and can be realized higher terrain clearance when the contraction of the scalable fuselage 1 of robot；Robot is around pole-climbing in this way
When mechanism 10 rotates, can successfully it go to above plateau.Due to there is certain difference in height between high countertop and ground, thus
When the scalable fuselage 1 of robot is in the second tensional state, the fuselage length meeting of scalable fuselage 1 under the second tensional state
The tensile elongation of scalable fuselage 1 when less than the first tensional state.
In this way by the stretching, extension and contraction of the scalable fuselage 1 of robot, and clasp the embracing to pole-climbing mechanism 10 of component 2
It holds, robot can be allowed to climb from short bottom surface to higher-height plateau, it is thus possible to realize stronger obstacle detouring function
Energy.
Specifically, the scalable fuselage 1 of robot can be various structures and form, such as scalable fuselage 1 can have
The leverage being made of multiple connecting rods, the connecting rod in leverage can mutually slide, thus realize scalable fuselage 1 whole stretching, extension or
Person shrinks.Chassis can be set in the bottom of scalable fuselage 1, and chassis can be realized on level land using crawler belt or wheel
It is mobile；In addition, functional attachment, e.g. platform for video camera or pellet injector etc. can be set on scalable fuselage 1,
So as to tasks such as the shooting or the Virtual VGCSs that carry out robot.
And in order to allow robot to be additionally provided in robot by pole climbing to plateau and clasp component 2, clasp component
2 are usually located on scalable fuselage 1.And it is optional, in order to improve the operation flexibility for clasping component 2, clasping component 2 can lead to
The typically no structure in outside that the structure settings such as rack or connecting rod are crossed on scalable fuselage 1, and clasp component 2 into
Row blocks.
Fig. 4 be the utility model embodiment one provide clasp component clasp arm open when first structure diagram.
Fig. 5 is to clasp second structural schematic diagram of the component when clasping arm and opening in Fig. 4.Fig. 6 is that the component of clasping in Fig. 4 is being embraced
First structure figure when gripping arm is held tightly.Fig. 7 is to clasp second structural schematic diagram of the component when clasping arm and holding tightly in Fig. 4.Such as
Shown in Fig. 4 to Fig. 7, optionally, in order to clasp to pole-climbing mechanism 10, the component 2 of clasping of robot includes main body 21, first
Actuator 22 clasps arm 23 at least one, clasps arm 23 and the first actuator 22 is arranged in main body 21, the first actuator
22 for drive it is described clasp the outer circumferential that arm 23 clasps the pole-climbing mechanism 10, or unclamp pole-climbing mechanism 10, this model machine
When the scalable fuselage 1 of device people can be rotated around column 101, it is locked in the current axial position of column 101.
Wherein, main body 21 can be used as the support construction for clasping arm 23, provide movement fulcrum and structure to clasp arm 23
Support.Arm 23 is clasped as the main actions part for clasping component 2, inner periphery shape when holding tightly is usually and column 101
The shape that shape matches, in order to realize clasping and clamping for column 101.It is common, clasp arm 23 can have it is single or
The multiple equal different numbers of person, and when clasping the quantity difference of arm, individually clasping arm also can accordingly have different concrete shapes
And structure.
Optionally, in order to improve the overall structural strength for clasping component, the typically double plate structure of main body 21.This
When, main body 21 includes two plate-like pieces disposed in parallel, and is clasped in the gap that arm 23 is arranged between two plate-like pieces.This
Sample main body 21 can use more light plate-like piece and realize fixation to arm 23 is clasped, while reach higher structural strength.It can
Choosing, plate-like piece can be made of the higher material of carbon fibre material equal strength.Likewise, clasping arm 23 also may include two
A plate-like piece disposed in parallel, to reinforce clasping the structural strength of arm 23.
In addition, optional, main body 21 and/or clasp and be also provided with reinforcing rib or other ruggedized constructions on arm 23
Deng, to improve main body 21 and/or clasp the integral strength of arm 23, such as by ruggedized construction be set to two plate-like pieces disposed in parallel it
Between.
And clasp the generation of arm 23 in order to allow and clasp movement, clasp in component 2 can also including the first actuator 22, first
Actuator 22 typically directly or indirectly with clasp arm and connect, realize rotation or flat to clasp arm 23 by self power drive
The shift actions such as move, so that the either column 101 that opens for completing to clasp arm 23 clasps clamping.
23 column 101 of arm of clasping clasped in component 2 is completed after clasping, common, is clasped arm 23 and is clasped and be clamped in
On column 101 on an axial position, and clasping arm 23 will not be relative to the axially inclined of column 101 or loosening.In this way due to embracing
Gripping arm 23 is fixed with respect to the position of column 101 and posture, but robot can be fulcrum with column 101, by clasping
Arm 23 is around the rotation of column 101 and carries out descending operation by scalable fuselage 1 simultaneously, to complete the climbing of robot.
