CN209479803U - Adapt to the pneumatic robot system of complicated landform - Google Patents
Adapt to the pneumatic robot system of complicated landform Download PDFInfo
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- CN209479803U CN209479803U CN201822063792.3U CN201822063792U CN209479803U CN 209479803 U CN209479803 U CN 209479803U CN 201822063792 U CN201822063792 U CN 201822063792U CN 209479803 U CN209479803 U CN 209479803U
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- supporting leg
- rotary cylinder
- obstacle detouring
- wheel
- cylinder
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Abstract
The utility model discloses a kind of pneumatic robot systems for adapting to complicated landform, are made of multiple obstacle detouring supporting legs, wheel supporting leg and mechanical arm, have the function of to adapt to complicated landform completely and obstacle detouring is explosive etc..The pneumatic robot is mainly made of rotary cylinder, structural member, worm screw, worm gear, crawler belt, wheel, connector and straight line cylinder.The normal wheel type movement of entire robot may be implemented in multiple wheel supporting leg coordinations, can be used for the more smooth higher situation of rate request in ground；Multiple obstacle detouring supporting legs can be coordinated to realize two kinds of working conditions of crawler belt and polypody caterpillar robot；Multiple wheel supporting legs and multiple first obstacle detouring supporting legs, which rise, coordinates may be implemented the work of the obstacle detourings such as step；Multiple mechanical arms then can be used for completing explosive Deng other tasks.Joint is matched using rotary cylinder with worm and gear and straight line cylinder driving.The utility model patent has the characteristics that compact-sized, cleaning explosion-proof performance is good with pneumatic actuation, can be used for imparting knowledge to students, is obstacle detouring, explosive.
Description
Technical field
The utility model relates to robotic technology fields, are related to a kind of pneumatic robot system for adapting to complicated landform.
Background technique
In face of complicated landform, such as smooth landform, heavy road condition and the road conditions there are barrier, how to make machine
Device people can adapt to various terrains be robot indispensability one of ability.Chinese patent 201510564857.0,
201621087423.2,201621206018.8,201710858066.8 successively propose crawler type obstacle crossing robots, but only
It is slower by the speed of caterpillar drive, while obstacle climbing ability is also limited.Chinese patent 201510084953.5,
201610888246.6 separately design the barrier-surpassing robot device that front and back all has caterpillar robot and mechanical arm cooperation, single machine
Simple thing only may be implemented in tool arm, can not coordinate to realize compound action, while its crawler type obstacle detouring structure is still difficult to fit
Various landform is answered, and obstacle clearing capability is influenced by track length.
Summary of the invention
The purpose of this utility model is in view of the deficiencies of the prior art, to provide a kind of pneumatic machine for adapting to complicated landform
People's system, the utility model have the features such as compact-sized, multi-motion modes free switching, adaptation complicated landform movement.
To achieve the goals above, the technical scheme adopted by the utility model is that: it is a kind of adapt to complicated landform pneumatic motor
Device people's system, it includes: the first obstacle detouring supporting leg, the first wheel supporting leg, Second wheel supporting leg, bottom plate, first mechanical arm, second gets over
Barrier supporting leg, second mechanical arm, third obstacle detouring supporting leg, third round supporting leg, fourth wheel supporting leg, the 5th rotary cylinder, the 4th get over
Hinder supporting leg；The first obstacle detouring supporting leg, the second obstacle detouring supporting leg, third obstacle detouring supporting leg, the 4th obstacle detouring supporting leg, the first wheel supporting leg,
Second wheel supporting leg, third round supporting leg, fourth wheel supporting leg, first mechanical arm, second mechanical arm are connected with bottom plate.
Further, the first wheel supporting leg, Second wheel supporting leg, third round supporting leg, fourth wheel leg structure
It is completely the same；It include: the first rotary cylinder, first structure part, the first wheel, the second rotary cylinder；First rotary pneumatic
The cylinder body of cylinder is fixedly connected with bottom plate, the rotation axis of the first rotary cylinder, the second rotary cylinder cylinder body with first structure part
It is fixedly connected, the rotation axis of the second rotary cylinder is fixedly connected with the first wheel.
