CN210526697U - Dual-purpose robot chassis for flat ground movement and ladder climbing based on vertical lifting mechanism - Google Patents
Dual-purpose robot chassis for flat ground movement and ladder climbing based on vertical lifting mechanism Download PDFInfo
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- CN210526697U CN210526697U CN201921019205.9U CN201921019205U CN210526697U CN 210526697 U CN210526697 U CN 210526697U CN 201921019205 U CN201921019205 U CN 201921019205U CN 210526697 U CN210526697 U CN 210526697U
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Abstract
A dual-purpose robot chassis for flat ground movement and ladder climbing based on a vertical lifting mechanism relates to the field of robots and comprises a main body frame, a vertical lifting unit and an auxiliary wheel unit; the vertical lifting unit comprises a driving wheel module and a longitudinal driving module; the driving wheel module comprises a first motor, a Mecanum wheel assembly and a first synchronous pulley assembly, and the first synchronous pulley assembly is respectively connected with the first motor and the Mecanum wheel assembly; the longitudinal driving module comprises a second motor, a gear and a rack, the second motor is connected with the gear, the gear is meshed with the rack, and the rack is connected with the Mecanum wheel assembly; the auxiliary wheel unit comprises a motor driving module and an auxiliary wheel module; the motor driving module comprises a third motor and a second synchronous pulley component connected with the third motor; the auxiliary wheel module comprises an auxiliary wheel fixing shaft and an auxiliary wheel assembly, and the auxiliary wheel fixing shaft is connected with the second synchronous pulley assembly and the auxiliary wheel assembly respectively. Stable and simple structure, diversified functions and wide application range.
Description
Technical Field
The utility model relates to a robot field especially relates to remove and dual-purpose robot chassis of ladder climbing based on vertical lift mechanism's level land.
Background
The stair climbing robot can walk on flat ground and climb stairs, plays an important role in the fields of reconnaissance, search and rescue and the like, and a plurality of different types of stair climbing robots can be carried out at the same time. Most of the existing stair climbing robots are of a turnover type or a bionic type, the turnover type robot overturns the whole robot to go upstairs by one branch point, the robot can only climb the stairs, the upper functional module is difficult to realize, and the robot is extremely easy to damage in the overturning process, so that the functionality of the robot is greatly weakened; the occupied space is large during turning, and if the reconnaissance task target is too obvious, the application range is small; in addition, only one pivot is arranged in the overturning process, so that the overturning device is not stable enough and has great damage to a power source for supporting and overturning; in addition, a sufficiently long overturning supporting device needs to be installed, and the structure is complex.
Disclosure of Invention
An object of the utility model is to solve the above-mentioned problem among the prior art, provide the dual-purpose robot chassis of level land removal and ladder climbing based on vertical lift mechanism, stable in structure is simple, and the function is diversified, simple easy operation, and application scope is wide.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the dual-purpose robot chassis for flat ground movement and ladder climbing based on the vertical lifting mechanism comprises a main body frame, a vertical lifting unit and an auxiliary wheel unit; the main body frame is used for fixedly supporting the vertical lifting unit and the auxiliary wheel unit;
the vertical lifting unit comprises a driving wheel module and a longitudinal driving module; the driving wheel module comprises a first motor, a first synchronous pulley component and a Mecanum pulley component, the first motor is connected with the first synchronous pulley component, and the first synchronous pulley component is connected with the Mecanum pulley component; the longitudinal driving module comprises a second motor, a gear and a rack, the second motor is connected with the gear, the gear is meshed with the rack, and the rack is connected with the Mecanum wheel assembly;
the auxiliary wheel unit is arranged at the bottom layer of the main body frame and comprises a motor driving module and an auxiliary wheel module; the motor driving module comprises a third motor and a second synchronous pulley component connected with the third motor; the auxiliary wheel module comprises an auxiliary wheel fixing shaft and an auxiliary wheel assembly, one end of the auxiliary wheel fixing shaft is connected with the second synchronous pulley assembly, and the other end of the auxiliary wheel fixing shaft is connected with the auxiliary wheel assembly through a flange coupler.
