CN208731001U - Track automatic turning device and automatic turning system - Google Patents
Track automatic turning device and automatic turning system Download PDFInfo
- Publication number
- CN208731001U CN208731001U CN201821426628.8U CN201821426628U CN208731001U CN 208731001 U CN208731001 U CN 208731001U CN 201821426628 U CN201821426628 U CN 201821426628U CN 208731001 U CN208731001 U CN 208731001U
- Authority
- CN
- China
- Prior art keywords
- driven
- automatic turning
- track
- auxiliary
- side frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model provides a kind of track automatic turning device and automatic turning system, is related to turning device field.The track automatic turning device includes: chassis, 2 aggressive devices, 2 slave units and 2 auxiliary devices.This track automatic turning device respectively has an aggressive device and a slave unit along chassis axis two sides, motor and driving wheel are fixed on aggressive device, the rotation of driving wheel is driven by the rotation of motor, and then drive the rotation of driven wheel, auxiliary device is movably arranged on chassis, one auxiliary device is arranged between two aggressive devices, another auxiliary device is arranged between two slave units, it include auxiliary wheel carrier and 2 auxiliary wheels on auxiliary device, 2 auxiliary wheels are separately positioned on auxiliary wheel carrier both ends, the side of 2 auxiliary wheels and track is tangent, auxiliary wheel carrier can be according to the Adjusting Shape position of track, and then realize automatic turning of the whole device on warp rail.
Description
Technical field
The utility model relates to turning device field, in particular to a kind of track automatic turning device and automatic turning system
System.
Background technique
With machine man-based development, various intelligentized crusing robots are using more and more extensive, wherein rail mounted machine
People because its running route is reliable and stable, do not take up an area face sky product and control it is simple and convenient due to have been favored by people, and rail mounted
The Track desigh of robot is particularly important.
In the prior art, common rail mounted robot smooth running mostly on rectilinear orbit, is transported on warp rail
Can be unstable when row, or while being turned, needs to use associated electronic device and is controlled, design is complicated.
Utility model content
The purpose of this utility model is that in view of the deficiency of the prior art, providing a kind of track automatic turning dress
It sets and automatic turning system, it is intended to solve the problems, such as to be not easy automatic turning when traditional robot orbits.On realizing
Purpose is stated, technical solution used by the utility model embodiment is as follows:
In a first aspect, the utility model embodiment provides a kind of track automatic turning device, comprising: chassis, 2 actives
Device, 2 slave units and 2 auxiliary devices；The aggressive device includes: active attached frame, active side frame, motor and active
Wheel；The active attached frame is fixedly installed on the chassis, and the active side frame is connect with the active attached frame, the motor with
The driving wheel is both secured on the active side frame, and the motor is electrically connected with the driving wheel, and the driving wheel direction
On the inside of the active side frame；The slave unit includes: driven attached frame, driven side frame and driven wheel, driven attached frame fixed setting
In on the chassis, the driven side frame is connect with the driven attached frame, the driven wheel be arranged on the driven side frame and
Towards the inside of the driven side frame；The driving wheel is identical as the driven wheel height；2 aggressive devices are along the bottom
Disk formed symmetrical, 2 slave units are along the chassis formed symmetrical；The auxiliary device includes: that auxiliary wheel carrier and 2 are auxiliary
Help wheel；The auxiliary wheel carrier is movably arranged on the chassis；2 auxiliary wheels are separately positioned on the auxiliary wheel carrier two
End；One auxiliary device is located between 2 aggressive devices；Another described auxiliary device is described driven positioned at 2
Between device.
It further, further include multi-directional ball, the multi-directional ball is fixed on the chassis；It is filled in the automatic turning
It sets when being installed on track, a side contacts of the multi-directional ball and track.
It further, further include photoelectric encoder, the photoelectric encoder is mounted on any one of slave unit,
And it is connect with the driven wheel of installed slave unit.
Further, the auxiliary device and the chassis pin connection.
