CN214729188U - Transmission mechanism of miniature rocker arm type track inspection robot - Google Patents
Transmission mechanism of miniature rocker arm type track inspection robot Download PDFInfo
- Publication number
- CN214729188U CN214729188U CN202022552530.0U CN202022552530U CN214729188U CN 214729188 U CN214729188 U CN 214729188U CN 202022552530 U CN202022552530 U CN 202022552530U CN 214729188 U CN214729188 U CN 214729188U
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- wheel
- transmission
- driving device
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model provides a transmission mechanism of a miniature rocker arm type track inspection robot, which relates to the inspection field under complex environment, and relates to a first transmission bracket, a first rocker arm, a first hollow shaft, a first rocker arm shaft, a walking driving device, a first rocker arm driving device, a first main rocker arm belt wheel, a main crawler wheel, a second transmission bracket, a second rocker arm driving device, a second main rocker arm belt wheel, a sub crawler wheel, an encoder, a planetary gear reducer, a synchronous belt wheel, a first worm, a shell, a second worm, a straight-tooth cylindrical gear transmission mechanism, a control module, a first hollow cylindrical connector, a second hollow shaft, a second rocker arm shaft, a first rocker arm track, a second rocker arm track, a main crawler belt, a first rocker arm bracket baffle plate and a second rocker arm bracket baffle plate, the walking driving device drives the first hollow shaft to rotate through the gear transmission mechanism so as to drive the main crawler wheel to rotate.
Description
Technical Field
The utility model relates to an unmanned technical field of patrolling and examining under the complicated hazardous environment specifically is a robot drive mechanism is patrolled and examined to miniature rocking arm formula track.
Background
Along with the development of sensor and artificial intelligence technique, the perception ability of robot to complicated external environment constantly strengthens, and this makes the robot that patrols and examines that is used for complicated environment design become possible, and the workman can remote operation these patrols and examines the robot and combine to patrol and examine the work at a series of sensors of patrolling and examining the installation on the robot. The method is characterized in that a plurality of domestic workplaces are complex in terrain, severe in working conditions and dangerous in environment, such as underground roadways and coal mining working faces in the coal mine industry, workshops of flour mill power plants and the like. At these workplaces, all need to have special personnel of patrolling and examining, patrol and examine the work to operational environment, this kind of work content is single, and often need the very long distance of walking on foot, and is consuming time hard. The appearance of patrolling and examining the robot can solve these problems well and save the manpower and improve operational environment, but to many workplaces, for example underworkings and coal face etc. the passageway is narrow, and the high limited environment in space, and large-scale and heavy wheeled patrolling and examining robot just can't be competent at this type of work on the market, the utility model relates to a robot drive mechanism is patrolled and examined to small-size crawler-type, very big reduction when guaranteeing transmission efficiency patrols and examines the structural dimension of robot and increased the inside space utilization of crawler-type patrolling and examining robot casing.
Disclosure of Invention
An object of the utility model is to provide a robot drive mechanism is patrolled and examined to miniature rocking arm formula track to alleviate and patrol and examine among the prior art the robot size too big, and to the characteristics that complex environment adaptability is weak and when guaranteeing transmission efficiency very big reduction patrol and examine the structure size of robot and increased the inside space utilization of crawler-type patrol and examine robot housing.
The utility model provides a transmission mechanism of a miniature rocker arm type track inspection robot, which comprises a shell, a first transmission bracket, a first rocker arm, a first hollow shaft, a first rocker arm shaft, a first main rocker arm belt wheel, a first worm wheel, a main crawler belt, a first rocker arm track, and a walking driving device and a first rocker arm driving device which are arranged on the first transmission bracket;
the first transmission support is fixed on the shell, the first hollow shaft is rotatably installed on the first transmission support, a main crawler wheel and a first main rocker arm belt wheel are coaxially fixed on the first hollow shaft, a first rocker arm shaft is coaxially installed in the first hollow shaft, a first turbine is coaxially fixed on the inner side of the first rocker arm shaft, the first rocker arm shaft can freely rotate in the first hollow shaft, a first rocker arm is fixed at the outermost end of the first rocker arm shaft, the first main rocker arm belt wheel is used for driving a crawler on the first rocker arm to rotate, the main crawler wheel is used for driving the main crawler to rotate, the walking driving device is used for driving the first hollow shaft to rotate, and the first rocker arm driving device is used for driving the first rocker arm shaft to rotate so as to drive the first rocker arm to rotate.
The device further comprises a second transmission bracket, a second rocker arm, a second hollow shaft, a second rocker arm shaft, a second worm wheel, a second rocker arm crawler belt, a second main rocker arm belt wheel, a slave crawler wheel and a second rocker arm driving device arranged on the second transmission bracket;
the second transmission support and the first transmission support are respectively fixed at the front end and the rear end of the same side of the shell, the second hollow shaft is non-rotatable and fixed on the shell, a slave crawler wheel and a second main rocker arm belt wheel are coaxially and rotatably arranged on the second hollow shaft, a second rocker arm shaft is coaxially arranged in the second hollow shaft, a second worm wheel is coaxially fixed on the inner side of the second rocker arm shaft, the second main rocker arm belt wheel is used for driving the second rocker arm crawler to rotate, and the rocker arm driving device is used for driving the second rocker arm shaft to rotate so as to drive the second rocker arm to rotate;
and a second rocker arm shaft is coaxially arranged in the second hollow shaft, the second rocker arm shaft can freely rotate in the second hollow shaft, a second rocker arm is fixed at the outermost end of the second rocker arm shaft, and the second rocker arm driving device is used for driving the second rocker arm shaft to rotate.
Furthermore, both ends of the first rocker shaft extend out of the first hollow shaft cavity, deep groove ball bearings are arranged on both sides of the first hollow shaft, and the deep groove ball bearings are arranged at both ends of the first hollow shaft cavity and used for fixing the first rocker shaft.
Furthermore, the first hollow shaft and the first rocker shaft are respectively positioned at the left and right diagonal angles of the rectangular shell, the second hollow shaft is provided with two rocker shafts which are respectively positioned at the left and right diagonal angles of the rest of the shell, the first hollow shaft and the first rocker shaft are coaxially arranged with the second hollow shaft and the second rocker shaft, and the other first hollow shaft, the other first rocker shaft and the other second hollow shaft and the other second rocker shaft are coaxially arranged.
Further, there are two master crawler wheels and two slave crawler wheels, the master crawler wheel on one of the first hollow shafts is connected with the slave crawler wheel on one of the second hollow shafts through a crawler transmission, and the master crawler wheel on the other of the first hollow shafts is connected with the slave crawler wheel on the other of the second hollow shafts through a crawler transmission.
Further, the number of the first main rocker arm pulleys is two, the number of the main crawler wheels is two, one main crawler wheel is fixed with the first main rocker arm pulley provided with a threaded hole through a first hollow cylindrical connector provided with a through hole through a screw so as to realize the common rotation, and the other first rocker arm pulley is fixed with the other main crawler wheel through the first hollow cylindrical connector provided with the through hole through the screw in the same way so as to realize the common rotation.
Further, two of the second main rocker pulleys and two of the slave track wheels are provided, one of the second main rocker pulleys and the one of the slave track wheels are fixed by a bolt and a nut via a second hollow cylindrical connector so as to be rotated together, and the other of the second rocker pulleys and the other of the slave track wheels are also fixed by a bolt and a nut via a second hollow cylindrical connector so as to be rotated together.
Furthermore, first main rocking arm band pulley with the main athey wheel passes through first hollow cylinder connector links as an organic wholely to it is fixed through the inflation of first hollow cylinder connector and first hollow shaft on the first hollow shaft, the second main rocking arm wheel with follow athey wheel all passes through after the similar second hollow cylinder connector of structure links as an organic wholely, through the step on bearing and the second hollow shaft, fix on the second hollow shaft.
Furthermore, the first transmission support has two, walking drive device has two, first rocking arm drive device has two, all is located the diagonal angle department of casing respectively, walking drive device through straight-tooth spur gear drive mechanism with two hollow shaft drive are connected, first rocking arm drive device through hold-in range mechanism and worm gear mechanism with first rocking arm axle drive is connected.
Furthermore, the second transmission bracket is provided with two second rocker arm driving devices, the two second rocker arm driving devices are respectively positioned at the opposite corners of the shell, and the second rocker arm driving devices are in driving connection with the second rocker arm shaft through a synchronous belt mechanism and a worm and gear mechanism.
Furthermore, the first rocker arm comprises a first rocker arm bracket, a first driven rocker arm wheel and a first rocker arm bracket baffle, the first rocker arm shaft fixes the first rocker arm bracket at the outermost end of the first rocker arm shaft through a spline at the outermost end of the first rocker arm shaft, a threaded hole is formed in the axle center of the outermost end of the first rocker arm shaft and used for fixing the first rocker arm bracket baffle, and therefore the axial movement of the first rocker arm bracket is prevented, and the first driven rocker arm wheel is rotatably installed on the first rocker arm bracket through a rolling bearing.
Furthermore, the second rocker arm comprises a second rocker arm bracket, a second driven rocker arm wheel and a second rocker arm bracket baffle, the second rocker arm shaft fixes the second rocker arm bracket at the outermost end of the second rocker arm shaft through a spline at the outermost end of the second rocker arm shaft, a threaded hole is formed in the axle center of the outermost end of the second rocker arm shaft and used for fixing the second rocker arm bracket baffle, so that the second rocker arm bracket is prevented from moving axially, and the second driven rocker arm wheel is rotatably installed on the second rocker arm bracket through a rolling bearing.
Furthermore, the device also comprises a control module positioned in the middle of the shell, an aluminum plate for fixing, a storage battery, a single chip microcomputer and six motor drivers which are fixed on the aluminum plate.
Further, the first rocker arm track has two, the second rocker arm track has two and the main track has two.
Further, the first master track wheel and the slave track wheel are both made of an aluminum alloy material.
The utility model provides a robot drive mechanism is patrolled and examined to miniature rocking arm formula track, include as above-mentioned drive mechanism.
Compared with the prior art, the utility model provides a robot drive mechanism is patrolled and examined to miniature rocking arm formula track's beneficial effect as follows:
the two walking driving devices are respectively fixed on the two first transmission brackets due to larger volume and mass, the two walking driving devices are in driving connection with the two first hollow shafts through straight toothed spur gear transmission mechanisms fixed on the two first transmission brackets, the two first rocker arm driving devices are also fixed on the two first transmission brackets, the two first transmission brackets are respectively fixed at two ends of one diagonal of the rectangular shell, the two second transmission brackets are fixedly provided with the second rocker arm driving devices, the synchronous belt mechanisms and the worm and gear mechanisms, the two second transmission brackets are respectively positioned at two ends of the other diagonal of the rectangular shell, compared with the traditional integral transmission bracket structure, the split type bracket combined with the fixed structure of the shell enables the transverse size of the inspection robot to be reduced, and the mass distribution of the whole structure is more uniform, the gravity center of the crawler type inspection robot is closer to the geometric center of the crawler type inspection robot, so that the obstacle crossing capability and stability of the crawler type inspection robot are enhanced.
Furthermore, the first rocker arm driving device and the second rocker arm driving device which are fixed on the first transmission bracket and the second transmission bracket are in driving connection with the first rocker arm shaft and the second rocker arm shaft through a synchronous belt mechanism and a worm gear mechanism which are fixed on the first transmission bracket and the second transmission bracket, the worm gear driving device and the walking driving device respectively use the worm gear driving mechanism and the straight-tooth cylindrical gear driving mechanism to carry out power transmission, the selected worm gear driving device has reverse self-locking performance, the reverse self-locking performance ensures that the rocker arm can not burn out a motor due to overlarge reverse load of the motor or even reverse rotation when carrying out self-supporting action and obstacle crossing action, the use of the synchronous belt avoids the problem that the whole size and weight of the inspection robot are increased due to overlarge gear size caused by long transmission distance, and the walking driving device uses the straight-tooth cylindrical gear driving to improve the transmission efficiency compared with the worm gear driving, thereby reduced the power consumption of battery and increased the working radius, synchronous belt drive's use has increased the transmission distance and has alleviateed the total weight, has increased the inside usable space of casing simultaneously.
The side face of the inspection robot is used for fixing the rocker arm support to move axially, the first rocker arm support baffle and the second rocker arm support baffle are positioned on the outermost sides of two sides of the inspection robot, and the contact area between the side face of the inspection robot and the ground is very low due to the small size of the inspection robot, so that the probability that the inspection robot cannot move due to side standing is greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a crawler travel platform according to an embodiment of the present invention (only one of the two members is labeled for the "two" or "two members exist" in the specification);
FIG. 2 is a schematic top view of a tracked running platform according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a cross-sectional view B-B of FIG. 2;
fig. 5 is a sectional view C-C in fig. 2.
Icon: 1-a first transmission bracket; 2-a first rocker arm; 3-a first hollow shaft; 4-a first rocker shaft; 5-a walking driving device; 6-first rocker arm drive means; 7-a first primary rocker pulley; 8-main crawler wheels; 9-a second transmission bracket 10-a second rocker arm; 11-a second rocker arm drive; 12-a second primary rocker pulley; 13-slave track wheels; 14-an encoder; 15-planetary gear reducer; 16-a second synchronous belt; 17-a second synchronous pulley; 18-a first worm gear; 19-a first worm; 20-a housing; 21-a second turbine; 22-a second worm; 23-a straight toothed spur gear transmission mechanism; 24-a control module; 25-a first hollow cylindrical connector; 26-a second hollow cylindrical connector; 27-a second hollow shaft; 28-a second rocker shaft; 29-a first rocker arm track; 30-a second rocker arm track; 31-a main track; 32-a first rocker arm stand baffle; 33-a second rocker arm stand baffle; 34-a first synchronization belt; 35-a first synchronous pulley;
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-5, the present invention provides a technical solution: a transmission mechanism of a small rocker arm type track inspection robot comprises a first transmission support 1 fixed on a shell, a first hollow shaft 3 is rotatably installed on the first transmission support 1 through a deep groove ball bearing, a main crawler wheel 8 and a first main rocker arm belt wheel 7 are coaxially fixed on the first hollow shaft, screws penetrate through holes of the first main rocker arm belt wheel 7 and a first hollow cylindrical connector 25 and are screwed into threaded through holes in the main crawler wheel 8, the screws connect the first main rocker arm belt wheel 7 and the first hollow cylindrical connector 25 into a whole to rotate together, the first hollow cylindrical connector 25 can be regarded as an expansion sleeve and is expanded and fixed with the first hollow shaft 3 after being cooled, a first rocker arm shaft 4 is coaxially installed in the first hollow shaft 3, a first turbine 18 is coaxially fixed on the inner side of the first rocker arm shaft 4, the first rocker arm shaft 4 can freely rotate in the first hollow shaft 3, a first rocker arm 2 is fixed at the outermost end of the first rocker arm 4, the first main rocker arm belt wheel 7 is used for driving a first rocker arm crawler 29 on the first rocker arm 2 to rotate, the main crawler wheel 8 is used for driving a main crawler 31 to rotate, the walking driving device 5 drives the first hollow shaft 3 to rotate through a straight-tooth cylindrical gear transmission mechanism 23, the first rocker arm driving device 6 drives the first rocker arm shaft 4 to rotate through synchronous belt transmission mechanisms 34-35 and worm and gear transmission mechanisms 18-19, so that the first rocker arm is driven to rotate, deep groove ball bearings are arranged between the first transmission support 1 and the first hollow shaft 3 and between the first hollow shaft 3 and the first rocker arm shaft 2, and coaxial rotation among the first transmission support 1, the first rocker arm and the first rocker arm is guaranteed to be not interfered with each other.
Second transmission support 9 and first transmission support 1 are fixed in the front and back both ends of casing 20 homonymy respectively, and second transmission support 9 passes through the fix with screw with casing 20, and first transmission support 1 is fixed through geometry between them with casing 20, specifically is opened corresponding round hole interference fit by the hollow cylinder that casing 20 side inwards stretches out with first transmission support 1 to the bottom surface and the casing 20 contact of first transmission support 1, in order to guarantee that coaxial rotation can not appear between them.
The second hollow shaft 27 is non-rotatable and fixed to the housing 20 by screws, the screws are screwed into threaded holes in the second transmission bracket 9 through the housing 20, the slave crawler wheel 13 and the second master rocker pulley 12 are coaxially and rotatably mounted on the second hollow shaft 27 by deep groove ball bearings, through holes are formed in the second hollow cylindrical connector 26, and bolts are fixed by nuts on the other side through the through holes of the crawler wheel 13, the second hollow cylindrical connector 26 and the second master rocker pulley 12 from one side.
The second rocker arm shaft 28 is coaxially installed in the second hollow shaft 27, the second worm wheel 21 is coaxially fixed on the inner side of the second rocker arm shaft 28 in a flat key connection mode, the left and right of the second worm wheel 21 are fixed by an expansion sleeve and a brass sleeve to prevent the second worm wheel 21 from moving left and right on the shaft, the second main rocker arm belt wheel 12 is used for driving the second rocker arm crawler 30 to rotate, and the second rocker arm driving device 11 drives the second rocker arm shaft 28 to rotate through a synchronous belt mechanism 16-17 and a worm and gear mechanism 18-19 so as to drive the second rocker arm 10 to rotate.
It should be noted that in the present embodiment, each first hollow shaft 3 corresponds to one first rocker shaft 4 and one first rocker arm 2, and each second hollow shaft 27 corresponds to one second rocker shaft 28 and one second rocker arm 33
Referring to fig. 1, 2 and 5, in particular, the traveling driving device 5 is preferably a motor and is in driving connection with the group planetary gear reducer 15 and the spur gear transmission mechanism 23 in turn, and considering that the traveling driving device 5 has a large size, such an arrangement ensures transmission efficiency while maximizing space utilization inside the housing 20, thereby minimizing a lateral size.
Referring to fig. 1 and 2, a first transmission support 1 and a second transmission support 10 are arranged at the front end and the rear end of one side inside a shell 20, the other first transmission support 1 and the second transmission support 10 are arranged at the two ends of the other side inside the shell 20, the front position and the rear position are opposite, the walking driving device 5 is free from being arranged side by side due to the arrangement, the transverse size and the longitudinal size are greatly reduced, the mass distribution of the small-sized crawler inspection robot is more uniform, the gravity center is closer to the geometric center, and the obstacle crossing stability of the inspection robot is improved.
Referring to fig. 1, 2 and 3, the first and second rocker arm support baffles 32-33 used for fixing axial movement of the rocker arm support on the side surface of the inspection robot are fixed with the rocker arm shaft through bolts, the specific method is that the first and second rocker arm support baffles 32-33 are provided with through holes, the first and second rocker arm supports and the first and second rocker arm shafts 4 and 10 are respectively provided with threaded holes corresponding to the through holes, the first and second rocker arm support baffles 32-33 can be fixed by using bolts, and the first and second rocker arm support baffles 32-33 are respectively positioned on the outermost sides of the two sides of the inspection robot, so that the contact area between the side surface of the inspection robot and the ground is very low, and the probability that the inspection robot cannot move due to side standing is greatly reduced.
Claims (1)
1. A transmission mechanism of a small rocker arm type track inspection robot is characterized by comprising a first transmission support (1), a first hollow shaft (3), a walking driving device (5), a first rocker arm driving device (6), a first main rocker arm belt wheel (7), a main track wheel (8), a second transmission support (9), a second rocker arm driving device (11), a planetary gear reducer (15), a second synchronous belt (16), a second synchronous belt wheel (17), a first worm wheel (18), a first worm (19), a shell (20), a second worm wheel (21), a second worm (22), a straight-tooth cylindrical gear transmission mechanism (23), a main track (31), a first synchronous belt (34) and a first synchronous belt wheel (35); the first transmission bracket (1) is fixed on the shell (20), and a walking driving device (5), a first rocker arm driving device (6), a first worm wheel (18), a first worm (19), a straight-toothed cylindrical gear transmission mechanism (23), a first synchronous belt (34) and a first synchronous belt wheel (35) are fixed on the first transmission bracket; two walk drive arrangement (5) and fix respectively on two first transmission support (1), two walk drive arrangement (5) through fix two first transmission support (1) on straight spur gear drive mechanism (23) with two first hollow shafts (3) drive connection, two first transmission support (1) are fixed in the both ends of a diagonal of casing (20) respectively, two second transmission support (9) are fixed with second rocking arm drive arrangement (11), second hold-in range (16), second synchronous pulley (17), second worm wheel (21), second worm (22) on it, and two second transmission support (9) are located the both ends of the other diagonal of casing (20) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022552530.0U CN214729188U (en) | 2020-11-07 | 2020-11-07 | Transmission mechanism of miniature rocker arm type track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022552530.0U CN214729188U (en) | 2020-11-07 | 2020-11-07 | Transmission mechanism of miniature rocker arm type track inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214729188U true CN214729188U (en) | 2021-11-16 |
Family
ID=78574895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022552530.0U Active CN214729188U (en) | 2020-11-07 | 2020-11-07 | Transmission mechanism of miniature rocker arm type track inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214729188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560024A (en) * | 2022-03-17 | 2022-05-31 | 京沪高速铁路股份有限公司 | Robot for detecting narrow space of station house |
-
2020
- 2020-11-07 CN CN202022552530.0U patent/CN214729188U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560024A (en) * | 2022-03-17 | 2022-05-31 | 京沪高速铁路股份有限公司 | Robot for detecting narrow space of station house |
| CN114560024B (en) * | 2022-03-17 | 2023-09-22 | 京沪高速铁路股份有限公司 | Station house narrow and small space detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110410152B (en) | Mining working face inspection robot and application thereof | |
| CN201261023Y (en) | Crawler wind pipe cleaning robot | |
| CN111152837B (en) | Double-wheel steering driving wheel | |
| CN214729188U (en) | Transmission mechanism of miniature rocker arm type track inspection robot | |
| CN102310403A (en) | Wheel-track composite deformation mobile robot with adaptive capability | |
| CN109436112A (en) | Cterpillar drive and barrier-surpassing robot | |
| CN105216611A (en) | Controlled differential balance device and there is its mobile platform | |
| CN110733335A (en) | Transmission mechanism, traveling system and moon-exploring robot | |
| CN206221897U (en) | A kind of four axle differential speed type pipe robot draw-gears | |
| US20120247843A1 (en) | Independent dual wheel tractor drive | |
| CN112066155B (en) | Differential supporting wheel type pipeline robot | |
| CN111376227A (en) | Piping lane patrols and examines robot moving mechanism | |
| CN205219132U (en) | Polypody flexible duct trash cleaning machine ware people | |
| CN112524392B (en) | Pipeline robot running gear | |
| CN111874118B (en) | Obstacle crossing robot based on wheel-track leg type chassis | |
| CN213448604U (en) | Drive axle and land leveler | |
| CN210050261U (en) | Compact type high-power fracturing planetary reducer | |
| CN209283023U (en) | A kind of multi-direction road electricity energy harvester of roller | |
| CN202451807U (en) | Coaxial planetary gear box with integral frame | |
| CN206206513U (en) | A kind of planetary reducer | |
| CN217108079U (en) | Motor-driven worm gear speed-reducing type chain driving device | |
| CN209956812U (en) | Novel carrying trolley | |
| CN214171265U (en) | Sea wave power generation clutch assembly with differential mechanism | |
| CN2608376Y (en) | Crawler walking internal set speed reducer | |
| CN217558911U (en) | Special planetary reducer of walking drive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |