CN211642563U - Robot base of walking under water - Google Patents
Robot base of walking under water Download PDFInfo
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- CN211642563U CN211642563U CN201922478881.9U CN201922478881U CN211642563U CN 211642563 U CN211642563 U CN 211642563U CN 201922478881 U CN201922478881 U CN 201922478881U CN 211642563 U CN211642563 U CN 211642563U
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Abstract
The utility model provides a robot base of walking under water. The robot base of walking under water includes: a housing; the top of the U-shaped groove is fixed at the bottom of the shell; and two sides of the sliding plate are respectively connected with two sides of the inner wall of the U-shaped groove in a sliding manner. The utility model provides a robot base of walking under water, can contract and expand walking part, the indirect height to the robot is adjusted, the indirect resistance that can adjust the robot in aqueous, the robot is higher, the resistance is big more, the robot is lower more, the resistance is little less, not only can expand walking part is whole, the walking on favourable unsmooth ground, and when not using, can protect walking part shrink in the inside in U type groove, and can cushion the robot, and then guarantee the stability of aquatic robot walking, good shock-absorbing function has, satisfy the walking on hole hollow aquatic ground.
Description
Technical Field
The utility model relates to a robot field especially relates to a robot base of walking under water.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. The underwater environment is in severe danger, and the diving depth of people is limited, so the underwater robot becomes an important tool for developing the ocean, and the unmanned remote control submersible mainly comprises: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a type capable of climbing on a seabed structure.
But current underwater robot has a large amount of shortcomings, for example current underwater robot does not have good walking function, can't normally walk on aquatic ground, and stability is relatively poor, and the friction dynamics is lower, and the walking effect is relatively poor, because the nature of rocking in aqueous is great, causes turning on one's side of robot easily moreover, great reduction the efficiency of walking.
Therefore, it is necessary to provide a robot base for underwater walking to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot base of walking under water has solved the walking function relatively poor, can not satisfy the problem that different positions used.
In order to solve the technical problem, the utility model provides a robot base of walking under water includes: a housing;
the top of the U-shaped groove is fixed at the bottom of the shell;
the two sides of the sliding plate are respectively connected with the two sides of the inner wall of the U-shaped groove in a sliding manner;
the bottom of the first U-shaped block is fixed on one side of the bottom of the sliding plate;
the front surface of the control box is fixed to the bottom of the back surface of the first U-shaped block, the bottom of the inner wall of the control box is fixedly connected with a first motor, an output shaft of the first motor is fixedly connected with a first roller, the first roller penetrates through the first U-shaped block and extends into the first U-shaped block, and one end, extending into the first U-shaped block, of the first roller is rotatably connected to the back surface of the first U-shaped block;
the bottom of the second U-shaped block is fixed to the other side of the bottom of the sliding plate, a second roller is rotatably connected between the front surface and the back surface of the inner wall of the second U-shaped block, and the outer surfaces of the first roller and the second roller are in transmission connection through a transmission belt;
the buffer structures are arranged on the outer surface of the transmission belt;
the walking structures are respectively arranged on the other sides of the buffer structures;
the two lifting structures are respectively arranged inside the shell and comprise two movable rods, and the top ends of the two movable rods are respectively and rotatably connected to two sides of the top of the inner wall of the shell;
the driving structure is arranged inside the shell and comprises a second motor, the outer surface of an output shaft of the second motor is fixedly connected with a first belt pulley, and the bottom of the inner wall of the shell is rotatably connected with a rotating shaft;
the pushing structure is arranged on the front face and the back face of the shell and comprises two sleeves, and the sleeves are fixed on the front face and the back face of the shell respectively.
Preferably, buffer structure includes the dashpot, sliding connection has the buffer board between the both sides of the inner wall of dashpot, the bottom fixedly connected with buffer beam of buffer board, the bottom of buffer beam is run through the dashpot and is extended to the bottom of dashpot, the buffer beam extends to the one end of the bottom of dashpot is fixed in the surface of drive belt, the top fixedly connected with buffer spring at the top of buffer board.
Preferably, the walking structure comprises a U-shaped frame, and a rotating shaft is rotatably connected between the front surface and the back surface of the inner wall of the U-shaped frame.
Preferably, the outer surface of the rotating shaft is fixedly connected with a plurality of poking plates.
Preferably, the bottom ends of the two movable rods sequentially penetrate through the shell, the U-shaped groove and the sliding plate and extend to the bottom of the sliding plate, the outer surface of the bottom of the sliding plate, which is extended by the two movable rods, is in threaded connection with a threaded block, and the tops of the two threaded blocks are respectively fixed on two sides of the bottom of the sliding plate.
Preferably, the outer surface of the rotating shaft is fixedly connected with a second belt pulley, the outer surface of the second belt pulley is connected with the outer surface of the first belt pulley through a belt in a transmission manner, and two ends of the rotating shaft are fixedly connected with worms.
Preferably, the outer surfaces of the two movable rods are fixedly connected with worm gears and are positioned in the shell.
Preferably, a driving rod is rotatably connected between the front surface and the back surface of the inner wall of the shell, a first driving wheel is fixedly connected to the outer surface of the driving rod, two ends of the driving rod penetrate through the two sleeves and extend to the two insides of the sleeves, and a first bevel gear is fixedly connected to one end of the driving rod extending to the inside of the sleeve.
Preferably, the bottom of the inner wall of the shell is fixedly connected with a third motor, the outer surface of an output shaft of the third motor is fixedly connected with a second driving wheel, and the outer surface of the second driving wheel is in transmission connection with the outer surface of the first driving wheel through a belt.
Preferably, a supporting block is fixedly connected between the top and the bottom of the inner walls of the two sleeves, one side of the supporting block is rotatably connected with a poking wheel, one end of the poking wheel penetrates through the supporting block and extends to the other side of the supporting block, a second bevel gear is fixedly connected to the outer surface of the poking wheel extending to the other side of the supporting block, and the outer surface of the second bevel gear is meshed with the outer surface of the first bevel gear.
Compared with the prior art, the utility model provides a robot base of walking under water has following beneficial effect:
the utility model provides a robot base walking under water, which can drive a first belt pulley to rotate by the starting of a second motor, can drive a second belt pulley to rotate by the rotation of the first belt pulley, indirectly drive a rotating shaft to rotate, can drive two worms to rotate by the rotation of the rotating shaft, can drive two worm wheels to rotate by the rotation of the two worms, can drive two worm wheels to rotate by meshing, and then drive the two worm wheels to rotate by meshing, indirectly drive two movable rods to rotate, can drive two thread blocks to move up and down by the rotation of the two movable rods, can drive a sliding plate to move up and down by the up and down movement of the two thread blocks, can drive a walking part to move down by the downward movement of the sliding plate, thereby moving the walking part out from the inner part of a U-shaped groove, then the first roller can be driven to rotate by the starting of the first motor, the driving belt can be driven to rotate by the rotation of the first roller, the driving belt can be driven to rotate by the second roller, a plurality of buffer structures can be driven to rotate by the rotation of the driving belt, a plurality of walking structures can be driven to rotate by the rotation of the plurality of buffer structures, then the robot can be driven to walk in water, then the second driving wheel can be driven to rotate by the starting of the third motor, the first driving wheel can be driven to rotate by the rotation of the second driving wheel, the driving rod can be indirectly driven to rotate, the two first bevel gears can be driven to rotate by the rotation of the driving rod, the poking wheel can be driven to rotate by the rotation of the two first bevel gears, and at the moment, the stirring can be carried out by matching with the resistance in water, therefore, the effect of robot movement can be improved, the walking parts can be contracted and expanded, the height of the robot can be indirectly adjusted, the resistance of the robot in water can be indirectly adjusted, the robot is higher, the resistance is higher, the robot is lower, the resistance is smaller, the walking parts can be completely expanded, walking on concave-convex ground is facilitated, when the robot is not used, the walking parts can be contracted inside a U-shaped groove to be protected, the buffer plate can be extruded through the elastic force of the buffer spring, the buffer rod can be extruded when the buffer plate is subjected to extrusion force, the gravity of the robot is buffered, the walking stability of the robot in water is further ensured, the robot has a good damping function, and walking on the concave-concave ground in water is met.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of an underwater walking robot base according to the present invention;
FIG. 2 is an external view of the underwater walking robot base shown in FIG. 1;
FIG. 3 is a cross-sectional side view of the control box of FIG. 1;
FIG. 4 is a cross-sectional structural view of the sleeve shown in FIG. 2;
fig. 5 is a schematic structural view of the buffer structure and the walking structure shown in fig. 1.
Reference numbers in the figures: 1. a shell, 2, a U-shaped groove, 3, a sliding plate, 4, a first U-shaped block, 5, a control box, 6, a first motor, 7, a first roller, 8, a second U-shaped block, 9, a second roller, 10, a transmission belt, 11, a buffer structure, 111, a buffer groove, 112, a buffer plate, 113, a buffer rod, 114, a buffer spring, 12, a walking structure, 121, a U-shaped frame, 122, a rotating shaft, 123, a poking plate, 13, the lifting mechanism comprises a lifting structure 131, a movable rod 132, a thread block 14, a driving structure 141, a second motor 142, a rotating shaft 143, a first belt pulley 144, a worm 145, a worm wheel 146, a second belt pulley 15, a pushing structure 151, a sleeve 152, a driving rod 153, a first driving wheel 154, a first bevel gear 155, a third motor 156, a second driving wheel 157, a supporting block 158, a poking wheel 159 and a second bevel gear.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 in combination, wherein fig. 1 is a schematic structural diagram of a preferred embodiment of the underwater walking robot base according to the present invention; FIG. 2 is an external view of the underwater walking robot base shown in FIG. 1; FIG. 3 is a cross-sectional side view of the control box of FIG. 1; FIG. 4 is a cross-sectional structural view of the sleeve shown in FIG. 2; fig. 5 is a schematic structural view of the buffer structure and the walking structure shown in fig. 1. Robot base of walking under water includes: a housing 1;
the top of the U-shaped groove 2 is fixed to the bottom of the shell 1, and the U-shaped groove 2 is convenient for accommodating and contracting the walking structure 12;
the two sides of the sliding plate 3 are respectively connected with the two sides of the inner wall of the U-shaped groove 2 in a sliding manner;
the bottom of the first U-shaped block 4 is fixed on one side of the bottom of the sliding plate 3;
the front side of the control box 5 is fixed to the bottom of the back side of the first U-shaped block 4, the bottom of the inner wall of the control box 5 is fixedly connected with a first motor 6, an output shaft of the first motor 6 is fixedly connected with a first roller 7, the first roller 7 penetrates through the first U-shaped block 4 and extends into the first U-shaped block 4, one end, extending into the first U-shaped block 4, of the first roller 7 is rotatably connected to the back side of the first U-shaped block 4, the first motor 6 can mainly drive the first roller to rotate and indirectly drive the transmission belt 10 to rotate, the position, penetrating through the control box, of the first roller 7 is connected through a sealing sleeve, and the first motor 6 is connected with an external power supply and a control switch and is a forward and reverse rotation motor;
the bottom of the second U-shaped block 8 is fixed to the other side of the bottom of the sliding plate 3, a second roller 9 is rotatably connected between the front surface and the back surface of the inner wall of the second U-shaped block 8, and the outer surfaces of the first roller 7 and the second roller 9 are in transmission connection through a transmission belt 10;
the buffer structures 11 are arranged on the outer surface of the transmission belt 10, and the arrangement of the buffer structures 11 mainly improves the buffer performance of the robot during walking, so that walking at different positions is met, and the walking stability is improved;
the walking structures 12 are respectively arranged at the other sides of the buffer structures 11, and the walking structures 12 can effectively meet the requirement that the robot moves on the ground in water, increase the friction force with the ground in water and improve the walking stability;
the two lifting structures 13 are respectively arranged inside the shell 1, each lifting structure 13 comprises two movable rods 131, the top ends of the two movable rods 131 are respectively and rotatably connected to two sides of the top of the inner wall of the shell 1, and the two lifting structures 13 can mainly drive the sliding plate 3 to move up and down so as to drive the walking part to contract or expand;
the driving structure 14 is arranged inside the housing 1, the driving structure 14 includes a second motor 141, a first belt pulley 143 is fixedly connected to the outer surface of the output shaft of the second motor 141, a rotating shaft 142 is rotatably connected to the bottom of the inner wall of the housing 1, and the second motor 141 and a third motor 155 are both connected to an external power supply and a control switch and are forward and reverse rotating motors;
promote structure 15, promote structure 15 set up in the front and the back of casing 1, promote structure 15 includes two sleeves 151, two sleeve 151 is fixed in respectively the front and the back of casing 1 promote structure 15's setting, mainly can drive the robot through the resistance of water and move.
The walking structure 12 comprises a U-shaped frame 121, and a rotating shaft 122 is rotatably connected between the front and the back of the inner wall of the U-shaped frame 121.
The outer surface fixed connection of axis of rotation 122 has a plurality of to dial plate 123, and the setting of dialling plate 123 when drive belt 10 rotary motion, will drive a plurality of buffer structure 11 and carry out rotary motion for dial plate 123 and aquatic ground contact, and then improve the frictional force of robot between aquatic ground, be favorable to the walking motion of robot.
The bottom ends of the two movable rods 131 sequentially penetrate through the shell 1, the U-shaped groove 2 and the sliding plate 3 and extend to the bottom of the sliding plate 3, the outer surface of the bottom of the sliding plate 3, extending to the two movable rods 131, is in threaded connection with a thread block 132, the top of the two thread blocks 132 are respectively fixed on two sides of the bottom of the sliding plate 3, the position of the movable rod 131 penetrating through the U-shaped groove 2 is connected through a sealing sleeve, the outer surface of the movable rod 131, located inside the U-shaped groove 2, is provided with a thread matched with the thread block 132, the movable rod 131 can be rotated to drive the sliding plate 3 to move up and down, so that a walking part can be driven to adjust, the resistance of the robot in water can be indirectly adjusted, the higher the resistance is, the lower the resistance is, and the swinging of a water, and (6) carrying out adjustment.
A second belt pulley 146 is fixedly connected to the outer surface of the rotating shaft 142, the outer surface of the second belt pulley 146 is in belt transmission connection with the outer surface of the first belt pulley 143, a worm 144 is fixedly connected to each of the two ends of the rotating shaft, and the outer surface of the worm 144 is meshed with the outer surface of the worm wheel 145.
The outer surfaces of the two movable rods 131 are fixedly connected with worm gears 145 and are located inside the housing 1.
A driving rod 152 is rotatably connected between the front surface and the back surface of the inner wall of the housing 1, a first driving wheel 153 is fixedly connected to the outer surface of the driving rod 152, two ends of the driving rod 152 penetrate through the two sleeves 151 and extend into the two sleeves 151, and a first bevel gear 154 is fixedly connected to one end of the driving rod 152 extending into the sleeves 151.
The bottom of the inner wall of the housing 1 is fixedly connected with a third motor 155, the outer surface of an output shaft of the third motor 155 is fixedly connected with a second driving wheel 156, and the outer surface of the second driving wheel 156 is in transmission connection with the outer surface of the first driving wheel 153 through a belt.
A supporting block 157 is fixedly connected between the top and the bottom of the inner wall of the two sleeves 151, one side of the supporting block 157 is rotatably connected with a toggle wheel 158, one end of the toggle wheel 158 penetrates through the supporting block 157 and extends to the other side of the supporting block 157, a second bevel gear 159 is fixedly connected to the outer surface of the other side of the toggle wheel 158 extending to the supporting block 157, the outer surface of the second bevel gear 159 is engaged with the outer surface of the first bevel gear 154, mainly when the driving lever 152 is rotated, two first bevel gears 154 may be rotated, and when two first bevel gears 154 are rotated, the two second bevel gears 159 are driven to rotate through meshing, the poking wheel 158 is indirectly driven to rotate, and through the rotation of the poking wheel 158, can mix in cooperation with the resistance in water for the robot moves, adopts prior art principle to work.
The utility model provides a robot base of walking under water's theory of operation as follows:
the first belt pulley 143 can be driven to rotate by the start of the second motor 141, the second belt pulley 146 can be driven to rotate by the rotation of the first belt pulley 143, the rotation shaft 142 can be indirectly driven to rotate, the two worms 144 can be driven to rotate by the rotation of the rotation shaft 142, the two worm wheels 145 can be driven to rotate by the rotation of the two worms 144 through meshing, the two worm wheels 145 can be driven to rotate through meshing, the two movable rods 131 can be indirectly driven to rotate, the two thread blocks 132 can be driven to move up and down by the rotation of the two movable rods 131, the sliding plate 3 can be driven to move up and down by the up and down movement of the two thread blocks 132, the walking part can be driven to move down by the down movement of the sliding plate 3, so that the walking part can be moved out of the inside of the U-shaped groove 2, and then the start of the first motor 6, can drive the first idler wheel 7 to rotate, through the rotation of the first idler wheel 7, can drive the transmission belt 10 to rotate through the second idler wheel 9, through the rotation of the transmission belt 10, can drive a plurality of buffer structures 11 to rotate, and the rotation of a plurality of buffer structures 11, can drive a plurality of walking structures 12 to rotate, at this time, the robot can be driven to walk in water, through the starting of the third motor 155, the second transmission wheel 156 can be driven to rotate, through the rotation of the second transmission wheel 156, the first transmission wheel 153 can be driven to rotate through the belt, the driving rod 152 is indirectly driven to rotate, through the rotation of the driving rod 152, the two first bevel gears 154 can be driven to rotate, through the rotation of the two first bevel gears 154, the poking wheel 158 can be driven to rotate, at this time, the resistance in water can be matched for stirring, thereby improving the moving effect of the robot.
Compared with the prior art, the utility model provides a robot base of walking under water has following beneficial effect:
the first belt pulley 143 can be driven to rotate by the start of the second motor 141, the second belt pulley 146 can be driven to rotate by the rotation of the first belt pulley 143, the rotation shaft 142 can be indirectly driven to rotate, the two worms 144 can be driven to rotate by the rotation of the rotation shaft 142, the two worm wheels 145 can be driven to rotate by the rotation of the two worms 144 through meshing, the two worm wheels 145 can be driven to rotate through meshing, the two movable rods 131 can be indirectly driven to rotate, the two thread blocks 132 can be driven to move up and down by the rotation of the two movable rods 131, the sliding plate 3 can be driven to move up and down by the up and down movement of the two thread blocks 132, the walking part can be driven to move down by the down movement of the sliding plate 3, so that the walking part can be moved out of the inside of the U-shaped groove 2, and then the start of the first motor 6, can drive the first idler wheel 7 to rotate, through the rotation of the first idler wheel 7, can drive the transmission belt 10 to rotate through the second idler wheel 9, through the rotation of the transmission belt 10, can drive a plurality of buffer structures 11 to rotate, and the rotation of a plurality of buffer structures 11, can drive a plurality of walking structures 12 to rotate, at this time, the robot can be driven to walk in water, through the starting of the third motor 155, the second transmission wheel 156 can be driven to rotate, through the rotation of the second transmission wheel 156, the first transmission wheel 153 can be driven to rotate through the belt, the driving rod 152 is indirectly driven to rotate, through the rotation of the driving rod 152, the two first bevel gears 154 can be driven to rotate, through the rotation of the two first bevel gears 154, the poking wheel 158 can be driven to rotate, at this time, the resistance in water can be matched for stirring, thereby can improve the effect of robot motion, can contract and expand the running part, indirectly adjust the height of robot, indirectly can adjust the resistance of robot in aqueous, the robot is higher, the resistance is bigger, the robot is lower, the resistance is less, not only can all expand the running part, the walking of favourable unsmooth ground, and when not using, can protect the inside of running part shrink in U type groove, and through buffer spring 114's elastic force, can extrude buffer plate 112, when buffer plate 112 receives the extrusion force, will extrude buffer beam 113, the gravity of robot cushions, and then guarantee the stability of aquatic robot walking, good shock-absorbing function has, satisfy the walking on pothole aquatic pothole ground.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a robot base of walking under water which characterized in that includes:
a housing;
the top of the U-shaped groove is fixed at the bottom of the shell;
the two sides of the sliding plate are respectively connected with the two sides of the inner wall of the U-shaped groove in a sliding manner;
the bottom of the first U-shaped block is fixed on one side of the bottom of the sliding plate;
the front surface of the control box is fixed to the bottom of the back surface of the first U-shaped block, the bottom of the inner wall of the control box is fixedly connected with a first motor, an output shaft of the first motor is fixedly connected with a first roller, the first roller penetrates through the first U-shaped block and extends into the first U-shaped block, and one end, extending into the first U-shaped block, of the first roller is rotatably connected to the back surface of the first U-shaped block;
the bottom of the second U-shaped block is fixed to the other side of the bottom of the sliding plate, a second roller is rotatably connected between the front surface and the back surface of the inner wall of the second U-shaped block, and the outer surfaces of the first roller and the second roller are in transmission connection through a transmission belt;
the buffer structures are arranged on the outer surface of the transmission belt;
the walking structures are respectively arranged on the other sides of the buffer structures;
the two lifting structures are respectively arranged inside the shell and comprise two movable rods, and the top ends of the two movable rods are respectively and rotatably connected to two sides of the top of the inner wall of the shell;
the driving structure is arranged inside the shell and comprises a second motor, the outer surface of an output shaft of the second motor is fixedly connected with a first belt pulley, and the bottom of the inner wall of the shell is rotatably connected with a rotating shaft;
the pushing structure is arranged on the front face and the back face of the shell and comprises two sleeves, and the sleeves are fixed on the front face and the back face of the shell respectively.
2. The robot base of walking under water of claim 1, characterized in that the buffer structure comprises a buffer slot, a buffer plate is slidably connected between two sides of the inner wall of the buffer slot, a buffer rod is fixedly connected to the bottom of the buffer plate, the bottom end of the buffer rod penetrates through the buffer slot and extends to the bottom of the buffer slot, one end of the buffer rod extending to the bottom of the buffer slot is fixed to the outer surface of the transmission belt, and a buffer spring is fixedly connected to the top of the buffer plate.
3. The underwater walking robot base according to claim 1, wherein the walking structure comprises a U-shaped frame, and a rotating shaft is rotatably connected between the front and the back of the inner wall of the U-shaped frame.
4. An underwater walking robot base according to claim 3, wherein a plurality of striking plates are fixedly connected to the outer surface of the rotation shaft.
5. The underwater walking robot base of claim 1, wherein bottom ends of the two movable rods sequentially penetrate through the housing, the U-shaped groove and the sliding plate and extend to the bottom of the sliding plate, outer surfaces of the two movable rods extending to the bottom of the sliding plate are in threaded connection with threaded blocks, and tops of the two threaded blocks are respectively fixed to two sides of the bottom of the sliding plate.
6. The underwater walking robot base of claim 1, wherein a second belt pulley is fixedly connected to the outer surface of the rotating shaft, the outer surface of the second belt pulley is in transmission connection with the outer surface of the first belt pulley through a belt, and a worm is fixedly connected to both ends of the rotating shaft.
7. An underwater walking robot base according to claim 1, wherein worm gears are fixedly connected to the outer surfaces of the two movable rods and are located inside the housing.
8. The robot base of walking under water of claim 1, characterized in that a driving rod is rotatably connected between the front and the back of the inner wall of the housing, a first driving wheel is fixedly connected to the outer surface of the driving rod, both ends of the driving rod penetrate through the two sleeves and extend to the insides of the two sleeves, and a first bevel gear is fixedly connected to one end of the driving rod extending to the inside of the sleeves.
9. The underwater walking robot base according to claim 8, wherein a third motor is fixedly connected to the bottom of the inner wall of the housing, a second transmission wheel is fixedly connected to the outer surface of an output shaft of the third motor, and the outer surface of the second transmission wheel is in transmission connection with the outer surface of the first transmission wheel through a belt.
10. The underwater walking robot base according to claim 8, wherein a supporting block is fixedly connected between the top and the bottom of the inner wall of each of the two sleeves, one side of each supporting block is rotatably connected with a poking wheel, one end of each poking wheel penetrates through the supporting block and extends to the other side of the supporting block, a second bevel gear is fixedly connected to the outer surface of the poking wheel extending to the other side of the supporting block, and the outer surface of the second bevel gear is meshed with the outer surface of the first bevel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922478881.9U CN211642563U (en) | 2019-12-31 | 2019-12-31 | Robot base of walking under water |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922478881.9U CN211642563U (en) | 2019-12-31 | 2019-12-31 | Robot base of walking under water |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055982A (en) * | 2019-12-31 | 2020-04-24 | 上海宇鹤自动化科技有限公司 | Robot base of walking under water |
| CN112537412A (en) * | 2020-11-27 | 2021-03-23 | 福州力佳达智能科技有限公司 | Robot walking on water |
-
2019
- 2019-12-31 CN CN201922478881.9U patent/CN211642563U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055982A (en) * | 2019-12-31 | 2020-04-24 | 上海宇鹤自动化科技有限公司 | Robot base of walking under water |
| CN111055982B (en) * | 2019-12-31 | 2024-04-26 | 上海宇鹤自动化科技有限公司 | Robot base walking under water |
| CN112537412A (en) * | 2020-11-27 | 2021-03-23 | 福州力佳达智能科技有限公司 | Robot walking on water |
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