It further, further include self-locking device on the slave unit；The self-locking device is set to the driven attached frame
Between the driven side frame, when the self-locking device is opened, the driven side frame and the driven movable connection of attached frame.
Further, the self-locking device includes ratchet, pawl；The ratchet is fixed in the driven attached frame,
And the ratchet is flexibly connected with the driven side frame；The driven side frame is close to the ratchet；One end of the pawl passes through
Spring is movably arranged on the ratchet.
It further, also include above-mentioned self-locking device on the aggressive device；The self-locking device is set to the active
Between attached frame and the active side frame, when the self-locking device is opened, the active side frame and the movable company of active attached frame
It connects.
Further, the self-locking device includes ratchet, pawl；The ratchet is fixed in the active attached frame,
And the ratchet is flexibly connected with the active side frame；The active side frame is close to the ratchet；One end of the pawl passes through
Spring is movably arranged on the ratchet.
Second aspect, the utility model embodiment additionally provide a kind of automatic turning system, including track, vehicle equipment and
Automatic turning device described in first aspect；The automatic turning sets device and is arranged on the track；The vehicle equipment is solid
It is scheduled on the automatic turning device.
Further, the width of the auxiliary wheel carrier and the track is of same size.
The beneficial effects of the utility model are: this track automatic turning device is arranged in orbit, aggressive device is powered on
Machine drives driving wheel to rotate in orbit, and slave unit follows aggressive device to rotate, and auxiliary device is tightly bonded in orbit, auxiliary
Help device activity can rotate on chassis, when curved in tracks, auxiliary device can adjust position according to trade shape, and then change
The walking path of track automatic turning device, to realize vehicle equipment mechanical automatic turning on warp rail.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the track automatic turning device that an embodiment of the present invention provides；
Fig. 2 is the assistant apparatus structure schematic diagram that an embodiment of the present invention provides；
Fig. 3 is the schematic diagram when slave unit self-locking structure that an embodiment of the present invention provides is closed；
Fig. 4 is the schematic diagram when slave unit self-locking structure that an embodiment of the present invention provides is opened；
Fig. 5 is the signal when aggressive device that an embodiment of the present invention provides is opened with slave unit self-locking structure
Figure；
Fig. 6 is the schematic diagram of the track automatic turning device that an embodiment of the present invention provides and track clamping.
Icon: the chassis 100-；200- aggressive device；210- active attached frame；220- active side frame；230- motor；240- master
Driving wheel；300- slave unit；The driven attached frame of 310-；The driven side frame of 320-；330- driven wheel；340- photoelectric encoder；350- spine
Wheel；360- pawl；400- auxiliary device；410- auxiliary wheel carrier；420- auxiliary wheel；500- multi-directional ball.
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.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area
Divide description, is not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
First embodiment
Fig. 1, Fig. 2 are please referred to, the utility model embodiment provides a kind of track automatic turning device, comprising: chassis 100,2
200,2 slave unit 300 and 2 auxiliary devices 400 of a aggressive device.
Aggressive device 200 includes: active attached frame 210, active side frame 220, motor 230 and driving wheel 240.Active attached frame
210 are fixedly installed on chassis 100, and active side frame 220 is connect with active attached frame 210, and motor 230 and driving wheel 240 are fixed
In on active side frame 220, motor 230 is electrically connected with driving wheel 240, and driving wheel 240 is towards the inside of active side frame 220.
Slave unit 300 includes: driven attached frame 310, driven side frame 320 and driven wheel 330, and the driven fixation of attached frame 310 is set
It is placed on chassis 100, driven side frame 320 is connect with driven attached frame 310, and driven wheel 330 is arranged on driven side frame 320 and court
To the inside of driven side frame 320.Driving wheel 240 is identical as 330 height of driven wheel.2 aggressive devices 200 are along 100 axis of chassis
Symmetrically, 2 slave units 300 are along 100 formed symmetrical of chassis.