The vertical lifting unit also comprises a fixing module, and the fixing module comprises an upper layer fixing plate, a lower layer fixing plate and a bottom clamping plate which are sequentially arranged from top to bottom; the upper fixing plate and the lower fixing plate are fixedly connected with the main body frame, the second motor and the gear are connected between the upper fixing plate and the lower fixing plate, and the rack penetrates through the upper fixing plate and the lower fixing plate to be fixedly connected with the rack seat on the bottom clamping plate, so that the bottom clamping plate moves longitudinally along with the rack; the driving wheel module is connected below the lower layer fixing plate and fixedly connected with the bottom clamping plate.
The fixed module further comprises a motor base, the motor base is arranged between the upper-layer fixed plate and the lower-layer fixed plate, a second motor is fixed on one side of the motor base, a bearing in the motor base is fixed on the other side of the motor base through a bearing shaft, a gear is arranged in the motor base, a rack penetrates through the motor base to be meshed with the gear, and the bearing is in tangent fit with the rack.
The vertical lifting unit further comprises a sliding shaft, and the sliding shaft penetrates through the upper layer fixing plate and the lower layer fixing plate and is connected with the bottom clamping plate through a flange coupler.
The Mecanum wheel assembly comprises Mecanum wheels and side plate fixing pieces, the side plate fixing pieces are arranged on two sides of the Mecanum wheels, a rotating shaft of the first synchronous pulley assembly penetrates through the side plate fixing pieces to be connected with the Mecanum wheels, and the side face of the bottom clamping plate is connected with the side plate fixing pieces.
The first motor and the first synchronous pulley component are arranged on the side plate fixing part, the first motor is positioned between the lower layer fixing plate and the bottom clamping plate, and the first synchronous pulley component is arranged on the outer side of the side plate fixing part.
The driving wheel module further comprises a motor fixing plate, and the first motor is connected to the side plate fixing piece in a threaded mode through the motor fixing plate.
The vertical lifting unit further comprises a travel switch, and the travel switch is arranged on the Mecanum wheel assembly.
The auxiliary wheel assembly comprises auxiliary wheels and auxiliary wheel fixing plates, the auxiliary wheels are connected between the two auxiliary wheel fixing plates, and the auxiliary wheel fixing shafts are connected with the auxiliary wheel fixing plates through flange couplers; and the auxiliary wheel fixing plates are fixed by adopting copper columns.
Compared with the prior art, the utility model discloses technical scheme obtains beneficial effect is:
1. the utility model adopts the mode of supporting by the auxiliary wheel, so that the robot can positively run and climb up stairs, thereby keeping the whole structure of the robot stable, the form of climbing stairs is almost the same as that of running on flat ground, and the dual-purpose of flat ground and climbing stairs can be realized; the stair climbing process is simple and easy to operate, the structure is more stable and simple, and the cost is lower; in addition, the stair climbing process is safe and stable, the robot is not damaged, and the service life is longer;
2. the utility model can add functional modules on the upper layer of the main body frame without being influenced by climbing stairs, thus realizing multiple functions, and leading the robot to have wider application range and more diversified functions;
3. the utility model has compact structure, smaller volume, small occupied space in the advancing process and wider application range;
4. the utility model has simple and stable structure and easy operation, and can adapt to activities such as teaching experiments, robot training, competition and the like;
5. the utility model discloses be equipped with travel switch, whether the robot can judge the place ahead has stair and change the gait according to the feedback result.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic structural view of the main body frame;
fig. 4 is a schematic view of a partial structure of the present invention;
FIG. 5 is a schematic structural diagram of a fixing module;
FIG. 6 is a schematic structural diagram of a driving wheel module;
FIG. 7 is a second schematic structural view of the driving wheel module;
FIG. 8 is a schematic structural diagram of a longitudinal driving module;
FIG. 9 is a schematic view of the internal structure of the motor base;
FIG. 10 is a schematic structural view of an auxiliary wheel unit;
FIG. 11 is a schematic structural diagram of a motor drive module;
fig. 12 is a schematic structural view of an auxiliary wheel module.
Reference numerals: the device comprises aluminum tubes 101-110, first motors 111, synchronous pulleys 112-113, side plate fixing pieces 114-115, Mecanum wheels 116, motor fixing plates 117, second motors 118, gears 119, racks 120, motor bases 121, bearing shafts 122, sliding shafts 123, upper fixing plates 124, lower fixing plates 125, flange couplings 126, bottom clamping plates 127, rack bases 128, aluminum tubes 129, travel switches 130, third motors 131, synchronous pulleys 132-133, motor fixing plates 134, auxiliary wheel module fixing plates 135, auxiliary wheel fixing shafts 136, shaft sleeves 137, flange couplings 138, auxiliary wheel fixing plates 139, copper columns 140, auxiliary wheels 141 and bearings 142.
Detailed Description
In order to make the technical problem, technical solution and beneficial effects to be solved by the present invention clearer and more obvious, the following description is made in detail with reference to the accompanying drawings and embodiments.
As shown in FIGS. 1-4, the embodiment of the present invention comprises a main frame, a vertical lifting unit and an auxiliary wheel unit.
As shown in figure 3, the main body frame is composed of aluminum pipes 101-110, the main body frame is used for fixedly supporting the vertical lifting unit and the auxiliary wheel unit, the main body frame is reasonable in design and stable and firm in structure, the aluminum pipes 101 can be used for installing upper-layer functional modules, and the robot functions are diversified if grabbing, throwing and the like.
As shown in fig. 1 to 8, the vertical lifting unit includes a driving wheel module, a longitudinal driving module, a fixing module, a sliding shaft 123 and a travel switch 130;
as shown in fig. 6, the capstan module includes a first motor 111, a first synchronous pulley assembly and a mecanum pulley assembly, the first motor 111 is connected to the first synchronous pulley assembly, and the first synchronous pulley assembly is connected to the mecanum pulley assembly; the first synchronous pulley component comprises synchronous pulleys 112-113, the first motor 111 drives the synchronous pulley 112, and the synchronous pulley 113 drives a Mecanum wheel 116 in the Mecanum pulley component to rotate;
as shown in fig. 8, the longitudinal driving module comprises a second motor 118, a gear 119 and a rack 120, wherein the second motor 118 is connected with the gear 119, the gear 119 is meshed with the rack 120, and the rack 120 is connected with a mecanum wheel assembly; the second motor 118 drives the gear 119 to rotate, and the gear 119 drives the rack 120, so that the Mecanum wheel assembly is driven to move up and down, and the function of climbing stairs is realized;
as shown in fig. 1 and fig. 4 to 5, the fixing module includes an upper fixing plate 124, a lower fixing plate 125 and a bottom clamping plate 127, which are arranged in sequence from top to bottom; the upper fixing plate 124 is fixed on the aluminum tubes 102-103, the lower fixing plate 125 is fixed on the aluminum tubes 104-105, the second motor 118 and the gear 119 are arranged between the upper fixing plate 124 and the lower fixing plate 125, and the rack 120 passes through the upper fixing plate 124 and the lower fixing plate 125 to be fixedly connected with a rack seat 128 on the bottom clamping plate 127, so that the bottom clamping plate 127 moves longitudinally along with the rack 120; the driving wheel module is installed below the lower fixing plate 125 and fixedly connected with the bottom clamping plate 127;
more specifically, the fixing module further includes a motor base 121, and the motor base 121 is disposed between the upper fixing plate 124 and the lower fixing plate 125 to reinforce the structure, so that the overall structure is more stable.
As shown in fig. 9, the second motor 118 is fixed on one side of the motor base 121, the bearing 142 in the motor base 121 is fixed on the other side of the motor base 121 through the bearing shaft 122, the gear 119 is disposed in the motor base 121, the rack 120 passes through the motor base 121 and is engaged with the gear 119, the bearing 142 is in tangential fit with the rack 120, and the bearing 142 can limit the position of the rack 120, so that the rack 120 is tightly fitted with the gear 119 to prevent slipping.
As shown in fig. 5, the sliding shaft 123 passes through the upper fixing plate 124 and the lower fixing plate 125 and is coupled to the bottom clamping plate 127 by the flange coupling 126, thus reinforcing the entire structure.
As described above, the fixing module can fix the second motor 118 and also fix the rack bar 120, the upper fixing plate 124 and the lower fixing plate 125 for fixing the motors are connected to the body frame, so that the second motor 118 is kept stable, and the bottom clamping plate 127 for fixing the rack bar 120 can move along with the rack bar 120, which is simple and compact in structure and exquisite in design.
Specifically, as shown in fig. 6, the mecanum wheel assembly includes mecanum wheels 116 and side plate fixing members 114 to 115, the side plate fixing members 114 to 115 are disposed at both sides of the mecanum wheels 116, the rotating shaft of the first synchronous pulley assembly passes through the side plate fixing members to be connected with the mecanum wheels 116, an aluminum pipe 129 is disposed at a side surface of the bottom clamping plate 127 for supporting, and the aluminum pipe 129 is connected with the side plate fixing members to make the structure more stable;
as shown in fig. 7, the travel switch 130 is disposed on the side plate fixing member; the travel switch 130 is used for judging whether steps exist in front or not, when the mecanum wheel 116 approaches the steps, the travel switch 130 detects the steps in front and feeds the steps back to the robot control system, and the robot control system sends an instruction to change the gait to start climbing stairs, so that the conversion between flat ground and stair climbing is completed, and the full-automatic robot is realized.
As shown in fig. 4 to 6, the first motor 111 and the first synchronous pulley assembly are attached to the side plate fixing member, the first motor 111 is located between the lower fixing plate 125 and the bottom clamping plate 127, and the first synchronous pulley assembly is located outside the side plate fixing member; the driving wheel module further comprises a motor fixing plate 117, and the first motor 111 is screwed on the side plate fixing piece through the motor fixing plate 117.
As shown in fig. 10 to 12, the auxiliary wheel unit is disposed at the bottom layer of the main body frame, and includes a motor driving module and an auxiliary wheel module;
the motor driving module comprises a third motor 131 and a second synchronous pulley assembly connected with the third motor 131, and the second synchronous pulley assembly comprises synchronous pulleys 132-133; the synchronous belt wheels of the motor are matched, so that the torque borne by the motor can be reduced, the service life of the motor is prolonged, and the integral structure is more stable;
the auxiliary wheel module comprises an auxiliary wheel fixing shaft 136 and an auxiliary wheel assembly, one end of the auxiliary wheel fixing shaft 136 is connected with the second synchronous pulley assembly, and the other end of the auxiliary wheel fixing shaft 136 is connected with the auxiliary wheel assembly through a flange coupler 138;
specifically, the third motor 131 is fixed to the aluminum pipe 110 by a motor fixing plate 134, and the auxiliary wheel fixing shaft 136 is fixed to the aluminum pipe 110 by an auxiliary wheel module fixing plate 135.
The third motor 131 drives the synchronous pulley 132 to rotate, the synchronous pulley 133 drives the auxiliary wheel fixing shaft 136 to rotate, so that the auxiliary wheel assembly is driven to rotate, the auxiliary wheel assembly is put down when climbing stairs, the auxiliary wheel assembly is folded when running on the flat ground, the size is small, other functions are not influenced, and the structure is simple and exquisite.
In this embodiment, the auxiliary wheel assembly includes an auxiliary wheel 141 and an auxiliary wheel fixing plate 139, the auxiliary wheel 141 is attached between two auxiliary wheel fixing plates 139, and the position of the auxiliary wheel 141 is limited by a shaft sleeve 137 so as not to move left and right; the auxiliary wheel fixing plates 139 are supported and fixed by copper columns 140; the auxiliary wheel fixing shaft 136 is connected to an auxiliary wheel fixing plate 139 through a flange coupling 138.
The aluminum pipes 107 and 106 are arranged above the auxiliary wheel assemblies, so that the positions of the auxiliary wheel assemblies can be limited, the phenomenon that the auxiliary wheel assemblies cannot be contacted with steps due to too large rotating angles is prevented, and the stability is enhanced.
The utility model discloses structural connection department is mostly the bolt fastening, guarantees that stable in structure is accurate. The utility model discloses length range is within 800mm, and width range is within 700 mm.
The vertical lifting module realizes the structure and the principle of up-and-down motion as follows:
the side plate fixing pieces 114 to 115 are fixed together on the aluminum pipe 129 through bolts, when the second motor 118 drives the gear 119 to rotate, the rack 120 moves up and down, and as the rack 120 is fixed on the rack seat 128 and the rack seat 128, the bottom clamping plate 127, the aluminum pipe 129 and the side plate fixing pieces 114 to 115 are respectively fixed together, when the rack 120 moves up and down, the rack seat 128, the bottom clamping plate 127, the aluminum pipe 129 and the side plate fixing pieces 114 to 115 move up and down together; the Mecanum wheel 116 and the side plate fixing pieces 114-115 are fixed together and move along with the Mecanum wheel 116, so that the gear rack 120 can drive the Mecanum wheel 116 to move up and down, and the second motor 118 can be used for controlling the Mecanum wheel 116 to move up and down;
since the upper fixing plate 124 and the lower fixing plate 125 are connected to the main body frame and do not move with the rack gear 120, the main body frame remains stationary while the rack gear 120 drives the mecanum wheel 116 to move up and down, so that the relative movement of the mecanum wheel 116 and the main body frame, namely, the leg lifting during climbing stairs and the leg falling after climbing stairs, is realized.
The structure and the principle of realizing the extension and retraction of the auxiliary wheel assembly are as follows:
the auxiliary wheel assembly is fixed to the auxiliary wheel fixing shaft 136 and rotates with the second synchronous pulley assembly, that is, the third motor 131. The auxiliary wheel assembly is retracted when turned inwardly and extended when turned outwardly. The auxiliary wheel module fixing plate 135 fixes the auxiliary wheel fixing shaft 136 to the aluminum pipe 108 again, making the auxiliary wheel module more stable. The auxiliary wheel module is divided into a front part and a rear part, so that the front auxiliary wheel 141 and the rear auxiliary wheel 141 can respectively ascend steps.
The utility model discloses the structure and the principle that realize climbing the building as follows:
during flat ground travel, the third motor 131 rotates, the auxiliary wheel assembly rotates inward and retracts, and the four mecanum wheels 116 normally travel on the ground. When there is a step in front, the travel switch 130 detects the step and feeds back the step to the robot control system, the robot control system sends an instruction to change the gait, the third motor 131 rotates, and the auxiliary wheel assembly rotates outwards to extend and support the step; the second motor 118 rotates, the Mecanum wheel 116 moves upwards to leave the ground, and the robot stands on the step by taking the auxiliary wheel 141 as the front wheel; the third motor 131 rotates again, the auxiliary wheel assembly rotates inwards and retracts, the robot rotates by taking the auxiliary wheel 141 as a fulcrum, the second motor 118 rotates again after the robot ascends the steps, the mecanum wheel 116 moves downwards to be in contact with the ground, and the front half part of the robot completely ascends the steps. And the travel switch 130 detects the step again until the rear wheel meets the step, and the steps are repeated by the rear wheel and the rear half part of the auxiliary wheel assembly, so that the rear wheel climbs the step.
Claims (8)
1. Dual-purpose robot chassis of level land removal and ladder climbing based on vertical lift mechanism, its characterized in that: comprises a main body frame, a vertical lifting unit and an auxiliary wheel unit; the main body frame is used for fixedly supporting the vertical lifting unit and the auxiliary wheel unit;
the vertical lifting unit comprises a driving wheel module, a longitudinal driving module, a fixing module, a sliding shaft and a travel switch; the driving wheel module comprises a first motor, a first synchronous pulley component and a Mecanum pulley component, the first motor is connected with the first synchronous pulley component, and the first synchronous pulley component is connected with the Mecanum pulley component; the longitudinal driving module comprises a second motor, a gear and a rack, the second motor is connected with the gear, and the gear is meshed with the rack; the fixing module comprises an upper fixing plate, a lower fixing plate and a bottom clamping plate which are arranged from top to bottom in sequence, and the upper fixing plate and the lower fixing plate are fixedly connected with the main body frame; the rack is fixedly connected with a rack seat on the bottom clamping plate, so that the bottom clamping plate longitudinally moves along with the rack, and the bottom clamping plate is fixedly connected with the Mecanum wheel assembly; the sliding shaft penetrates through the upper layer fixing plate and the lower layer fixing plate and is connected with the bottom clamping plate through a flange coupler; the travel switch is arranged on the Mecanum wheel assembly;
the auxiliary wheel unit is arranged at the bottom layer of the main body frame and comprises a motor driving module and an auxiliary wheel module; the motor driving module comprises a third motor and a second synchronous pulley component connected with the third motor; the auxiliary wheel module comprises an auxiliary wheel fixing shaft and an auxiliary wheel assembly, one end of the auxiliary wheel fixing shaft is connected with the second synchronous pulley assembly, and the other end of the auxiliary wheel fixing shaft is connected with the auxiliary wheel assembly through a flange coupler.
2. The chassis of the dual-purpose robot for flat ground movement and ladder climbing based on the vertical lifting mechanism as claimed in claim 1, wherein: the second motor and the gear are connected between the upper fixing plate and the lower fixing plate, and the rack penetrates through the upper fixing plate and the lower fixing plate to be fixedly connected with the rack seat on the bottom clamping plate; the driving wheel module is connected below the lower layer fixing plate and fixedly connected with the bottom clamping plate.
3. The chassis of the dual-purpose robot for flat ground movement and ladder climbing based on the vertical lifting mechanism as claimed in claim 2, wherein: the fixed module further comprises a motor base, the motor base is arranged between the upper-layer fixed plate and the lower-layer fixed plate, a second motor is fixed on one side of the motor base, a bearing in the motor base is fixed on the other side of the motor base through a bearing shaft, a gear is arranged in the motor base, a rack penetrates through the motor base to be meshed with the gear, and the bearing is in tangent fit with the rack.
4. The chassis of the dual-purpose robot for flat ground movement and ladder climbing based on the vertical lifting mechanism as claimed in claim 1, wherein: the Mecanum wheel assembly comprises Mecanum wheels and side plate fixing pieces, the side plate fixing pieces are arranged on two sides of the Mecanum wheels, a rotating shaft of the first synchronous pulley assembly penetrates through the side plate fixing pieces to be connected with the Mecanum wheels, and the side face of the bottom clamping plate is connected with the side plate fixing pieces.
5. The chassis of the dual-purpose robot for flat ground movement and ladder climbing based on the vertical lifting mechanism as claimed in claim 4, wherein: the first motor and the first synchronous pulley component are arranged on the side plate fixing part, the first motor is positioned between the lower layer fixing plate and the bottom clamping plate, and the first synchronous pulley component is arranged on the outer side of the side plate fixing part.
6. The chassis of the dual-purpose robot for flat ground movement and ladder climbing based on the vertical lifting mechanism as claimed in claim 5, wherein: the driving wheel module further comprises a motor fixing plate, and the first motor is connected to the side plate fixing piece in a threaded mode through the motor fixing plate.
7. The chassis of the dual-purpose robot for flat ground movement and ladder climbing based on the vertical lifting mechanism as claimed in claim 1, wherein: the auxiliary wheel assembly comprises auxiliary wheels and auxiliary wheel fixing plates, the auxiliary wheels are connected between the two auxiliary wheel fixing plates, and the auxiliary wheel fixing shafts are connected with the auxiliary wheel fixing plates through flange couplers.
8. The chassis of claim 7, which is based on a vertical lifting mechanism and used for a robot moving on flat ground and climbing on stairs, and is characterized in that: and the auxiliary wheel fixing plates are fixed by adopting copper columns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921019205.9U CN210526697U (en) | 2019-07-02 | 2019-07-02 | Dual-purpose robot chassis for flat ground movement and ladder climbing based on vertical lifting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921019205.9U CN210526697U (en) | 2019-07-02 | 2019-07-02 | Dual-purpose robot chassis for flat ground movement and ladder climbing based on vertical lifting mechanism |
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| Publication Number | Publication Date |
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| CN210526697U true CN210526697U (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921019205.9U Active CN210526697U (en) | 2019-07-02 | 2019-07-02 | Dual-purpose robot chassis for flat ground movement and ladder climbing based on vertical lifting mechanism |
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| CN (1) | CN210526697U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395328A (en) * | 2019-07-02 | 2019-11-01 | 厦门大学 | Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder |
-
2019
- 2019-07-02 CN CN201921019205.9U patent/CN210526697U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395328A (en) * | 2019-07-02 | 2019-11-01 | 厦门大学 | Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder |
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