In this way by clasping the clamping of clasping of 23 column 101 of arm, robot can be used as by pole-climbing mechanism 10 and climb up by holding on to
When fulcrum carry out climbing up by holding on to operation.Specifically, the scalable fuselage 1 of robot becomes being in from the normal contraction state in Fig. 1
When the first tensional state, by clasping the mobile clamping column 101 of arm 23, as shown in Figure 2；And scalable fuselage 1 is shunk,
At this point, robot is integrally liftoff hanging, only relies on and clasp arm 23 and clasp on column 101, as shown in Figure 3；And it is rotating horizontally
After above to plateau, scalable fuselage 1 extends to the second tensional state to contact with high countertop, and unclamps and clasp arm 23, complete
It is acted at the entire obstacle detouring of robot.
In addition, robot is by clasping arm by when clasping arm 23 and clasping on the column 101 for be clamped in pole-climbing mechanism 10
Frictional force between 23 and column 101 and a certain height and position component 2 will be clasped be fixed in pole-climbing mechanism 10.Thus it is
The frictional force clasped between component 2 and column 101 is further increased, as optional embodiment, clasps arm 23 in clasping
When state, the part edge for clasping arm 23 and main body 21 is clasped jointly and is clamped in 101 outside of column.In this way, the portion of main body 21
Point edge can work with arm 23 is clasped, jointly wherein by 101 sandwiched of column.Since the part edge of main body 21 also can
It is bonded with the side wall of column 101, thus is equivalent to the contact surface for increasing and entirely clasping between component 2 and column 101, in this way
It is compared with the mode clasped for clasping the realization column 101 of arm 23 is only relied on, clasps the frictional force between component 2 and column 101
It is bigger, it clasps more reliable；And due to clasping component 2 by the edge of main body 21 and clasping the completion column 101 jointly of arm 23
Clamping, thus clasp arm 23 and do not need to surround the entire circumferential direction of column 101, but be only disposed around a certain of column 101
Except partial sidewall, the structure for clasping arm 23 is relatively simple.
And in order to realize clasping and clamping to the column 101 of pole-climbing mechanism 10, it can be a variety of different for clasping arm 23
Quantity and corresponding construction.Individually below by it is different clasp arm quantity for be described in detail.
In a kind of optional embodiment, clasping the quantity for clasping arm 23 in component 2 is two, clasps component 2 also
Including link component 24, the first actuator 22 is moved for drive link component 24, so that link component 24 drives two
A clasp clasps pole-climbing mechanism 10 or unclamps pole-climbing mechanism 10 when opening when arm 23a and 23b are closed.
Clasp arm 23a specifically, clasping and having in component 2 and clasp arm 23b, and two clasp arm 23a and 23b can be with
Column 101 is surrounded from the two sides of the column 101 of pole-climbing mechanism 10 respectively, so that completes column 101 clasps operation.
When being clasped and clamped due to column 101, clasps arm 23a and clasp arm 23b and applied respectively in the opposite sides of column 101
Add active force, thus column 101 can be clamped under the effect of the chucking power from two sides, accordingly even when clasping arm 23a and embracing
The structure of gripping arm 23b is relatively simple, and embracing for column 101 can also be completed and symmetrically exerting a force in 101 opposite sides of column
It holds and clamps, make to clasp component 2 and be relatively easy to realize and clasp clamping operation.
And clasp arm 23 in order to drive pole-climbing mechanism 10 is clasped, clasping component 2 further includes link component 24, connecting rod
Component 24 has generally included more connecting rods, and connecting rod usually by positions such as ends and can clasp arm 23 or the first actuator
22 realize connection, and other ends of connecting rod or middle section are provided with hinged shaft, thus under the driving of the first actuator 22
It is rotated around hinged shaft, and drives and clasp the movement of arm 23.
Common, clasping arm 23a and clasp arm 23b can be hinged by a shaft and main body 21, and two are clasped arm 23a
Column 101 is clasped from the two sides of column 101 respectively with 23b.
Wherein, clasp arm 23a and clasp arm 23b shape and structure it is usually symmetrical, two such clasps arm from climbing
When the column 101 or so of linkage 10 simultaneously clamps on, clasps stress point position between arm and column 101 and contact area is equal
Can keep roughly the same, to make 101 left and right sides stress of column more balanced, avoid clasping arm 23a and clasp arm 23b because
Force is uneven and occurs loosening and sliding phenomenon.
Optionally, clasping arm 23 can have bending section or bending segment, clasps arm 23 and clasps at 101 outside of column,
It clasps arm 23a and is mutually butted with the end for clasping arm 23b, to clasp the closing sky formed on the inside of arm for clasping column 101
Between.The end for clasping arm due to two so is mutually drawn close, as long as thus clasp arm 23a and clasp arm 23b it is mobile or rotate compared with
The column 101 of pole-climbing mechanism 10 can be clipped in wherein by small angle, and column 101 is not easy to clasp arm 23a and 23b from two
Clasp in shake off.
Further, clasping arm 23 usually can be arc-shaped, and two arc-shaped clasped arm 23a and clasp arm 23b phase
Pair and set, in opposite clasp combining main body 21 can be combined into jointly it is one approximate circle or oval close-shaped, should
It is close-shaped to be usually mutually matched with the outer wall shape of column 101, so as to which column 101 is clamped in centre.
And due to connecting rod have it is multiple, so the link component 24 that multiple connecting rods are collectively constituted can make it is internal each
Connecting rod keeps certain connection relationship, clasps arm 23 in drive when different connecting rods and moves to certain position, e.g. clasps and climb
It when the column 101 of linkage 10, is mutually contacted between different connecting rods, so as to form dead-centre position between adjacent connecting rod.
At this point, driving force is zero to the flywheel moment of connecting rod, drive link rotation can not be continued；Meanwhile pole-climbing mechanism 10 is by clasping
The moment of reaction that arm 23 applies connecting rod is also zero, and each connecting rod in link component 24 can not equally be allowed to be detached from dead-centre position.
At this point, link component 24 can be allowed to form locking and clasp 23 current location of arm by constituting mechanism dead point between multiple connecting rods
Locking mechanism, makes to clasp arm 23 and is maintained at current clamped position and can not loosen from pole-climbing mechanism 10, allows robot can
It clasps on pole-climbing mechanism.
When clasping 23 column 101 of arm and being clasped, clasping arm 23a and 23b for usual two can be simultaneously from 101 liang of column
The completion of side column 101 is clasped and is clamped.In order to drive two to clasp arm 23a and 23b synchronizing moving, as a kind of optional
Arm configuration is connected, two free ends of link component 24 are rotatably arranged on two one end for clasping arm respectively, and link component 24 is fixed
On the first actuator 22.When link component 24 moves under the driving of the first actuator 22 in this way, it can drive and clasp arm 23a
With clasp arm 23b while mobile, clasped or be detached from and clasped.
Further, link component 24 may include the first connecting rod 241 being successively articulated and connected, second connecting rod 242, third
Connecting rod 243；The one end for clasping arm 23a, the free end of third connecting rod 243 is hingedly arranged in the free end of first connecting rod 241
Hingedly another one end for clasping arm 23b is set, second connecting rod 242 is fixed on the first actuator 22.Specifically, second connects
Bar 242 can be opposite by the positions such as the middle section of itself and the connection of the first actuator 22, and under the driving of the first actuator 22
Main body 21 is mobile；And the two sides of second connecting rod 242 can be respectively symmetrically arranged in first connecting rod 241 and third connecting rod 243, and
It is corresponding to clasp arm 23 (clasp arm 23a or clasp arm 23b) connection with one.Such first actuator 22 only needs to drive individually
Second connecting rod 242 move, can drive simultaneously two as driven member first connecting rod 241 and third connecting rod 243 rotations, and
And then driving clasps arm 23 and realizes the column 101 clasped and clamp pole-climbing mechanism 10, or loosens from column 101.
Since second connecting rod 242 and the first actuator 22 connect, and two ends of second connecting rod 22 connect with first respectively
Bar 241 and third connecting rod 243 connect, thus second connecting rod 242 can be connect by itself middle section with the first actuator 22, and
Opposite main body 21 is translatable under the driving of the first actuator 22, e.g. towards the direction close to pole-climbing mechanism 10 or far from climbing
The direction of linkage 10 is mobile, and the end that first connecting rod 241 and third connecting rod 243 are not connect with second connecting rod 242 can be drawn
Move it is corresponding clasp arm 23, when the first actuator 22 drives second connecting rod 242 mobile towards the direction close to pole-climbing mechanism 10,
Link component 24, which can drive, clasps the column 101 that arm 23 unclamps pole-climbing mechanism 10, when the first actuator 22 drives second connecting rod
242 away from pole-climbing mechanism 10 direction it is mobile when, link component, which can drive to clasp arm 23 and clasp, clamps pole-climbing mechanism 10
Column 101；It is usually hinged in main body 21 due to clasping arm 23 itself, thus clasps the end of arm 23 by first connecting rod
241 or third connecting rod 243 driving when, the other end for clasping arm 23 can rotate round about therewith, e.g. towards climbing
The rotation of 10 side of linkage is either rotated far from 10 side of pole-climbing mechanism, is unclamped from column 101 to realize and clasp arm 23
Or column 101 is clasped.
Wherein, the first connecting rod 241 in link component 24, second connecting rod 242 and third connecting rod 243 all can be more
Kind different shape and structures, such as direct rod shape structure, thin plate-shaped structure or other abnormally-structured etc., as long as can be realized effect
The transmitting of power and movement, it is without restriction herein.
In order to allow link component 24 to realize when clasping arm 23 and clasping clamping, the function of locking current location optionally can
The dead-centre position realized when with using 24 inner link change in location of link component is realized.Specifically, working as two or more companies
When being mutually in dead-centre position between bar, since the connecting rod as driven member is conllinear with the direction of driving force, thus its rotatory force
Square is zero, and driving force can not make the connecting rod as driven member rotate equal attitudes vibrations.So as a kind of optional implementation
Mode clasps arm 23a and 23b when two in the closure state, first connecting rod 241, second connecting rod 242, third connecting rod
243 connections are in line.In this way as between three connecting rods of driven member be in dead-centre position, the movement of second connecting rod 242
First connecting rod 241 and third connecting rod 243 can not be driven mobile again or rotation, and first connecting rod 241, second connecting rod 242 and the
Three-link 243 collectively constituted under the angle one similar to straight-bar structure, be located to make to clasp arm 23a and clasp arm 23b
Three intermediate connecting rods abut and are in holding state.In general, first connecting rod 241, second connecting rod 242 and third connecting rod 243 exist
It clasps when arm 23 is closed and is typically connected to a horizontal linear.
At this point, outward work can be had by clasping arm 23 when clasping arm 23 has the trend loosened from column 101
Firmly and movement tendency, the end connected to link component 24 for clasping arm 23 corresponding can show the trend inwardly rotated；
But a straight-bar has been formed since the first connecting rod 241, second connecting rod 242 and third connecting rod 243 that are located at dead-centre position mutually abut
Structure, thus clasp the end meeting of arm 23 and the end of the straight-bar structure offsets and can not continue inwardly to rotate, at this time can be according to
Abutting between each connecting rod, and allow and clasp the opening angle that arm 23 can only be maintained at current, it can not continue to be flared out.This
When, clasping arm 23 can be clamped on column 101.Pass through the mutual abutting of connecting rod and formation mechanism dead point, Ke Yirang in this way
It clasps arm 23 and is locked in clamped position without loosening, effectively allow and clasp component 2 and clasp in the current location of pole-climbing mechanism 10.
Locking is realized in addition, clasping arm 23 also and can use other way, such as difference in link component 24 can be allowed to connect
Being provided on bar can mutually matched snap-in structure.It is different when link motion is to when clasping position that arm 23 and column 101 are held tightly
Snap-in structure on connecting rod, which will be realized, to be mutually clamped, thus the current location of fixed link component and shape, is realized to clasping
The locking of arm 23.Snap-in structure can be protrusion and groove or the holding section etc. that other shapes are mutually matched.
In addition, for driving the first actuator 22 for clasping the movement of arm 23 also to can have a variety of different structures and shape
Formula.In a kind of wherein optional form, the first actuator 22 includes first motor and the screw rod that is driven by first motor, and the
Two connecting rods are fixed on screw rod.Screw rod can realize screwfeed, per revolution, Ji Keyan by power sources such as first motors
Axially forward or certain distance is moved backward, and drives the structure motions such as second connecting rod.Screw rod is when first motor stops, meeting
Self-locking effect is realized by the motion thread of screw rod itself, and current location can be also fixed on by clasping arm 23 in this way, without from vertical
It is disengaged on column 101, it is preferable to clasp effect.
In addition, the first actuator 22 also may include the first cylinder, and second connecting rod is fixed on the first cylinder.So i.e.
Arm movement is clasped using the movement progress of piston in the first cylinder.This field can be used in its specific structure and connection type
The common mode of technical staff realizes that details are not described herein again.
In order to which in the course of work for clasping component 2, the working condition that component 2 is clasped in judgement optionally clasps component 2
It further include detection device, specifically, detection device may include one or more limit switches.Specifically, limit switch can be with
With detection elastic slice, and is connected when detecting elastic slice with other component contacts and generate signal.It wherein, can be in multiple limit switches
The first limit switch of arm state and locking mechanism state is clasped including detecting, and clasps the whole position of component 2 for detecting
Second limit switch set etc..
In order to during robot is moved and is climbed, to clasping whether component 2 is clasped pole-climbing mechanism 10
Position is detected, and clasping can be set the second limit switch on component 2, and the second limit switch is set in main body 21 close to use
The third place in the edge for clasping pole-climbing mechanism 10, for detecting whether edge touches pole-climbing mechanism 10.Such second limit
Switch can be used for detecting column 101 whether the EDGE CONTACT with main body 21.When clasping component 2 and clasping posture in standing (qigong) column 101, column
101 side wall will be with 21 EDGE CONTACT of main body, at this point, the detection elastic slice of the second limit switch will also touch column 101
And connect the second limit switch.In this way, by the second limit switch, at the edge of the side wall and main body 21 that detect column 101
When contact, it can carry out clasping movement with automatic trigger robot, reduce operation of the user to robot, be conducive to robot
It is intelligent.
Optionally, scratch is generated in order to avoid clasping component 2 when clasping column 101 or frictional force is excessive etc. unfavorable clasps
Or the case where rotation, it clasps and is provided at least one idler wheel 231 on the inner sidewall of arm 23.Idler wheel 231 can utilize the rolling of itself
It is dynamic to eliminate or reduce column 101 and clasp the scratch phenomenon or frictional force when component 2 collides, guarantee to clasp or rotation process it is suitable
Benefit carries out.
Further, since the top of pole-climbing mechanism 10 is usually arranged platform 102, and the platform 102 is used to embrace clasping component 2
Robot is supported when holding column 101, it is universal that at least one has can be set on the supporting surface with platform 102 for clasping component 2
Wheel.When robot is rotated relative to column 101, by the rotation of universal wheel, it can allow and clasp component 2 relative to column 101
It more moves freely and smoothly, reduces the resistance of rotation.
In the present embodiment, robot, which specifically includes scalable fuselage and is arranged on scalable fuselage, clasps component, embraces
Component is held for clasping pole-climbing mechanism when scalable fuselage be in the first tensional state, and is used in scalable contraction around climbing
Linkage rotation, and for unclamping pole-climbing mechanism when scalable fuselage is in the second tensional state；Wherein, scalable fuselage exists
There is different tensile elongations under different stretch state, and tensile elongation when scalable fuselage be in the first tensional state will be greatly
Fuselage length when scalable fuselage is in the second tensional state.Robot can be climbed by clasping the realization of pole-climbing mechanism in this way
It climbs, to cross over from ground to plateau, obstacle climbing ability is stronger.
Embodiment two
In addition, the arm quantity of clasping clasped in component may be one.Fig. 8 is that the utility model embodiment two provides
Another front view for clasping component in robot.Fig. 9 is that the component of clasping that the utility model embodiment two provides is clasping arm
Structural schematic diagram when clasping.Figure 10 be the utility model embodiment two provide clasp component clasp arm open when structure
Schematic diagram.As shown in Fig. 8 to Figure 10, in the present embodiment, component 2 is clasped with one and clasps arm 23c, and clasps the one of arm 23c
A end and the main body 21 for clasping component 2 are hinged, and the first actuator 22 clasps arm 23c around clasping arm 23c and main body for driving
21 hinged end rotations, clasp pole-climbing mechanism 10 or open relative to main body 21 so that clasping when arm 23c is closed with main body 21
Pole-climbing mechanism 10 is unclamped when opening.
Specifically, be one due to clasping arm 23c, thus this clasps arm 23c using one end and the main body 21 for clasping component 2
Hingedly, and the other end from 101 side of column around to column 101 behind, then from 101 other side wraparound of column, last and main body
21 modes being fixedly connected realize that clasps 2 column 101 of component clasps clamping.When clasping, arm 23c and main body 21 are clasped
The part edge towards 101 side of column be oppositely arranged, and it is circumferential with the part edge of main body 21 to be trapped among column 101 jointly
Outside.Specifically, thus clasping the articulated shaft of the end arm 23c is usually vertical direction, clasping arm 23c in this way can be from column
Column 101 is clasped wherein in 101 circumferential direction, so that robot carries out climbing up by holding on to operation.
In order to allow robot that can realize that whole climbing is mobile, clasps arm 23c and is clasping column by component 2 is clasped
It needs to be locked in main body 21 after 101, to avoid when robot is climbed, occurring clasping situations such as arm 23c is loosened.In order to
It clasps after arm 23c column 101 clasped, rotation angle arm 23c will be clasped be locked in after clasping, as a kind of optional
Mode, clasping component 2 further includes the locking mechanism 26 being set in main body 21, locking mechanism 26 be used for clasp arm 23c with
Main body 21 will clasp arm 23c when being closed and be locked in main body 21.
Optionally, locking mechanism 26 includes bolt axle 261 and the second actuator 262, and the second actuator 262 is for driving
Bolt axle 261 is moved relative to main body 21, and the free end for clasping arm 23c is equipped with the through-hole of cooperation bolt axle 261 (in figure not
It shows).
Specifically, bolt axle 261 is generally arranged in main body 21 and can be mobile relative to main body 21, and positioned at clasping arm
The tip of 23c and the through-hole being inserted into for bolt axle 261, clasp arm 23c and clasp the freedom for clasping arm 23c when on column 101
Bolt axle 261 in main body 21 can be inserted into through-hole at this time close to main body 21 by end, will clasp arm 23c locking and real
Referring now to the clamping of column 101.
Specifically, the free end for clasping arm 23c can directly open up through-hole, or by the free end for clasping arm 23c
Other accessory structures are set, and form the through-hole being inserted into for bolt axle 261 on accessory structure.When clasp arm 23c rotate to
When the angle being clamped on column 101, bolt axle 261 is opposite with the position of through-hole, bolt axle 261 can along axial advancement,
Until entering in through-hole.At this point, bolt axle 261 can be with the hole of through-hole when clasping arm 23c with around the trend that articulated shaft rotates
Wall offsets, to prevent to clasp arm 23c rotation, allows and clasps the rotation angle that arm 23c is locked in after clasping.Because at this time for locking
Surely the active force of the position arm 23c is clasped from locking mechanism 26, and clasps the first actuator 22 of arm 23c not stress, is embraced
Holding component 2 more can reliably clasp on column 101, and locking and locating effect are preferable.
In order to allow locking mechanism 26 to realize locking, optionally, the second actuator 262 may include the second cylinder, the second gas
Cylinder and bolt axle can be arranged in parallel in main body 21, and the second cylinder is connected by the end of adapter and 261 the same side of bolt axle
It connects, and drives bolt axle 261 to move relative to main body 21 by adapter.Second cylinder can apply to bolt axle 261
Active force moves axially bolt axle 261 along itself, to be inserted among through-hole or be detached from from through-hole.In addition, second drives
Moving part 262 can also be using driving method commonly used by other those skilled in the art, as long as can be realized inserting for bolt axle 261
It pulls out, it is without restriction herein.
And arm 23c is clasped around articulated shaft rotation in order to drive, usual first actuator 22 also can have a variety of differences
Structure.For example, the first actuator 22 may include the second motor and transmission parts, the second electricity in a kind of optional mode
Machine passes through transmission parts and the end transmission connection for clasping arm 23c.At this point, transmission parts may include the mechanisms such as synchronizing wheel.Together
Step wheel and articulated shaft are coaxial, thus can under the drive of the motor, and by itself rotation, drive is clasped arm 23c and turned around articulated shaft
Dynamic, completion is clasped or release movement；Alternatively, transmission parts may be gear drive, and by between each gear
Transmission is completed in engagement；Again alternatively, transmission parts also may include sprocket wheel and chain etc., and by the engagement between chain and sprocket wheel
Complete transmission.In addition, transmission parts may be the common structure of other those skilled in the art, details are not described herein again.
Optionally, since the cross section of column 101 is generally circular in cross section or oval, thus the inner edge shape of arm 23c is clasped
It can be arc-shaped to match with the outline shape of column 101.At this point, clasp the surface shape of arm 23c and column 101 compared with
Be it is identical, contact area is larger, thus generate to clasp power and frictional force also larger, can reliably clasp in column 101 it
On.
And in order to which in the course of work for clasping component 2, the work shape of the components such as arm 23c and locking mechanism is clasped in judgement
State, optionally, clasping component 2 further includes at least one first limit switch, to detect corresponding portion using the first limit switch
Whether part moves in place.Specifically, different first limit switches can be set when clasping component 2 including multiple first limit switches
It sets in the different location for clasping component 2.
Wherein, at least one described first limit switch can be set in main body 21 close to first of bolt axle 261
It sets, and at least one position in the second position of close end.In this way, the first limit switch 271 in first position
It can be used for detecting the default axial position whether bolt axle 261 is moved in insertion through-hole.Specifically, when bolt axle 261 moves
When moving to through-hole, the first limit switch 271 detection elastic slice, which will contact, clasps arm 23c, and connects the first limit switch 271,
To can determine whether that bolt axle 261 is correctly moved in through-hole, and then it can determine and clasp whether arm 23c is locked.
In addition, the first limit switch 272 in the second position, which can be used for detecting, clasps whether arm 23c is located at initial rotation
Position.When clasping arm 23c and being located at initial rotational position, the end for clasping arm 23c can be close to the first limit positioned at the second position
Bit switch 272, and it is turned or switched on the first limit switch 272, so as to control the opening angle for clasping arm 23c.
In addition, clasping on component 2 equally includes that second limit switch 28 is similar in previous embodiment one, the
Two limit switches 28 are similarly provided at close to the third place at the edge for clasping pole-climbing mechanism 10 in main body 21, for detecting
Whether pole-climbing mechanism 10 is touched in edge.The specific location and function of second limit switch 28 have carried out in previous embodiment one
It is described in detail, details are not described herein again.
Above the first limit switch 27 and the second limit switch 28, is distributed in the different parts clasped on component 2, thus
One or more can be only set, can also all first limit switches 27 and the second limit switch 28 be arranged at and embrace
It holds on component 2, and accordingly carries out the detection of different aspect.
In addition, it is similar in embodiment one, it also can be set at least one on arm 23c inner sidewall clasping clasping for component 2
A idler wheel 231 reduces friction and scratch between pole-climbing mechanism 10 with the rolling by itself.
Specifically, as shown in fig. 7, being usually provided with support shaft on the inner sidewall for clasping arm 23 in order to which idler wheel 231 is arranged
2311 and the roller body 2312 that is set in outside support shaft 2311.Roller body 2312 can be freely rotated relative to support shaft 2311, this
When sample pole-climbing mechanism 10 touches roller body 2312, roller body 2312 can by itself rolling reduction and pole-climbing mechanism 10 it
Between friction and scratch.Generally it is convenient for the rolling of roller body 2312, can be set between roller body 2312 and support shaft 2311
There is bearing.In addition it is also possible to directly be arranged a bearing outside support shaft 2311, and connect using bearing as with pole-climbing mechanism 10
The roller body of touching.
Optionally similar in embodiment one, at least one can be equipped on the supporting surface of component 2 and platform 102 by clasping
Universal wheel 25, to reduce resistance of the robot with respect to 101 moving in rotation of column when.
In the present embodiment, robot, which specifically includes scalable fuselage and is arranged on scalable fuselage, clasps component, embraces
Component is held for clasping pole-climbing mechanism when scalable fuselage be in the first tensional state, and is used in scalable contraction around climbing
Linkage rotation, and for unclamping pole-climbing mechanism when scalable fuselage is in the second tensional state；Scalable fuselage is in difference
There is different tensile elongations under tensional state, and be greater than can for tensile elongation when scalable fuselage is in the first tensional state
Telescopic machine is in fuselage length when the second tensional state；Wherein, it clasps component and clasps arm with one, and clasp the one of arm
A end and the main body for clasping component are hinged, the first actuator be used for drive clasp arm around clasp arm and main body it is hinged end rotation
Turn, clasp pole-climbing mechanism when so that clasping arm and main body closure or unclamps pole-climbing mechanism when opening relative to main body.This model machine
Device people can use the arm of clasping clasped in component and clasp pole-climbing mechanism, to be climbed using pole-climbing mechanism to plateau, obstacle detouring
Ability is stronger.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (15)
1. a kind of robot characterized by comprising
It scalable fuselage and is set on the scalable fuselage and clasps component；
The component of clasping is used for for clasping pole-climbing mechanism when the scalable fuselage is in the first tensional state in institute
It states when scalable fuselage is shunk and is rotated around the pole-climbing mechanism, and for when the scalable fuselage is in the second tensional state
Unclamp the pole-climbing mechanism；
Wherein, tensile elongation when the scalable fuselage is in first tensional state is greater than the scalable fuselage and is in
Fuselage length when second tensional state.
2. robot according to claim 1, which is characterized in that it is described clasp component include main body, the first actuator with
At least one clasps arm；
First actuator, the arm of clasping are respectively provided on the body, and first actuator is for driving described embrace
Gripping arm clasps the pole-climbing mechanism or unclamps the pole-climbing mechanism.
3. robot according to claim 2, which is characterized in that the quantity for clasping arm is two, described to clasp group
Part further includes link component, and first actuator is for driving the link component to move, so that the connecting rod structure
The pole-climbing mechanism is clasped when clasping arm closure described in part drive two or unclamps the pole-climbing mechanism when opening.
4. robot according to claim 3, which is characterized in that two free ends of the link component rotate setting respectively
One end of arm is clasped described in two, the link component is fixed on first actuator.
5. robot according to claim 4, which is characterized in that the link component includes first to be successively articulated and connected
Connecting rod, second connecting rod, third connecting rod；The one end of arm, institute are clasped described in being hingedly arranged in one in the free end of the first connecting rod
Another one end for clasping arm is hingedly arranged in the free end for stating third connecting rod, and the second connecting rod is fixed on described first
On actuator.
6. robot according to claim 5, which is characterized in that first actuator includes the first cylinder, and described the
Two connecting rods are fixed on first cylinder；Alternatively, first actuator includes first motor and is driven by the first motor
Dynamic screw rod, the second connecting rod are fixed on the screw rod.
7. robot according to claim 5, which is characterized in that clasp arm in the closure state described in two, institute
State first connecting rod, the second connecting rod, third connecting rod connection in line.
8. robot according to claim 2, which is characterized in that the quantity for clasping arm is one, and described first drives
Moving part be used to driving it is described clasp arm and clasp arm and the hinged end of the main body rotates around described so that it is described clasp arm with
The main body clasps the pole-climbing mechanism or unclamps the pole-climbing mechanism when opening relative to the main body when being closed.
9. robot according to claim 8, which is characterized in that the component of clasping further includes being set in the main body
Locking mechanism, the locking mechanism be used for it is described clasp when arm and the main body are closed by it is described clasp arm be locked in it is described
In main body.
10. robot according to claim 9, which is characterized in that the locking mechanism includes bolt axle and the second driving
Part, second actuator is for driving the bolt axle to move relative to the main body, the free end for clasping arm
Equipped with the through-hole for cooperating the bolt axle.
11. robot according to claim 10, which is characterized in that first actuator includes the second motor and transmission
Component, second motor are sequentially connected by the transmission parts and the end；And/or
Second actuator includes the second cylinder, and second cylinder is passed through by adapter and the bolt axis connection
The adapter drives the bolt axle to move relative to the main body.
12. robot according to claim 10, which is characterized in that the component of clasping further includes at least one first limit
Bit switch, at least one described first limit switch are set to the first position, close in the main body close to the bolt axle
Whether at least one of the second position of end situation is inserted into the through-hole for detecting the bolt axle, is described
Clasp arm whether be located in initial rotational position at least one of.
13. the robot according to any one of claim 2 to 12, which is characterized in that the component of clasping further includes
Two limit switches, second limit switch are set in the main body close to the of the edge for clasping the pole-climbing mechanism
Three positions, for detecting whether the edge touches the pole-climbing mechanism.
14. the robot according to any one of claim 2 to 12, which is characterized in that on the inner sidewall for clasping arm
Equipped at least one idler wheel.
15. robot according to any one of claim 1 to 12, which is characterized in that the pole-climbing mechanism includes column
And platform, the platform are set to the one end of the column far from ground and around the outsides of the column, the platform is used
In supporting the robot when component clasps the column in described clasp；On the supporting surface for clasping component and the platform
Equipped at least one universal wheel.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820602177.2U CN208585344U (en) | 2018-04-25 | 2018-04-25 | Robot |
| CN201880016641.2A CN110896619A (en) | 2018-04-25 | 2018-09-11 | Robot |
| PCT/CN2018/105015 WO2019205419A1 (en) | 2018-04-25 | 2018-09-11 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820602177.2U CN208585344U (en) | 2018-04-25 | 2018-04-25 | Robot |
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| CN208585344U true CN208585344U (en) | 2019-03-08 |
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| CN201820602177.2U Active CN208585344U (en) | 2018-04-25 | 2018-04-25 | Robot |
| CN201880016641.2A Pending CN110896619A (en) | 2018-04-25 | 2018-09-11 | Robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201880016641.2A Pending CN110896619A (en) | 2018-04-25 | 2018-09-11 | Robot |
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| WO (1) | WO2019205419A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896619A (en) * | 2018-04-25 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Robot |
| CN111203529A (en) * | 2020-01-14 | 2020-05-29 | 合肥工业大学 | Baking machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116098651B (en) * | 2023-04-12 | 2023-06-09 | 北京智愈医疗科技有限公司 | Fixing device for instrument and instrument table using the same |
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| JPS61249329A (en) * | 1985-04-27 | 1986-11-06 | 開成工業株式会社 | Pruning machine |
| CN101395989B (en) * | 2008-10-10 | 2010-12-08 | 江苏大学 | End effector of apple picking robot |
| US8807614B2 (en) * | 2011-07-26 | 2014-08-19 | The Chinese University Of Hong Kong | Gripping devices |
| CN203996531U (en) * | 2014-07-08 | 2014-12-10 | 南京工程学院 | A kind of electric transmission pole tower climbing robot |
| CN104384407B (en) * | 2014-09-19 | 2017-01-11 | 张家港中环海陆特锻股份有限公司 | Automatic feeding and discharging device and method for vertical ring hot-rolling machine |
| CN204355189U (en) * | 2015-01-04 | 2015-05-27 | 中铁十九局集团第七工程有限公司 | For the vacuum type climbing robot of column |
| CN204624987U (en) * | 2015-04-28 | 2015-09-09 | 乌鲁木齐拓荒者信息科技有限公司 | Coil of strip special hanger |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN106112993B (en) * | 2016-08-22 | 2018-02-06 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN206407012U (en) * | 2016-12-29 | 2017-08-15 | 沈阳航博自动化科技有限公司 | A kind of robot capable of climbing trees |
| CN106741272A (en) * | 2016-12-29 | 2017-05-31 | 沈阳航博自动化科技有限公司 | A kind of robot capable of climbing trees |
| CN206691247U (en) * | 2017-03-28 | 2017-12-01 | 昆明理工大学 | A kind of quick climbing level robot device |
| CN208585344U (en) * | 2018-04-25 | 2019-03-08 | 深圳市大疆创新科技有限公司 | Robot |
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2018
- 2018-04-25 CN CN201820602177.2U patent/CN208585344U/en active Active
- 2018-09-11 WO PCT/CN2018/105015 patent/WO2019205419A1/en active Application Filing
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896619A (en) * | 2018-04-25 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Robot |
| CN111203529A (en) * | 2020-01-14 | 2020-05-29 | 合肥工业大学 | Baking machine |
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| WO2019205419A1 (en) | 2019-10-31 |
| CN110896619A (en) | 2020-03-20 |
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