Auxiliary device 400 includes: auxiliary wheel carrier 410 and 2 auxiliary wheel 420.Auxiliary wheel carrier 410 is movably arranged on chassis
On 100.2 auxiliary wheels 420 are separately positioned on 410 both ends of auxiliary wheel carrier.One auxiliary device 400 is located at 2 aggressive devices 200
Between, another auxiliary device 400 is located between 2 slave units 300.
It should be noted that track automatic turning device provided in this embodiment is suitable for overhead rail, and in the present apparatus
Other equipment can also be carried to be moved, such as holder, pass camera etc., specific carrying equipment the present embodiment is with no restriction.
In orbit by whole device suspension, two motors 230 provide power, and motor 230 is direct with driving wheel 240 respectively
It is fixedly connected on active side frame 220, the advance for driving driving wheel 240 forward or reverse that aggressive device 200 passes through motor 230
Or retreat, and driven wheel 330 follows the rotation of driving wheel 240 to rotate, and active attached frame 210 and driven attached frame 310 and chassis 100 are consolidated
Fixed connection, aggressive device 200 and slave unit 300 are symmetrically arranged at the two sides on chassis 100.It is driven and is led according to motor 230
To drive the movement of single unit system, driving wheel 240 and driven wheel 330 are stress point, bear carrying equipment for the rotation of driving wheel 240
Weight.
2 auxiliary devices 400 are movably arranged on chassis 100, and are located at 2 aggressive device 200 and 2 slave units
Between 300, the purpose of activity setting is to advance to enable auxiliary wheel carrier 410 arbitrarily to rotate relative to chassis 100 in device
Cheng Zhong, auxiliary wheel carrier 410 with the track of track by can constantly adjust position when bend, when crossing warp rail, auxiliary wheel carrier
410 are close to track two sides, and two auxiliary wheel carriers 410 are auxiliary by auxiliary wheel 420 and auxiliary wheel carrier 410 in outer eight or interior eight shape
Whole device is helped to make track automatic turning device provided in this embodiment realize mechanical automatic turning on warp rail.
Auxiliary device 400 is movably arranged on chassis 100, and the mode of activity setting can be pin connection, or spiral shell
It tethers and connects, the mode not screwed on nut is taken to realize rotation of the auxiliary device 400 on chassis 100 when being bolted.Specifically
The mode this embodiment of flexible connection is with no restriction.
Track automatic turning device provided in this embodiment passes through aggressive device 200, slave unit 300 and auxiliary device
400 cooperation, can solve at present mostly machine can only walk single rectilinear orbit the problem of, realize on complete track machine
Tool formula installs automatically.And track automatic turning device provided in this embodiment does not need associated electronic device when being turned
Control, it is convenient, fast, efficient.By the way of hanging overhead rail, it is not take up ground resource, space utilization rate can be improved.
Second embodiment
Further, Fig. 1 is please referred to, further includes multi-directional ball 500 on the basis of above-mentioned first embodiment.Multi-directional ball 500
It is fixed on chassis 100.When automatic turning device is installed on track, a side contacts of multi-directional ball 500 and track.
It should be noted that multi-directional ball 500 is also known as buphthalmos wheel, multi-directional ball 500 and chassis 100 are rigidly connected, multi-directional ball
500 spherical surface and track bottom surface are tangent.Increasing multi-directional ball 500 can prevent track automatic turning device provided in this embodiment from existing
It is shaken in the moment and operational process of movement and stopping, guarantees that present apparatus overall operation is steady.It is provided in this embodiment
Multi-directional ball 500 can arbitrarily can set the Density Distribution of multi-directional ball 500 according to different bearing requirements, can also select to be multiple
Select the multi-directional ball 500 of different bearer ability.The specification of specific 500 several designs of multi-directional ball and multi-directional ball 500 is according to practical need
Depending on asking, the present embodiment is with no restriction.
3rd embodiment
It further, further include photoelectric encoder 340 on the basis of above-mentioned second embodiment please continue to refer to Fig. 1.Light
Photoelectric coder 340 is mounted on any one slave unit 300, and is connect with the driven wheel 330 of installed slave unit 300.
It should be noted that connecting photoelectric encoder 340 on any one slave unit 300, pass through turning for driven wheel 330
The dynamic rotation for driving photoelectric encoder 340, the error that can be generated in autoclear device movement.
Further, the auxiliary device 400 and 100 pin connection of chassis.Pin connection can make auxiliary device 400 on chassis
It is arbitrarily rotated on 100.
Fourth embodiment
Further, referring to figure 3., Fig. 4, in order to enable 2 slave units 300 to be quickly and easily connected to track
Interior, slave unit 300 further includes self-locking device on the basis of above-mentioned second embodiment.Self-locking device is set to driven attached frame
Between 310 and driven side frame 320, when self-locking device is opened, driven side frame 320 and the movable connection of driven attached frame 310.Self-locking dress
It sets including ratchet 350, pawl 360.Ratchet 350 is fixed in driven attached frame 310, and ratchet 350 and driven side frame 320 are living
Dynamic connection.Driven side frame 320 is close to ratchet 350.One end of pawl 360 is movably arranged on ratchet 350 by spring.
The design of self-locking device may be implemented when using track automatic turning device provided in this embodiment, and 2 driven
Device 300 is able to carry out folding when being clamped track, when opening, can increase 2 300 spacing of slave unit, keep track more preferable
Ground clamping is entered, and when closure can be tangent with track upper surface by the square by driven wheel 330, turns driven wheel 330 in orbit
It is dynamic.
Further, it is also equipped with self-locking device self-locking device on aggressive device 200 and is set to 210 He of active attached frame
Between active side frame 220, when self-locking device is opened, active side frame 220 and the movable connection of active attached frame 210.Self-locking device packet
Include ratchet 350, pawl 360.Ratchet 350 is fixed in active attached frame 210, and ratchet 350 and 220 activity of active side frame are even
It connects.Active side frame 220 is close to ratchet 350.One end of pawl 360 is movably arranged on ratchet 350 by spring.Self-locking dress herein
The self-locking device being arranged in the setting purpose and set-up mode and slave unit 300 set is identical, does not add to repeat herein.
Referring to figure 5., fourth embodiment provided by the utility model is all provided on aggressive device 200 and slave unit 300
It is equipped with self-locking device, active attached frame 210 and the center of driven attached frame 310 are respectively adopted pin connection, active attached frame 210 may be implemented
With the rotation of 220 junction of active side frame and the rotation of driven attached frame 310 and driven 320 junction of side frame.Pass through ratchet 350, spine
Pawl 360 cooperates the self-locking of realization device.360 one end of pawl is equipped with spring, and pawl 360 compresses the side of corresponding intrument when self-locking
Plate, when unlock, push away pawl 360, and the side frame of related device can realize rotation, active side frame 220 or 320 turns of driven side frame
Dynamic certain angle, is in an open state track automatic turning device provided in this embodiment, can realization device it is in orbit
Quick assembling.It is closed after being assembled in the track present apparatus, then by pawl 360, can realize the master end in the present apparatus
The fixation of frame 220 and driven side frame 320, so that driving wheel 240 and driven wheel 330 are contacted with the upper surface of track.Whole device
Structure is simple, easy to operate.
Sixth embodiment
Fig. 6 is please referred to, the utility model embodiment provides a kind of automatic turning system, including track, vehicle equipment are (in figure
Be not drawn into) and first embodiment to the 5th embodiment track automatic turning device.Track automatic turning set device be arranged it is in-orbit
On road.Vehicle equipment is fixed on automatic turning device.
Further, the width of auxiliary wheel carrier 410 and track is of same size.
Automatic turning system provided in this embodiment, including running track, described in vehicle equipment and above-described embodiment from
Turn bending apparatus, when this system orbits, track automatic turning device is arranged in orbit, and auxiliary wheel carrier 410 is closely
Track two sides, vehicle equipment be fixed on automatic turning device, by the track of drive forward or reverse of motor 230 from turn
The forward or backward of bending apparatus, vehicle equipment follow track automatic turning device to move together, auxiliary to when running to warp rail
Help wheel carrier 410 that can be adjusted according to curved in tracks shape, to realize automatic turning of the vehicle equipment on warp rail.
Automatic turning system provided in this embodiment can apply a variety of occasions in track type movement, such as indoor inspection
Survey, safety check patrol, logistics sorting etc., concrete application occasion according to the actual situation depending on, the present embodiment is with no restriction.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of track automatic turning device characterized by comprising chassis, 2 aggressive devices, 2 slave units and 2
Auxiliary device；
The aggressive device includes: active attached frame, active side frame, motor and driving wheel；The active attached frame is fixedly installed on institute
It states on chassis, the active side frame is connect with the active attached frame, and the motor and the driving wheel are both secured to the active
On side frame, the motor is electrically connected with the driving wheel, and the driving wheel is towards on the inside of the active side frame；
The slave unit includes: driven attached frame, driven side frame and driven wheel, and driven attached frame is fixedly installed on the chassis,
The driven side frame is connect with the driven attached frame, and the driven wheel is arranged on the driven side frame, and towards described driven
The inside of side frame；
The driving wheel is identical as the driven wheel height；
2 aggressive devices are along the chassis formed symmetrical, and 2 slave units are along the chassis formed symmetrical；
The auxiliary device includes: auxiliary wheel carrier and 2 auxiliary wheels；The auxiliary wheel carrier is movably arranged on the chassis；2
The auxiliary wheel is separately positioned on the auxiliary wheel carrier both ends；
One auxiliary device is located between 2 aggressive devices；Another described auxiliary device is described driven positioned at 2
Between device.
2. track automatic turning device according to claim 1, which is characterized in that further include multi-directional ball, the multi-directional ball is solid
It is fixed to be arranged on the chassis；
When the automatic turning device is installed on track, a side contacts of the multi-directional ball and track.
3. track automatic turning device according to claim 1, which is characterized in that it further include photoelectric encoder, the light
Photoelectric coder is mounted on any one of slave unit, and is connect with the driven wheel of installed slave unit.
4. track automatic turning device according to claim 1, which is characterized in that the auxiliary device and the chassis are sold
Connection.
5. track automatic turning device according to claim 1, which is characterized in that further include self-locking on the slave unit
Device；
The self-locking device is set between the driven attached frame and the driven side frame, described when the self-locking device is opened
Driven side frame and the driven movable connection of attached frame.
6. track automatic turning device according to claim 5, which is characterized in that the self-locking device includes ratchet, spine
Pawl；
The ratchet is fixed in the driven attached frame, and the ratchet is flexibly connected with the driven side frame；It is described from
Dynamic side frame is close to the ratchet；
One end of the pawl is movably arranged on the ratchet by spring.
7. track automatic turning device according to claim 5, which is characterized in that also include above-mentioned on the aggressive device
Self-locking device；
The self-locking device is set between the active attached frame and the active side frame, described when the self-locking device is opened
Active side frame and the movable connection of active attached frame.
8. track automatic turning device according to claim 7, which is characterized in that the self-locking device includes ratchet, spine
Pawl；
The ratchet is fixed in the active attached frame, and the ratchet is flexibly connected with the active side frame；The master
Dynamic side frame is close to the ratchet；
One end of the pawl is movably arranged on the ratchet by spring.
9. a kind of automatic turning system, which is characterized in that including track, vehicle equipment and as described in claim any one of 1-8
Track automatic turning device；
The track automatic turning sets device and is arranged on the track；
The vehicle equipment is fixed on the automatic turning device.
