CN210310632U - Walking device - Google Patents
Walking device Download PDFInfo
- Publication number
- CN210310632U CN210310632U CN201920982443.3U CN201920982443U CN210310632U CN 210310632 U CN210310632 U CN 210310632U CN 201920982443 U CN201920982443 U CN 201920982443U CN 210310632 U CN210310632 U CN 210310632U
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- adsorption
- walking
- assembly
- component
- slag
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 85
- 239000002893 slag Substances 0.000 claims abstract description 60
- 238000000926 separation method Methods 0.000 claims abstract description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 238000005096 rolling process Methods 0.000 claims description 18
- 230000000903 blocking effect Effects 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 4
- 239000013049 sediment Substances 0.000 abstract description 6
- 239000002184 metal Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000006148 magnetic separator Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a walking device, which comprises a walking main body, an adsorption component and a slag moving component; the adsorption component is arranged on the walking main body, has adsorption force and is used for adsorbing the walking device on a working surface; the slag removing assembly is arranged on the adsorption assembly and is provided with an adsorption surface and a separation surface. During the use, adsorb the adsorption plane on moving the sediment subassembly through adsorption component with the disintegrating slag on the working face on, the rethread moves the sediment subassembly and will be located moving to the parting face on the adsorption plane to make and not have the disintegrating slag separation between adsorption component and the working face, and then guaranteed that running gear can adsorb on the working face for a long time.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a running gear.
Background
The existing wall-climbing robot can move on an inclined wall surface, a vertical wall surface and even a ceiling, and can work in various operation environments which are not suitable for human beings, such as tank body detection in nuclear industry and petrochemical industry, rust removal and spraying in ship industry and the like, by carrying tools to complete certain tasks.
The most important technologies of the wall-climbing robot include movement control and adsorption control, wherein the adsorption control includes magnetic adsorption, so the magnetic adsorption wall-climbing robot often works on metal surfaces and performs work such as grinding, maintenance and the like which cannot be completed by ordinary people.
However, many metal debris are scattered on the metal surface of some industrial bases, so that the metal debris are easily adsorbed on the wall-climbing robot when the wall-climbing robot moves on the metal surface, which causes the adsorption capacity of the wall-climbing robot to be poor, and affects the normal work of the wall-climbing robot.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a running gear has the function of getting rid of the disintegrating slag that adsorbs on self, has guaranteed that running gear can adsorb on the working face for a long time.
The utility model provides a walking device, which comprises a walking main body, an adsorption component and a slag moving component; the adsorption component is arranged on the walking main body, has adsorption force and is used for adsorbing the walking device on a working surface; the slag removing assembly is arranged on the adsorption assembly and is provided with an adsorption surface and a separation surface; the adsorption component is also used for adsorbing the broken slag on the adsorption surface; the slag moving assembly is used for moving the crushed slag on the adsorption surface to the separation surface.
The walking device is preferably characterized in that the slag removing assembly comprises an annular belt and a rolling piece; the rolling piece is arranged on the adsorption component, and the annular belt is sleeved on the rolling piece; adsorption element is used for with the disintegrating slag adsorb on the adsorption plane, the rolling member orders about the endless belt removes in order to be located disintegrating slag on the adsorption plane moves to the parting surface.
The walking device preferably comprises a magnet, the magnet is positioned on the inner ring of the annular belt, and the magnet is only close to the adsorption surface of the annular belt.
Preferably, one surface of the magnet facing the adsorption surface is a convex arc surface, and the arc surface is attached to the inner surface of the annular belt.
The walking device preferably further comprises a blocking piece, and the blocking piece is connected to the walking main body; the outer end of the blocking piece is positioned on the front side surface of the traveling direction of the slag removing assembly.
The walking device is preferably characterized in that the barrier piece is rotatably connected to the walking body.
The walking device preferably comprises a walking main body, a buffer component and a walking component; the buffer assembly comprises a guide seat, an elastic piece and a guide rod; the guide seat is arranged on the walking assembly, one end of the guide rod is fixed on the adsorption assembly, and the other end of the guide rod movably penetrates through the guide seat; the elastic piece is sleeved on the guide rod.
Preferably, the walking assembly comprises a walking body, a speed change assembly, a rotating member and a roller; the walking body is connected with the buffer component; the speed change assembly is mounted on the walking body; the rotating piece and the roller are arranged on the speed change assembly; the rotating piece drives the speed change assembly to rotate, and the speed change assembly drives the roller to rotate.
The running gear, preferably, the speed change assembly includes a first speed reducer and a second speed reducer; the first speed reducer is respectively connected with the rotating part and the second speed reducer; the second speed reducer is connected to the roller; the rotating piece is used for driving the first speed reducing piece to rotate, the first speed reducing piece drives the second speed reducing piece to rotate, and the second speed reducing piece drives the roller to rotate.
Preferably, the rotating member is a motor.
The embodiment of the utility model provides an in, during the use, adsorb the adsorption plane on moving the sediment subassembly through adsorption component with the disintegrating slag on the working face on, the rethread moves the sediment subassembly and will be located moving to the parting surface on the adsorption plane to make and not have the disintegrating slag separation between adsorption component and the working face, and then guaranteed that running gear can adsorb on the working face for a long time.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Fig. 1 is a schematic structural view of a walking device according to an embodiment of the present invention;
fig. 2 is a sectional view of a walking device according to an embodiment of the present invention;
fig. 3 is a schematic structural view of another angle in a walking device according to an embodiment of the present invention.
In the figure: 1. a walking body; 2. a slag removal assembly; 21. an endless belt; 211. an adsorption surface; 212. a separating surface; 22. a rolling member; 3. an adsorption component; 31. a magnet mounting plate; 32. a magnet; 33. a side plate; 4. a blocking member; 5. a buffer assembly; 51. a guide seat; 52. a guide bar; 53. an elastic member; 6. a walking assembly; 61. a walking body; 62. a speed change assembly; 621. a first reduction member; 622. a second reduction member; 63. a rotating member; 64. and a roller.
Detailed Description
To make the objects, features and advantages of the present invention more obvious and understandable, the embodiments of the present invention are described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
Fig. 1 is a schematic structural view of a walking device according to an embodiment of the present invention; fig. 2 is a cross-sectional view of a walking device according to an embodiment of the present invention, please refer to fig. 1 and fig. 2.
The utility model provides a walking device, which comprises a walking main body 1, an adsorption component 3 and a slag moving component 2.
The adsorption component 3 is installed on the walking main body 1, has adsorption force and is used for adsorbing the walking device on a working surface.
The slag removing assembly 2 is arranged on the adsorption assembly 3, and the slag removing assembly 2 is provided with an adsorption surface 211 and a separation surface 212.
The adsorption component 3 is also used for adsorbing the broken slag on the adsorption surface 211.
The slag removing assembly 2 is used for removing the crushed slag on the adsorption surface 211 to the separation surface 212.
In the travelling device in this embodiment, the slag moving assembly 2 is located at the bottom of the travelling assembly 6, an inner cavity is formed in the slag moving assembly 2, and the adsorption assembly 3 is installed in the inner cavity of the slag moving assembly 2. The adsorption surface 211 of the slag removal assembly 2 is located on the bottom surface of the slag removal assembly 2, and the number of the separation surfaces 212 is preferably two in the embodiment, and the separation surfaces are respectively located on the front side surface and the rear side surface of the slag removal assembly 2 along the traveling direction of the traveling body 1.
During the use, in walking main part 1 along the working face walking in-process, adsorb the adsorption component on the adsorption component 211 that moves sediment subassembly 2 with the disintegrating slag on the working face through adsorption component 3. In practical application, can be after adsorbing a certain amount of disintegrating slag on adsorption plane 211, the rethread moves sediment subassembly 2 will be located moving to separating surface 212 of adsorption plane 211 to make and do not have the disintegrating slag separation between adsorption component 3 and the working face, make have all the time sufficient adsorption affinity between adsorption component 3 and the working face, and then guaranteed that running gear can adsorb on the working face for a long time.
In the present embodiment, the slag removing assembly 2 preferably comprises an endless belt 21 and a rolling member 22.
The rolling member 22 is installed on the adsorption component 3, and the annular belt 21 is sleeved on the rolling member 22.
The adsorption surface 211 and the separation surface 212 are both located on the endless belt 21, the adsorption assembly 3 is used for adsorbing the crushed slag on the adsorption surface 211, and the rolling members 22 drive the endless belt 21 to move so as to move the crushed slag on the adsorption surface 211 to the separation surface 212.
In the walking device of this embodiment, the rolling members 22 are preferably rollers and the number of rollers is preferably two (although other numbers may be provided). The two rollers are respectively positioned at the front end and the rear end of the walking body 1 along the traveling direction, and the length directions of the two rolling members 22 are perpendicular to the traveling direction of the walking body 1. The endless belt 21 is fitted over the two rollers 22, the suction surface 211 is located on the bottom surface of the endless belt 21, and the separating surfaces 212 are located on both front and rear sides of the endless belt 21 in the traveling direction of the traveling body 1.
During the use, drive rolling member 22 circumferential direction drives endless belt 21 circumferential direction and removes to the disintegrating slag that will be located on adsorption plane 211 moves to parting surface 212, makes to have all the time sufficient adsorption affinity between adsorption component 3 and the working face, and then has guaranteed running gear and can adsorb on the working face for a long time.
Fig. 3 is a schematic structural view of another angle in a walking device according to an embodiment of the present invention; please refer to fig. 2 and fig. 3.
In the present embodiment, it is preferable that the attraction member 3 includes a magnet 32, the magnet 32 is located in an inner ring of the endless belt 21, and the magnet 32 is only close to the attraction surface 211 of the endless belt 21.
In the walking device of this embodiment, the adsorption assembly 3 further includes a magnet mounting plate 33 and a side plate 33. The number of the side plates 33 is two, the two side plates 33 are located on both sides in the moving direction of the endless belt 21, and the two side plates 33 are attached to the traveling body 1. The magnet mounting plate 33 is positioned above the cavity formed by the endless belt 21 and is connected to the two side plates 33. The magnet 32 is attached to the bottom surface of the magnet attachment plate 33, and the bottom surface of the magnet 32 is closely attached to the endless belt 21 so as to be close to the attraction surface 211. The front and rear ends of the magnet 32 are spaced apart from the separating surfaces 212 at the corresponding positions.
When the magnetic separator is used, the rolling members 22 are driven to rotate in the circumferential direction to drive the annular belt 21 to move in the circumferential direction, so that the crushed slag on the adsorption surface 211 is moved to the separation surface 212, and the distance between the magnet 32 and the separation surface 212 is long, so that the adsorption capacity of the magnet 32 on the crushed slag on the separation surface 212 is weak, and the crushed slag falls off from the separation surface 212. In practical application, after the absorption surface 211 absorbs a certain amount of crushed slag, the walking body 1 is moved to a designated place, and the crushed slag is separated through the slag moving assembly 2.
In this embodiment, preferably, a surface of the magnet 32 facing the attraction surface 211 is a convex arc surface, and the arc surface is attached to the inner surface of the annular belt 21.
In the walking device of this embodiment, the bottom surface of the magnet 32 is a convex arc surface, and the arc surface is attached to the inner wall of the annular belt 21. By forming the bottom surface of the magnet 32 as a curved surface, the attraction ability of the magnet 32 can be improved.
In this embodiment, preferably, the walking device further includes a blocking member 4, and the blocking member 4 is connected to the walking main body 1; the outer end of the blocking piece 4 is positioned at the front side surface of the traveling direction of the slag removing assembly 2.
In the traveling device of the present embodiment, the stopper 4 is a stopper rod, and is mounted on the side surface of the slag removal unit 2, and the outer end of the stopper rod is located on the front side in the traveling direction of the endless belt 21.
When the walking device is used, in the moving process of the walking device, if the front of the annular belt 21 meets a large obstacle, the outer end part of the stop lever firstly contacts the obstacle, and the annular belt 21 is prevented from being abraded.
In this embodiment, the blocking member 4 is preferably rotatably connected to the walking body 1.
In the walking device of this embodiment, the blocking member 4 is rotatably connected to the walking body 1, so that the blocking member 4 can rotate circumferentially along the side surface around the joint, thereby adjusting the angle of the blocking member 4, and when the walking body 1 needs to walk in the opposite direction, the blocking member 4 can be rotated to the other end of the endless belt 21.
In this embodiment, the walking body 1 preferably further includes a cushion unit 5 and a walking unit 6.
The damping assembly 5 includes a guide holder 51, an elastic member 53, and a guide rod 52.
The guide seat 51 is arranged on the walking component 6, one end of the guide rod 52 is fixed on the adsorption component 3, and the other end is movably arranged on the guide seat 51 in a penetrating way; the elastic member 53 is sleeved on the guide rod 52.
In the walking device in this embodiment, the buffer assembly 5 is located between the walking assembly 6 and the slag moving assembly 2, the guide seats 51 are arranged in a plurality of numbers, and the number of the guide seats 51 in this embodiment is four, and the guide seats are all fixed at the bottom of the walking assembly 6.
The guide rod 52 is a T-shaped screw, the tail end of which is fixed on the side plate 33 on the adsorption assembly 3, and the head end of which is movably inserted into the corresponding guide seat 51, and a nut is connected to the end for abutting against the guide seat 51.
The elastic member 53 is preferably a spring in this embodiment, and is disposed on the guide rod 52, and both ends thereof abut against the guide seat 51 and the tail end of the T-shaped screw respectively.
When the walking body is used, when the slag moving component 2 meets an obstacle in the moving process, the slag moving component 2 and the adsorption component 3 move upwards along the height direction of the walking body 1 through the buffer component 5 so as to cross the obstacle.
In this embodiment, it is preferable that the walking assembly 6 includes a walking body 61, a speed changing assembly 62, a rotating member 63, and a roller 64.
The walking body 61 is connected to the buffering assembly 5, the speed changing assembly 62 is mounted on the walking body 61, the rotating member 63 and the roller 64 are mounted on the speed changing assembly 62, and the rotating member 63 drives the speed changing assembly 62 to rotate. The shifting assembly 62 drives the roller 64 in rotation.
In the walking device of this embodiment, the walking body 61 is located above the cushion assembly 5. The bottom of the walking body 61 is fixedly connected with the guide seat 51 in the buffer assembly 5, and the side surface is rotatably connected with the blocking piece 4.
The speed changing assembly 62 is fixed above the traveling body 61, and is provided with a rotation input end and a rotation output end for converting the first rotation speed into the second rotation speed.
The rollers 64 are preferably two in number (although other numbers are possible), are located on both sides of the traveling direction of the traveling body 1, and are connected to the rotation output ends of the speed changing unit 62. The rotating member 63 is installed at a side of the speed changing assembly 62, and an output end of the rotating member 63 is connected to a rotation input end of the speed changing assembly 62.
The rotating member 63 has a rotating function, and when rotating, the output end thereof has a first rotating speed. The shifting assembly 62 is used to convert the first rotational speed to the second rotational speed and acts on the roller 64 to move the entire vehicle across the work surface.
In the present embodiment, the shifting unit 62 preferably includes a first speed reducer 621 and a second speed reducer 622.
The first speed reducer 621 is connected to the rotating member 63 and the second speed reducer 622, respectively; the second reduction gear 622 is connected to the roller 64.
The rotating member 63 is used to drive the first speed reducer 621 to rotate, the first speed reducer 621 drives the second speed reducer 622 to rotate, and the second speed reducer 622 drives the roller 64 to rotate.
In the traveling device of the present embodiment, the first speed reducer 621 is preferably a planetary speed reducer, an input end of the planetary speed reducer is connected to an output end of the rotating member 63, and an output end of the planetary speed reducer is connected to the second speed reducer 622, for converting the first rotational speed output by the rotating member 63 into an intermediate rotational speed.
The second speed reducer 622 is preferably a worm gear speed reducer, which is installed on the upper end of the traveling body 61, and has an output end connected to the two rollers 64 and an input end connected to the planetary speed reducer, for converting the intermediate rotational speed of the planetary speed reducer into a second rotational speed and applying the second rotational speed to the rollers 64.
In this embodiment, the rotating member 63 is preferably a motor.
In the traveling device in this embodiment, the output end of the motor is connected to the input end of the planetary reducer.
When the traveling device is used, the rotating part 63 is firstly driven, the output of the rotating part 63 is the first rotating speed, the first rotating speed sequentially passes through the first speed reducer 621 and the second speed reducer 622 and then is reduced to the second rotating speed, and the second rotating speed acts on the driving roller 64 to rotate, so that the traveling device travels along the working face.
In running gear walking in-process, adsorption component 3 can adsorb the metal disintegrating slag on the working face to adsorption plane 211 on the endless belt 21, and when the disintegrating slag on adsorption plane 211 accumulated a quantitative, removed running gear to appointed place, rotated through driving about rolling member 22, drove endless belt 21 circumferential direction, will adsorb and move to separating surface 212 on and drop in the disintegrating slag.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The above embodiments are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, and all should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The walking device is characterized by comprising a walking main body (1), an adsorption component (3) and a slag moving component (2);
the adsorption component (3) is arranged on the walking main body (1), has adsorption force and is used for adsorbing the walking device on a working surface;
the slag removing assembly (2) is arranged on the adsorption assembly (3), and the slag removing assembly (2) is provided with an adsorption surface (211) and a separation surface (212);
the adsorption component (3) is also used for adsorbing the broken slag on the adsorption surface (211);
the slag removing assembly (2) is used for removing the crushed slag on the adsorption surface (211) to the separation surface (212).
2. The walking device according to claim 1, wherein the slag removing assembly (2) comprises an endless belt (21) and rolling members (22);
the rolling part (22) is arranged on the adsorption component (3), and the annular belt (21) is sleeved on the rolling part (22);
the adsorption surface (211) and the separation surface (212) are both located on the annular belt (21), the adsorption assembly (3) is used for adsorbing the crushed slag on the adsorption surface (211), and the rolling pieces (22) drive the annular belt (21) to move so as to move the crushed slag on the adsorption surface (211) to the separation surface (212).
3. Walking device according to claim 2, characterized in that the attraction assembly (3) comprises a magnet (32), the magnet (32) being located at the inner ring of the endless belt (21) and the magnet (32) being located only close to the attraction surface (211) of the endless belt (21).
4. The walking device according to claim 3, wherein the surface of the magnet (32) facing the adsorption surface (211) is a convex arc surface, and the arc surface is attached to the inner surface of the annular belt (21).
5. Walking device according to claim 1, characterized in that it further comprises a blocking element (4), said blocking element (4) being connected to said walking body (1); the outer end of the blocking piece (4) is positioned on the front side surface of the advancing direction of the slag removing assembly (2).
6. Walking device according to claim 5, characterized in that the blocking element (4) is rotatably connected to the walking body (1).
7. Walking device according to claim 1, characterized in that the walking body (1) further comprises a cushioning component (5) and a walking component (6);
the buffer assembly (5) comprises a guide seat (51), an elastic piece (53) and a guide rod (52);
the guide seat (51) is arranged on the walking component (6), one end of the guide rod (52) is fixed on the adsorption component (3), and the other end of the guide rod movably penetrates through the guide seat (51); the elastic piece (53) is sleeved on the guide rod (52).
8. Running gear according to claim 7, characterized in that the running assembly (6) comprises a running body (61), a gear change assembly (62), a turning member (63) and a roller (64);
the walking body (61) is connected to the buffer assembly (5);
the speed change assembly (62) is mounted on the walking body (61);
the rotating piece (63) and the roller (64) are arranged on the speed changing assembly (62);
the rotating piece (63) drives the speed change component (62) to rotate, and the speed change component (62) drives the roller (64) to rotate.
9. The walking device of claim 8, wherein the speed change assembly (62) comprises a first speed reducer (621) and a second speed reducer (622);
the first speed reducer (621) is respectively connected with the rotating part (63) and the second speed reducer (622);
the second reduction (622) is connected to the roller (64);
the rotating part (63) is used for driving the first speed reducer (621) to rotate, the first speed reducer (621) drives the second speed reducer (622) to rotate, and the second speed reducer (622) drives the roller (64) to rotate.
10. Running gear according to claim 8 or 9, characterized in that the rotating element (63) is an electric motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920982443.3U CN210310632U (en) | 2019-06-27 | 2019-06-27 | Walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920982443.3U CN210310632U (en) | 2019-06-27 | 2019-06-27 | Walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210310632U true CN210310632U (en) | 2020-04-14 |
Family
ID=70146894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920982443.3U Withdrawn - After Issue CN210310632U (en) | 2019-06-27 | 2019-06-27 | Walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210310632U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254546A (en) * | 2019-06-27 | 2019-09-20 | 北京史河科技有限公司 | A kind of running gear |
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
-
2019
- 2019-06-27 CN CN201920982443.3U patent/CN210310632U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254546A (en) * | 2019-06-27 | 2019-09-20 | 北京史河科技有限公司 | A kind of running gear |
| CN110254546B (en) * | 2019-06-27 | 2024-10-08 | 北京史河科技有限公司 | Walking device |
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
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Granted publication date: 20200414 Effective date of abandoning: 20241008 |