Further, the first obstacle detouring supporting leg, the second obstacle detouring supporting leg, third obstacle detouring supporting leg, the 4th obstacle detouring leg structure
It is completely the same；Include: third rotary cylinder, the second structural member, the 4th rotary cylinder, the first worm screw, the first worm gear, crawler belt,
Second wheel, the first connector, the 5th rotary cylinder, the second worm screw, the second worm gear, third round；The cylinder of third rotary cylinder
Body is fixedly connected with bottom plate, the rotation axis of third rotary cylinder, the 4th rotary cylinder cylinder body with the second structural member is fixed connects
It connecing, the first worm screw is fixedly connected with the rotation axis of the 4th rotary cylinder, and the first worm gear is rotatably connected with the second structural member, and first
Worm screw is meshed with the first worm gear, between the first worm gear, the second structural member be rotatably connected axis simultaneously with the first connector, the
Two wheels are fixedly connected.The cylinder body of 5th rotary cylinder is fixedly connected with the first connector, the second worm screw and the 5th rotary cylinder
Rotation axis be fixedly connected；Second worm gear is rotatably connected with the first connector, and is fixedly connected with third round.Second wheel
Son, third round are meshed with crawler belt.
Further, the first mechanical arm and second mechanical arm structure are completely the same, include: the second connector,
Three structural members, straight line cylinder, the 6th rotary cylinder, third connector, the 7th rotary cylinder.Second connector and the fixed company of bottom plate
It connects, straight line cylinder both ends are rotatably connected with the second connector, third structural member respectively, the cylinder body and third of the 6th rotary cylinder
Structural member is fixedly connected, and the rotation axis of the 6th rotary cylinder is fixedly connected by third connector with the 7th rotary cylinder.
The beneficial effects of the utility model are:
1. the utility model is moved using wheeled with polypody crawler-type hybrid electric, wheeled, crawler belt and more may be implemented
The motor pattern free switching of sufficient crawler belt；
2. the utility model is matched using rotary cylinder with Worm Wheel System, the flexibility of system not only ensure that, but also
Guarantee that joint has the advantages that self-locking, transmission power is big；
3. the utility model can be realized various working switching using wheeled and polypody, crawler belt simultaneously and adapt to various multiple
Miscellaneous landform movement, while mechanical arm can complete other tasks, the utility model can be used for the fields such as obstacle detouring, explosive, rescue.
Detailed description of the invention
Fig. 1 is the pneumatic robot system overall mechanical design figure for adapting to complicated landform；
Fig. 2 is the pneumatic robot system mechanics arm mechanical construction drawing for adapting to complicated landform；
Fig. 3 is polypody caterpillar robot operating mode schematic diagram；
Fig. 4 is caterpillar robot operating mode schematic diagram；
Fig. 5 is the utility model obstacle detouring process schematic；
Fig. 6 is the utility model obstacle detouring process schematic；
Fig. 7 is the utility model obstacle detouring process schematic；
Fig. 8 is the utility model obstacle detouring process schematic；
Fig. 9 is caterpillar robot pneumatic system schematic illustration；
In figure: the first obstacle detouring supporting leg 1, the first wheel supporting leg 2, Second wheel supporting leg 3, bottom plate 4, first mechanical arm 5, second
Obstacle detouring supporting leg 6, second mechanical arm 7, third obstacle detouring supporting leg 8, the first rotary cylinder 9, third round supporting leg 10, first structure part
11, the first wheel 12, the second rotary cylinder 13, fourth wheel supporting leg 14, third rotary cylinder 15, the second structural member the 16, the 4th
Rotary cylinder 17, the first worm screw 18, the first worm gear 19, crawler belt 20, Second wheel 21, the first connector 22, the 5th rotary cylinder
23, the second worm screw 24, the second worm gear 25, third round 26, the 4th obstacle detouring supporting leg 27, the second connector 28, third structural member 29,
Straight line cylinder 30, the 6th rotary cylinder 31, third connector 32, the 7th rotary cylinder 33, step 34, pneumatic triplet 35,
One gas tank 36, the 8th rotary cylinder 37, the first pneumatic proportional pressure valve 38, the second pneumatic proportional pressure valve 39, third pneumatically compare
Example pressure valve 40, the 4th pneumatic proportional pressure valve 41, the 5th pneumatic proportional pressure valve 42, the 6th pneumatic proportional pressure valve 43, the
Seven pneumatic proportional pressure valves 44, the 8th pneumatic proportional pressure valve 45, the 9th pneumatic proportional pressure valve 46, the tenth pneumatic proportional pressure
Power valve 47, the 11st pneumatic proportional pressure valve 48, the 12nd pneumatic proportional pressure valve 49, the 13rd pneumatic proportional pressure valve 50,
14th pneumatic proportional pressure valve 51, data collecting card 52, computer 53, the 9th rotary cylinder 54, the 15th pneumatic proportional pressure
Power valve 55, the 16th pneumatic proportional pressure valve 56, the second gas tank 57, silencer 58.
Specific embodiment
As shown in Figure 1, the utility model adapts to the pneumatic robot system of complicated landform, comprising: the first obstacle detouring supporting leg 1,
First wheel supporting leg 2, Second wheel supporting leg 3, bottom plate 4, first mechanical arm 5, the second obstacle detouring supporting leg 6, second mechanical arm 7, third
Obstacle detouring supporting leg 8, third round supporting leg 10, fourth wheel supporting leg 14, the 4th obstacle detouring supporting leg 27.Wherein, the first obstacle detouring supporting leg 1,
Two obstacle detouring supporting legs 6, third obstacle detouring supporting leg 8,27 structure of the 4th obstacle detouring supporting leg are completely the same, are used for obstacle detouring；First wheel supporting leg 2,
Second wheel supporting leg 3, third round supporting leg 10,14 structure of fourth wheel supporting leg are completely the same, the movement for normality；First machine
Tool arm 5,7 structure of second mechanical arm are completely the same, are mainly used for execution task；First obstacle detouring supporting leg 1, the second obstacle detouring supporting leg 6,
Three obstacle detouring supporting legs 8, the 4th obstacle detouring supporting leg 27, the first wheel supporting leg 2, Second wheel supporting leg 3, third round supporting leg 10, fourth round
Sub- supporting leg 14, first mechanical arm 5, second mechanical arm 7 are connected with bottom plate 4.
As shown in Figure 1, illustrating the first wheel supporting leg 2, Second wheel supporting leg 3, third round by taking third round supporting leg 10 as an example
The structure of sub- supporting leg 10, fourth wheel supporting leg 14.It includes: the first rotary cylinder 9, first structure part 11, the first wheel 12,
Two rotary cylinders 13；The cylinder body of first rotary cylinder 9 is fixedly connected with bottom plate 4, the rotation axis of the first rotary cylinder 9,
The cylinder body of two rotary cylinders 13 is fixedly connected with first structure part 11, the rotation axis of the second rotary cylinder 13 and the first wheel 12
It is fixedly connected.
As shown in Figure 1, illustrating that the first obstacle detouring supporting leg 1, the second obstacle detouring supporting leg 6, third are got over by taking the 4th obstacle detouring supporting leg 27 as an example
Hinder the structure of supporting leg 8, the 4th obstacle detouring supporting leg 27.It includes: third rotary cylinder 15, the second structural member 16, the 4th rotary cylinder
17, the first worm screw 18, the first worm gear 19, crawler belt 20, Second wheel 21, the first connector 22, the 5th rotary cylinder 23, the second snail
Bar 24, the second worm gear 25, third round 26；The cylinder body of third rotary cylinder 15 is fixedly connected with bottom plate 4, third rotary cylinder 15
Rotation axis, the 4th rotary cylinder 17 cylinder body be fixedly connected with the second structural member 16, the first worm screw 18 and the 4th rotary pneumatic
The rotation axis of cylinder 17 is fixedly connected, and the first worm gear 19 is rotatably connected with the second structural member 16, the first worm screw 18 and the first worm gear
19 are meshed, between the first worm gear 19, the second structural member 16 be rotatably connected axis simultaneously with the first connector 22, Second wheel
21 are fixedly connected.The cylinder body of 5th rotary cylinder 23 is fixedly connected with the first connector 22, the second worm screw 24 and the 5th rotary pneumatic
The rotation axis of cylinder 23 is fixedly connected；Second worm gear 25 is rotatably connected with the first connector 22, and fixes and connect with third round 26
It connects.Second wheel 21, third round 26 are meshed with crawler belt 20.The effect of third rotary cylinder 15 mainly drives the second knot
Component 16, the 4th rotary cylinder 17, the first worm screw 18, the first worm gear 19, crawler belt 20, Second wheel 21, the first connector 22,
Five rotary cylinders 23, the second worm screw 24, the second worm gear 25, third round 26 are swung；4th rotary cylinder 17 passes through the first worm screw
18, the first worm gear 19 drives crawler belt 20, Second wheel 21, the first connector 22, the 5th rotary cylinder 23, the second worm screw 24, the
Two worm gears 25, third round 26 are swung；5th rotary cylinder 23 drives third round by the second worm screw 24, the second worm gear 25
26, Second wheel 21, crawler belt 20 rotate propulsion.
As shown in Fig. 2, illustrating the structure of first mechanical arm 5, second mechanical arm 7 by taking second mechanical arm 7 as an example.It includes:
Second connector 28, third structural member 29, straight line cylinder 30, the 6th rotary cylinder 31, third connector 32, the 7th rotary cylinder
33.Second connector 28 is fixedly connected with bottom plate 4,30 both ends of straight line cylinder respectively with the second connector 28, third structural member 29
It is rotatably connected, the cylinder body of the 6th rotary cylinder 31 is fixedly connected with third structural member 29, the rotation axis of the 6th rotary cylinder 31
It is fixedly connected by third connector 32 with the 7th rotary cylinder 33.Straight line cylinder 30 drives third structural member the 29, the 6th to rotate
Cylinder 31, third connector 32, the 7th rotary cylinder 33 turn about the X axis, the 6th rotary cylinder 31 drive third connector 32,
7th rotary cylinder 33 turns about the X axis, and the 7th rotary cylinder 33 may be implemented to rotate around Y-axis and X-axis or Z axis clamping.
Fig. 9 is robot pneumatic system principle schematic diagram, and the air inlet of pneumatic triplet 35 connects gas source, gas outlet connection
For ensureing the air inlet of the first gas tank 36 of constant gas supply air pressure, the gas outlet of the first gas tank 36 connects the first pneumatic proportional pressure
Valve 38, the second pneumatic proportional pressure valve 39, third pneumatic proportional pressure valve 40, the 4th pneumatic proportional pressure valve the 41, the 5th are pneumatic
Proportional pressure valve 42, the 6th pneumatic proportional pressure valve 43, the 7th pneumatic proportional pressure valve 44, the 8th pneumatic proportional pressure valve 45,
9th pneumatic proportional pressure valve 46, the tenth pneumatic proportional pressure valve 47, the 11st pneumatic proportional pressure valve 48, the 12nd pneumatic ratio
Example pressure valve 49, the 13rd pneumatic proportional pressure valve 50, the 14th pneumatic proportional pressure valve 51, the 15th pneumatic proportional pressure valve
55, the air inlet of the 16th pneumatic proportional pressure valve 56, the first pneumatic proportional pressure valve 38, the second pneumatic proportional pressure valve 39,
Third pneumatic proportional pressure valve 40, the 4th pneumatic proportional pressure valve 41, the 5th pneumatic proportional pressure valve 42, the 6th pneumatic proportional
Pressure valve 43, the 7th pneumatic proportional pressure valve 44, the 8th pneumatic proportional pressure valve 45, the 9th pneumatic proportional pressure valve the 46, the tenth
Pneumatic proportional pressure valve 47, the 11st pneumatic proportional pressure valve 48, the 12nd pneumatic proportional pressure valve 49, the 13rd pneumatic proportional
Pressure valve 50, the 14th pneumatic proportional pressure valve 51, the 15th pneumatic proportional pressure valve 55, the 16th pneumatic proportional pressure valve 56
Gas outlet be connected with the air inlet of the second gas tank 57, the gas outlet of the second gas tank 57 is connected with silencer 58, silencer 58
The noise of exhaust can be reduced；5th rotary cylinder 23, the 4th rotary cylinder 17, third rotary cylinder 15, the 8th rotary cylinder
37, straight line cylinder 30, the 6th rotary cylinder 31, the 7th rotary cylinder 33, the 9th rotary cylinder 54 are then respectively by the first pneumatic ratio
Example pressure valve 38, the second pneumatic proportional pressure valve 39, third pneumatic proportional pressure valve 40, the 4th pneumatic proportional pressure valve 41, the
Five pneumatic proportional pressure valves 42, the 6th pneumatic proportional pressure valve 43, the 7th pneumatic proportional pressure valve 44, the 8th pneumatic proportional pressure
Valve 45, the 9th pneumatic proportional pressure valve 46, the tenth pneumatic proportional pressure valve 47, the 11st pneumatic proportional pressure valve the 48, the 12nd
Pneumatic proportional pressure valve 49, the 13rd pneumatic proportional pressure valve 50, the 14th pneumatic proportional pressure valve 51, the 15th pneumatic ratio
Example pressure valve 55, the combination control of the 16th pneumatic proportional pressure valve 56.Each pneumatic proportional pressure valve is issued by computer 53 and is instructed
It is controlled by data collecting card 52.Illustrate each cylinder control logic relationship in conjunction with Fig. 3, Fig. 4: Fig. 3 passes through the 5th pneumatic ratio
Example pressure valve 42, the 6th pneumatic proportional pressure valve 43, third pneumatic proportional pressure valve 40, the control of the 4th pneumatic proportional pressure valve 41
4th rotary cylinder 17, third rotary cylinder 15；Fig. 4 passes through the first pneumatic proportional pressure valve 38, the second pneumatic proportional pressure valve
39, the 5th pneumatic proportional pressure valve 42, the 6th pneumatic proportional pressure valve 43 control the 5th rotary cylinder 23, third rotary cylinder
15。
When the more smooth rate request in ground is higher, as shown in Figure 1 using the first wheel supporting leg 2, Second wheel supporting leg 3,
Third round supporting leg 10, fourth wheel supporting leg 14 drive pneumatic robot movement, the first obstacle detouring supporting leg 1, the second obstacle detouring supporting leg 6,
Third obstacle detouring supporting leg 8, the 4th obstacle detouring supporting leg 27 do not work.
The polypody caterpillar robot working condition of multiple obstacle detouring supporting legs is as shown in figure 3, the first obstacle detouring supporting leg 1, the second obstacle detouring
Supporting leg 6, third obstacle detouring supporting leg 8, the 4th obstacle detouring supporting leg 27 drive pneumatic robot movement, the first wheel supporting leg 2, Second wheel
Supporting leg 3, third round supporting leg 10, fourth wheel supporting leg 14 do not work.The caterpillar robot working condition of multiple obstacle detouring supporting legs is such as
Shown in Fig. 4.
Multiple wheel supporting legs and multiple first obstacle detouring supporting legs, which rise, coordinates obstacle detouring, and original state is as shown in Figure 5；Control the first
Two obstacle detouring supporting legs 6, third obstacle detouring supporting leg 8 are swung in step 34, and Second wheel supporting leg 3, third round supporting leg 10 are also swung centainly
Angle is as shown in Figure 6；Then the first obstacle detouring supporting leg 1, the 4th obstacle detouring supporting leg 27 is played a supporting role as shown in fig. 7, the first wheel
Supporting leg 2, fourth wheel supporting leg 14 and Second wheel supporting leg 3, third round supporting leg 10 are equally swung, and realize obstacle detouring step 34, it
The first wheel supporting leg 2, fourth wheel supporting leg 14, Second wheel supporting leg 3,10 backswing of third round supporting leg are as shown in Figure 7 afterwards；
First obstacle detouring supporting leg 1, that the 4th obstacle detouring supporting leg 27 swings back reset condition is as shown in Figure 8.
Joint of robot and whole may be implemented by controlling the rotary cylinder and straight line cylinder in each joint in the utility model
The control of posture may be implemented the work such as the movement of complicated landform, obstacle detouring be explosive, and accurate track control may be implemented
System, the utility model possess other pneumatic wheeled and incomparable advantages of polypody crawler type articulated robot.
Embodiment described above, only the utility model more preferably one of specific embodiment, this field
The usual variations and alternatives that technical staff carries out within the scope of technical solutions of the utility model should all be included in the utility model
In protection scope.
Claims (4)
1. a kind of pneumatic robot system for adapting to complicated landform, which is characterized in that it includes: the first obstacle detouring supporting leg (1), first
Wheel supporting leg (2), Second wheel supporting leg (3), bottom plate (4), first mechanical arm (5), the second obstacle detouring supporting leg (6), second mechanical arm
(7), third obstacle detouring supporting leg (8), third round supporting leg (10), fourth wheel supporting leg (14), the 4th obstacle detouring supporting leg (27)；Described
One obstacle detouring supporting leg (1), the second obstacle detouring supporting leg (6), third obstacle detouring supporting leg (8), the 4th obstacle detouring supporting leg (27), the first wheel supporting leg
(2), Second wheel supporting leg (3), third round supporting leg (10), fourth wheel supporting leg (14), first mechanical arm (5), the second machinery
Arm (7) is connected with bottom plate (4).
2. adapting to the pneumatic robot system of complicated landform according to claim 1, which is characterized in that the first wheel branch
Leg (2), Second wheel supporting leg (3), third round supporting leg (10), fourth wheel supporting leg (14) structure are completely the same；It include:
One rotary cylinder (9), first structure part (11), the first wheel (12), the second rotary cylinder (13)；First rotary cylinder
(9) cylinder body is fixedly connected with bottom plate (4), the rotation axis of the first rotary cylinder (9), the second rotary cylinder (13) cylinder body with
First structure part (11) is fixedly connected, and the rotation axis of the second rotary cylinder (13) is fixedly connected with the first wheel (12).
3. adapting to the pneumatic robot system of complicated landform according to claim 1, which is characterized in that the first obstacle detouring branch
Leg (1), the second obstacle detouring supporting leg (6), third obstacle detouring supporting leg (8), the 4th obstacle detouring supporting leg (27) structure are completely the same；It include:
Three rotary cylinders (15), the second structural member (16), the 4th rotary cylinder (17), the first worm screw (18), the first worm gear (19), crawler belt
(20), Second wheel (21), the first connector (22), the 5th rotary cylinder (23), the second worm screw (24), the second worm gear (25),
Third round (26)；The cylinder body of third rotary cylinder (15) is fixedly connected with bottom plate (4), the rotation of third rotary cylinder (15)
Axis, the 4th rotary cylinder (17) cylinder body be fixedly connected with the second structural member (16), the first worm screw (18) and the 4th rotary pneumatic
The rotation axis of cylinder (17) is fixedly connected, and the first worm gear (19) is rotatably connected with the second structural member (16), the first worm screw (18) with
First worm gear (19) is meshed, and the axis that is rotatably connected between the first worm gear (19), the second structural member (16) connects with first simultaneously
Fitting (22), Second wheel (21) are fixedly connected；The cylinder body of 5th rotary cylinder (23) is fixedly connected with the first connector (22),
Second worm screw (24) is fixedly connected with the rotation axis of the 5th rotary cylinder (23)；Second worm gear (25) and the first connector (22) can
Rotation connection, and be fixedly connected with third round (26)；Second wheel (21), third round (26) are mutually nibbled with crawler belt (20)
It closes.
4. adapting to the pneumatic robot system of complicated landform according to claim 1, which is characterized in that the first mechanical arm
(5) and second mechanical arm (7) structure is completely the same, includes: the second connector (28), third structural member (29), straight line cylinder
(30), the 6th rotary cylinder (31), third connector (32), the 7th rotary cylinder (33)；Second connector (28) and bottom plate (4)
It is fixedly connected, straight line cylinder (30) both ends are rotatably connected with the second connector (28), third structural member (29) respectively, the 6th rotation
The cylinder body of rotaring cylinder (31) is fixedly connected with third structural member (29), and the rotation axis of the 6th rotary cylinder (31) is connected by third
Fitting (32) is fixedly connected with the 7th rotary cylinder (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822063792.3U CN209479803U (en) | 2018-12-10 | 2018-12-10 | Adapt to the pneumatic robot system of complicated landform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822063792.3U CN209479803U (en) | 2018-12-10 | 2018-12-10 | Adapt to the pneumatic robot system of complicated landform |
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| Publication Number | Publication Date |
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| CN209479803U true CN209479803U (en) | 2019-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822063792.3U Withdrawn - After Issue CN209479803U (en) | 2018-12-10 | 2018-12-10 | Adapt to the pneumatic robot system of complicated landform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398513A (en) * | 2018-12-10 | 2019-03-01 | 嘉兴学院 | A kind of pneumatic robot system adapting to complicated landform |
-
2018
- 2018-12-10 CN CN201822063792.3U patent/CN209479803U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398513A (en) * | 2018-12-10 | 2019-03-01 | 嘉兴学院 | A kind of pneumatic robot system adapting to complicated landform |
| CN109398513B (en) * | 2018-12-10 | 2020-10-13 | 嘉兴学院 | Pneumatic robot system suitable for complex terrain |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191011 Effective date of abandoning: 20200522 |
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| AV01 | Patent right actively abandoned |