10. automatic turning system according to claim 9, which is characterized in that the width of the auxiliary wheel carrier and the rail
Road it is of same size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821426628.8U CN208731001U (en) | 2018-08-31 | 2018-08-31 | Track automatic turning device and automatic turning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821426628.8U CN208731001U (en) | 2018-08-31 | 2018-08-31 | Track automatic turning device and automatic turning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208731001U true CN208731001U (en) | 2019-04-12 |
Family
ID=66032349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821426628.8U Expired - Fee Related CN208731001U (en) | 2018-08-31 | 2018-08-31 | Track automatic turning device and automatic turning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208731001U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601481A (en) * | 2021-08-18 | 2021-11-05 | 广州高新兴机器人有限公司 | Driving mechanism for rail-hanging robot |
| CN114440739A (en) * | 2022-04-11 | 2022-05-06 | 武汉市明煌建筑劳务有限公司 | Distance measuring device with marking function for installing road construction guardrail |
| CN115025417A (en) * | 2022-06-06 | 2022-09-09 | 安徽信息工程学院 | Early warning fire-fighting robot and control method thereof |
-
2018
- 2018-08-31 CN CN201821426628.8U patent/CN208731001U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601481A (en) * | 2021-08-18 | 2021-11-05 | 广州高新兴机器人有限公司 | Driving mechanism for rail-hanging robot |
| CN113601481B (en) * | 2021-08-18 | 2023-03-07 | 广州高新兴机器人有限公司 | Driving mechanism for rail-hanging robot |
| CN114440739A (en) * | 2022-04-11 | 2022-05-06 | 武汉市明煌建筑劳务有限公司 | Distance measuring device with marking function for installing road construction guardrail |
| CN114440739B (en) * | 2022-04-11 | 2022-07-01 | 武汉市明煌建筑劳务有限公司 | Distance measuring device with marking function for installing road construction guardrail |
| CN115025417A (en) * | 2022-06-06 | 2022-09-09 | 安徽信息工程学院 | Early warning fire-fighting robot and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208731001U (en) | Track automatic turning device and automatic turning system | |
| CN202225188U (en) | Five-degree-of-freedom adjustment platform for assembly of satellite capsule plate | |
| CN110329392A (en) | A kind of novel parking AGV trolley | |
| CN205399100U (en) | Embedded track laying device | |
| CN106002951A (en) | Mobile bearing platform | |
| CN106218742A (en) | The load-switch automobile built for the bypass of agriculture distribution line and application process thereof | |
| CN205872224U (en) | Load switch car suitable for farming is joined in marriage wayside way of net twine and is built | |
| CN208393331U (en) | Homing guidance type electricity changing robot and electric charging station | |
| CN106865093A (en) | Shuttle and logistics transportation system | |
| CN207812186U (en) | A kind of track girder and new energy sky iron system of new energy sky iron | |
| CN212738360U (en) | Bidirectional transport vehicle | |
| CN111017061B (en) | Transmission tower climbing robot, system and method | |
| CN217256356U (en) | Carry urban rail transit contact net foreign matter cleaning device on unmanned aerial vehicle | |
| CN208427396U (en) | A kind of Cable loop and halved belt sorter | |
| CN203902718U (en) | Robot platform with integrated-formed base plate | |
| CN111924057B (en) | Auxiliary device that rises and falls of marine unmanned aerial vehicle | |
| CN208867171U (en) | A kind of parallel connection six degree of freedom structure | |
| CN211768394U (en) | Universal roller transportation platform | |
| CN114700965A (en) | Multi-degree-of-freedom hybrid posture-adjusting assembly robot | |
| CN210116511U (en) | Suspension type train assembling static adjustment maintenance rack | |
| CN208840260U (en) | A kind of fetal membrane switching system and rolling island | |
| KR102186617B1 (en) | Moving cradle with Solar Panel Cleaning Robot Along Moving Solar Panel Array Side | |
| CN220743392U (en) | Unmanned aerial vehicle system of coming back into middle | |
| CN208633624U (en) | A kind of translation compensation driving mechanism | |
| CN108942899A (en) | A kind of parallel connection six degree of freedom structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190412 Termination date: 20190831 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |