CN206885197U - Mobile robot - Google Patents
Mobile robot Download PDFInfo
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- CN206885197U CN206885197U CN201720598380.2U CN201720598380U CN206885197U CN 206885197 U CN206885197 U CN 206885197U CN 201720598380 U CN201720598380 U CN 201720598380U CN 206885197 U CN206885197 U CN 206885197U
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- mobile robot
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- swing
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Abstract
The utility model provides a kind of mobile robot, including control unit, machine body and walking unit, the walking unit includes at least two machine legs, machine pin, first knuckle support, second joint support, swinging mounting, swing driving mechanism and displacement drive mechanism, the jointed shaft of machine leg and second joint support is parallel to machine leg and the jointed shaft of the first knuckle support, the jointed shaft of second joint support and machine pin is perpendicular to machine leg and the jointed shaft of the first knuckle support, the jointed shaft of swinging mounting and machine pin is parallel to second joint support and the jointed shaft of machine leg.Mobile robot provided by the utility model can imitate the gait of penguin, overall structure is simple, it is easy to maintenance, machine leg, the first knuckle support, second joint support, machine pin and swinging mounting can carry out assembling by simple rod member and build, user oneself can be allowed to experience the enjoyment of assembling, the gait of imitation penguin that can also be vividly, enhance the interest of robot.
Description
Technical field
The utility model belongs to robotic technology field, is to be related to a kind of mobile robot more specifically.
Background technology
With the development of society and science and technology, the living standard more and more higher of people, before recreational facilities manufacturing has obtained
The development not having, according to statistics, the growth rate of China's abstract the recreational consumption and amusing products total income is always above consumption of resident branch
Go out with GDP, amusement robot is then the emerging field of amusing products, and some amusement robots can be designed
Into imitating, behavior of animal is recreational to strengthen.In numerous animals, penguin enjoys people due to its charmingly naive form and action
Like, be the one of amusement robot also without a robot that can imitate penguin movement gait but in existing robot
Item vacancy.
Utility model content
The purpose of this utility model is to provide a kind of mobile robot, to solve not having one present in prior art
Kind can imitate the technical problem of the robot of penguin action.
To achieve the above object, the technical solution adopted in the utility model is：A kind of mobile robot is provided, including：
Control unit, the machine body being connected with described control unit and respectively it is connected with described control unit and the machine body
Walking unit, the walking unit include at least two machine legs, at least two machine pin, are hinged with the upper end of the machine leg
The first knuckle support, at least two respectively second joint supports be hinged with the lower end of the machine leg and the machine pin,
At least two lower ends swinging mounting be hinged with the machine pin, it is hinged and with the upper end of the swinging mounting for driving respectively
The swinging mounting surrounds the swing driving mechanism rotated with the jointed shaft of the machine pin and is connected respectively with the machine leg
And for driving the machine calf circumference around the displacement drive mechanism with the rotation of the jointed shaft of first knuckle support, the machine
The jointed shaft of leg and the second joint support is parallel to the machine leg and the jointed shaft of first knuckle support, and described the
The jointed shaft of two knuckle supports and the machine pin is described perpendicular to the machine leg and the jointed shaft of first knuckle support
The jointed shaft of swinging mounting and the machine pin is parallel to the second joint support and the jointed shaft of the machine leg, and described the
One knuckle support is connected with the machine body, and the swing driving mechanism is connected with the machine body.
Further, the swing driving mechanism includes oscillating motor and the first swing rod, the middle part of first swing rod with
The output shaft of the oscillating motor is affixed, and the upper end of the both ends of first swing rod respectively with the swinging mounting is hinged, described
Oscillating motor is connected with the machine body.
Further, the oscillating motor is connected with first knuckle support.
Further, the displacement drive mechanism includes displacement motor, the second swing rod, at least two drive links and at least two
Individual fix bar, the middle part of second swing rod and the output shaft of the displacement motor are affixed, and the one of at least two drive links
End is hinged with the second swing rod both ends respectively, and the other end of at least two drive links is hinged with the fix bar respectively,
The other end of the fix bar and the machine midleg are affixed.
Further, the displacement drive mechanism also includes auxiliary fixed frame, the auxiliary fixed frame and displacement electricity
Machine connects.
Further, the second joint support include the first articulated section and located at first articulated section end second
Articulated section, first articulated section and the lower end of the machine leg are hinged, second articulated section and the top of the machine pin
It is be hinged.
Further, the machine body includes body connecting portion, robotic arm and swing arm driving mechanism, described control unit
On the body connecting portion, the swing driving mechanism is connected with the body connecting portion, and the robotic arm passes through described
Swing arm driving mechanism is connected with the body connecting portion.
Further, the swing arm driving mechanism is at least two symmetrically arranged swing arm motors, and the robotic arm has
At least two, and one end of the robotic arm is affixed with the output shaft of the swing arm motor respectively.
Further, the machine body is also included located at the anterior obstacle sensor of the body connecting portion.
Further, the machine body also includes the loudspeaker being connected with the body connecting portion.
The beneficial effect of mobile robot provided by the utility model is：Compared with prior art, the utility model
Mobile robot, under original state, the center of gravity of robot is between machine pin, first with wobble drive machine when walking
Structure driving swinging mounting surrounds to be rotated with the direction of be hinged axial direction one of machine pin, makes robot is overall to be tilted to side, weight
The heart shifts to the machine pin for tilting side, and tilting the machine pin of side and the pressure on ground increases, frictional force relative increase, and with inclining
The machine pin of tilted direction opposite side reduces with respect to the pressure on ground, and frictional force is relatively reduced, then, utilizes displacement drive mechanism
Driving rotates with the machine calf circumference of incline direction opposite side around the jointed shaft of the machine leg and the first knuckle support, machine leg and
Be hinged between second joint support can guarantee that machine pin steadily lands, and then smoothly can take a step forward, another when needing
When the machine pin of side is taken a step, swing driving mechanism and displacement drive mechanism is driven to be moved to other direction, this model machine
Device people just can imitate the gait of penguin walking step by step, and walking unit overall structure is simple, easy to maintenance, machine leg,
First knuckle support, second joint support, machine pin and swinging mounting can carry out assembling by simple rod member and build, can be with
User oneself is allowed to experience the enjoyment of assembling, moreover it is possible to the gait of lively imitation penguin, to enhance interest and the amusement of robot
Property.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation one for the mobile robot that the utility model embodiment one provides；
Fig. 2 is the structural representation two for the mobile robot that the utility model embodiment one provides；
Fig. 3 is the structural representation three for the mobile robot that the utility model embodiment one provides；
Fig. 4 is the structural representation for the walking unit that the utility model embodiment one uses；
Fig. 5 is the structural representation for the walking unit that the utility model embodiment two uses.
Wherein, each reference in figure：
1- control units；2- machine legs；3- machine pin；The knuckle supports of 4- first；5- second joint supports；51- first is cut with scissors
Socket part；The articulated sections of 52- second；6- swinging mountings；7- swing driving mechanisms；71- oscillating motors；The swing rods of 72- first；8- displacements are driven
Motivation structure；81- displacement motors；The swing rods of 82- second；83- drive links；84- fix bars；85- aids in fixed frame；9- bodies connect
Portion；10- robotic arms；11- swing arm drivings mechanism；12- obstacle sensors；13- loudspeakers
Embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are more clearly understood, with
Lower combination drawings and Examples, the utility model is further elaborated.It is it should be appreciated that described herein specific real
Example is applied only to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning is necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In description of the present utility model, " multiple ", " several " are meant that two
Individual or two or more, unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 3, now mobile robot provided by the utility model is illustrated.It is described removable
Mobile robot, including control unit 1, the machine body that is connected with control unit and connect respectively with control unit 1 and machine body
The walking unit connect, walking unit include at least two machine legs 2, at least two machine pin 3, are hinged with the upper end of machine leg 2
The first knuckle support 4, at least two second joint support 5 be hinged with the lower end of machine leg 2 and machine pin 3, at least respectively
It is swinging mounting 6 that two lower ends and machine pin 3 are hinged, be hinged with the upper end of swinging mounting 6 and be used to drive swinging mounting 6 to surround
The swing driving mechanism 7 that is rotated with the jointed shaft of machine pin 3 and it is connected and with machine leg 2 for driving machine leg 2 to surround respectively
The displacement drive mechanism 8 rotated with the jointed shaft of the first knuckle support 4, machine leg 2 are parallel with the jointed shaft of second joint support 5
In the jointed shaft of the knuckle support 4 of machine leg 2 and first, the jointed shaft of second joint support 5 and machine pin 3 is perpendicular to machine leg 2
With the jointed shaft of the first knuckle support 4, the jointed shaft of swinging mounting 6 and machine pin 3 is parallel to second joint support 5 and machine leg
2 jointed shaft, the first knuckle support 4 are connected with machine body, and swing driving mechanism 7 is connected with machine body.
Mobile robot provided by the utility model, compared with prior art, under original state, the center of gravity of robot exists
Between machine pin 3, under the control of control unit 1, drive swinging mounting 6 equal first with swing driving mechanism 7 when walking
Rotated around the direction of be hinged axial direction one with machine pin 3, second joint support 5 surrounds to be rotated with the jointed shaft of machine pin 3, is made
Robot is overall to be tilted to side, and center of gravity shifts to the machine pin 3 for tilting side, tilts the machine pin 3 of side and the pressure on ground
Increase, frictional force relative increase, and reduce with the machine pin 3 of incline direction opposite side with respect to the pressure on ground, frictional force phase
To reducing, then, using the driving of displacement drive mechanism 8 and the machine leg 2 of incline direction opposite side around the machine leg 2 and the
The jointed shaft of one knuckle support 7 rotates, and be hinged between machine leg 2 and second joint support 5 can guarantee that machine pin 3 steadily falls
Ground, and then smoothly can take a step forward, when needing the machine pin 3 of opposite side to take a step, drive the He of swing driving mechanism 7
Displacement drive mechanism 8 moves to other direction, and such robot just can imitate the gait of penguin walking step by step.
Walking unit overall structure is simple, and joint link position is few, easy to maintenance, machine leg 2, the first knuckle support 4, second joint branch
Frame 3, machine pin 2 and swinging mounting 6 can carry out assembling by simple rod member and build, and user oneself can be allowed to experience assembling
Enjoyment, moreover it is possible to the gait of lively imitation penguin, enhance the interesting and recreational of robot.
Further, also referring to Fig. 1 to Fig. 5, one kind tool as mobile robot provided by the utility model
Body embodiment, in order that robot architecture is simple, while the effect for imitating penguin posture, machine leg 2, machine pin can be reached
3rd, swinging mounting 6 is respectively provided with two.
Further, also referring to Fig. 1 to Fig. 5, one kind tool as mobile robot provided by the utility model
Body embodiment, in order that robot architecture is simple, while can effectively carry out inclined action, swinging mounting 6 is shaft-like
Component, moreover it is possible to while play a part of effectively supporting robot.
Further, also referring to Fig. 1 to Fig. 5, one kind tool as mobile robot provided by the utility model
Body embodiment, machine pin 3 are plane tabular, the bottom of second joint support 5 and the articulated position of machine pin 3 to machine pin 3
The spacing of upper face is not less than 3mm, when robot tilts, without prejudice to the rotation of second joint support 5, and then can make machine
The smooth progress of tilting action of device leg 2.
Further, please refer to fig. 5, one kind as mobile robot provided by the utility model is embodied
Mode, machine pin 3 is plane tabular, and the middle part of machine pin 3 is left blank, and such machine pin 3 is a rectangular frame structure, available
Rod member is assembled, and the rotatable scope of second joint support 5 is larger, and the ratio for being advantageous to design on machine pin 3 is relatively thin,
Further simplify the structure of machine pin 3.
Further, also referring to Fig. 1 to Fig. 5, one kind tool as mobile robot provided by the utility model
Body embodiment, swing driving mechanism 7 include the swing rod 72 of oscillating motor 71 and first, the middle part of the first swing rod 72 and oscillating motor
71 output shaft is affixed, and the upper end of the both ends of the first swing rod 72 respectively with swinging mounting 6 is hinged, oscillating motor 71 and machine body
Connection.In use, by taking Fig. 1 visual angle as an example, it is tilted to the left if necessary to robot, then oscillating motor 71 revolves counterclockwise
Turn, also rotate counterclockwise, the one end of the first swing rod 72 to the left drive the pendulum of both sides to the first swing rod 72 higher than one end to the right
Dynamic support 6 rotates, and the rotational steps of swinging mounting 6 in left side are less than the swinging mounting 6 on right side, and then make the second joint branch of both sides
Frame 5 turns left, and machine leg 2 is integrally tilted to the left with mobile robot.Swing driving mechanism 7 is simple in construction, operating efficiency
It is very high, it can guarantee that robot carries out effective tilting action.
Further, Fig. 1 to Fig. 5 is referred to, as a kind of specific real of mobile robot provided by the utility model
Mode is applied, in order to simplify structure, oscillating motor 71 is connected with the first knuckle support 4.
Further, refering to Fig. 1 to Fig. 5, one kind specific implementation as mobile robot provided by the utility model
Mode, displacement drive mechanism 8 include displacement motor 81, the second swing rod 82, at least two drive links 83 and at least two fix bars
84, the middle part of the second swing rod 82 and the output shaft of displacement motor 81 are affixed, and one end of at least two drive links 83 is respectively with second
The both ends of swing rod 82 are hinged, and the other ends of at least two drive links 83 is be hinged with fix bar 84 respectively, the other end of fix bar 84 with
The middle part of machine leg 2 is affixed.In the course of work, by taking Fig. 1 visual angle as an example, after robot is integrally tilted to the left, the machine on right side
Pressure between device pin 3 and ground reduces, and displacement motor 81 drives the rotate counterclockwise of the second swing rod 82, the right side of the second swing rod 82 to
Drive link 83 on the right side of preceding drive rotates, and then promotes fix bar 84 to be moved forward with the machine leg 2 on right side, due to left side
Machine pin 3 and the frictional force on ground are larger, using the teaching of the invention it is possible to provide enough active forces support the machine leg 2 on right side to step, while right side
Machine leg 2 and second joint support 5 between fine rotation, be adapted to the action taken a step, at the same also can guarantee that right side machine pin 3 it is flat
Steady landing.Because machine leg 2 is being similar to kneed structure, therefore, during taking a step, can be lively imitate and
Posture, while its is simple in construction, it is easy to loading and unloading, the do-it-yourself interest of user can be improved, is advantageous to cultivate the intention of two-way
The ability started with love.
Further, Fig. 1 to Fig. 4 is referred to, as a kind of specific real of mobile robot provided by the utility model
Mode is applied, displacement drive mechanism 8 also includes auxiliary fixed frame 85, and auxiliary fixed frame 85 is connected with displacement motor 84.Auxiliary is fixed
Frame 85 is mainly used in that displacement motor 81 is fixed, and while structure is simplified as far as possible, ensures the normal output torque of motor energy,
Auxiliary 85 body structures of fixed frame are fixed, and displacement motor 81 itself will not rotate in output torque.
Further, a kind of embodiment as mobile robot provided by the utility model, auxiliary are fixed
Spacing between the front end of the front inner of frame 85 and machine leg 2 is set according to default stride, can prevent actual stride from surpassing
Cross default stride cause to take a step posture it is uncoordinated the problem of, guarantee the gait that height reduces penguin.
Further, Fig. 1 to Fig. 5 is referred to, as a kind of specific real of mobile robot provided by the utility model
Apply mode, second joint support 5 includes the first articulated section 51 and located at the second articulated section 52 of the end of the first articulated section 51, and first
Articulated section 51 and the lower end of machine leg 2 are hinged, the second articulated section 52 and the upper articulation of machine pin 3.Machine leg 2 is being tilted and stepped
There is movable leeway when step, and it is simple in construction, it is easy to assembly.Alternatively, the second articulated section 52 has and is symmetrically set in
Two of the both ends of first articulated section 51.
Further, refering to Fig. 1 to Fig. 3, one kind specific implementation as mobile robot provided by the utility model
Mode, machine body include body connecting portion 9, robotic arm 10 and swing arm driving mechanism 11, and control unit 1 is located at body connecting portion
On 9, swing driving mechanism 11 is connected with body connecting portion 9, and robotic arm 10 is connected by swing arm driving mechanism 11 and body connecting portion 9
Connect.Body connecting portion 9 is mainly used in connecting walking unit, miscellaneous part in control unit 1 and machine body.In order to truer
Reduction penguin posture, be also provided with imitating the robotic arm 10 and its swing arm driving mechanism 11 of penguin arm posture, enter
One step enhances the interesting and recreational of robot.
Further, Fig. 1 to Fig. 3 is referred to, as a kind of specific real of mobile robot provided by the utility model
Mode is applied, swing arm driving mechanism 11 is at least two symmetrically arranged swing arm motors, and robotic arm 10 has at least two, and machine
One end of arm 10 is affixed with the output shaft of swing arm motor 11 respectively.Robotic arm 10 is rod component, and mechanism is simple, easy to assembly,
The output shaft of swing arm motor is rotated within a preset range, and then robotic arm 10 can be driven to swing, and improves going back for secret recipe penguin posture
Originality.
Further, Fig. 1 to Fig. 3 is referred to, as a kind of specific real of mobile robot provided by the utility model
Mode is applied, machine body is also included located at the anterior obstacle sensor 12 of body connecting portion 9.Robot is set to carry out simply
Avoidance acts, and activity flexibility is more preferable, improves interesting.
Alternatively, a kind of embodiment as mobile robot provided by the utility model, barrier sensing
Device 12 is ultrasonic sensor.Its good directionality, avoidance effect is good, and cheap, can reduce the use cost of robot.
Further, Fig. 1 and Fig. 2 is referred to, as a kind of specific real of mobile robot provided by the utility model
Mode is applied, machine body also includes the loudspeaker 13 being connected with body connecting portion 9.The sound that can be imitated and send, improve user
The interest used, enhancing user interact with robot.
After said structure, robot overall structure is simple, and assembling flexibility is good, can improve the autonomous assembled product of user
Polarity, the inspiring of creativity, the walking posture and sound of imitation penguin that can be true to nature, improve the interesting and recreational of robot.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. mobile robot, including control unit, the machine body that is connected with described control unit and respectively with the control
The walking unit that unit connects with the machine body, it is characterised in that：The walking unit includes at least two machine legs, extremely
Few two machine pin, first knuckle support be hinged with the upper end of the machine leg, at least two respectively with the machine leg
Swinging mounting that the be hinged second joint support of lower end and the machine pin, at least two lower ends are hinged with the machine pin, point
It is hinged with the upper end of the swinging mounting and the swinging mounting surrounds and the jointed shaft of the machine pin rotates for driving
Swing driving mechanism and be connected respectively with the machine leg and for drive the machine calf circumference around with first articular branches
The jointed shaft of the displacement drive mechanism that the jointed shaft of frame rotates, the machine leg and the second joint support is parallel to the machine
The jointed shaft of device leg and first knuckle support, the jointed shaft of the second joint support and the machine pin is perpendicular to described
The jointed shaft of machine leg and first knuckle support, the jointed shaft of the swinging mounting and the machine pin is parallel to described the
The jointed shaft of two knuckle supports and the machine leg, first knuckle support are connected with the machine body, and described swing is driven
Motivation structure is connected with the machine body.
2. mobile robot as claimed in claim 1, it is characterised in that：The swing driving mechanism include oscillating motor and
First swing rod, the middle part of first swing rod and the output shaft of the oscillating motor are affixed, the both ends difference of first swing rod
It is hinged with the upper end of the swinging mounting, the oscillating motor is connected with the machine body.
3. mobile robot as claimed in claim 2, it is characterised in that：The oscillating motor and first knuckle support
Connection.
4. mobile robot as claimed in claim 1 or 2, it is characterised in that：The displacement drive mechanism includes displacement electricity
Machine, the second swing rod, at least two drive links and at least two fix bars, middle part and the displacement motor of second swing rod
Output shaft is affixed, and one end of at least two drive links is hinged with the second swing rod both ends respectively, at least two biographies
The other end of lever is hinged with the fix bar respectively, and the other end of the fix bar and the machine midleg are affixed.
5. mobile robot as claimed in claim 4, it is characterised in that：The displacement drive mechanism also includes auxiliary and fixed
Frame, the auxiliary fixed frame are connected with the displacement motor.
6. mobile robot as claimed in claim 1 or 2, it is characterised in that：The second joint support includes the first hinge
Socket part and located at the second articulated section of first articulated section end, first articulated section and the lower end of the machine leg are cut with scissors
Connect, second articulated section and the upper articulation of the machine pin.
7. mobile robot as claimed in claim 1 or 2, it is characterised in that：The machine body include body connecting portion,
Robotic arm and swing arm driving mechanism, described control unit on the body connecting portion, the swing driving mechanism with it is described
Body connecting portion is connected, and the robotic arm is connected by the swing arm driving mechanism with the body connecting portion.
8. mobile robot as claimed in claim 7, it is characterised in that：The swing arm driving mechanism is at least two symmetrical
The swing arm motor of setting, the robotic arm have at least two, and one end of the robotic arm respectively with the swing arm motor
Output shaft is affixed.
9. mobile robot as claimed in claim 7, it is characterised in that：The machine body also includes being located at the body
The anterior obstacle sensor of connecting portion.
10. mobile robot as claimed in claim 7, it is characterised in that：The machine body also includes and the body
The loudspeaker of connecting portion connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720598380.2U CN206885197U (en) | 2017-05-25 | 2017-05-25 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720598380.2U CN206885197U (en) | 2017-05-25 | 2017-05-25 | Mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885197U true CN206885197U (en) | 2018-01-16 |
Family
ID=61320253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720598380.2U Expired - Fee Related CN206885197U (en) | 2017-05-25 | 2017-05-25 | Mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206885197U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128395A (en) * | 2017-05-25 | 2017-09-05 | 深圳信息职业技术学院 | The moving method of mobile robot and mobile robot |
| CN111633688A (en) * | 2020-05-27 | 2020-09-08 | 行星算力(深圳)科技有限公司 | Robot goods shelf height adjusting mechanism |
| CN111791967A (en) * | 2020-07-17 | 2020-10-20 | 上海布鲁可科技有限公司 | Walking robot |
-
2017
- 2017-05-25 CN CN201720598380.2U patent/CN206885197U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128395A (en) * | 2017-05-25 | 2017-09-05 | 深圳信息职业技术学院 | The moving method of mobile robot and mobile robot |
| CN107128395B (en) * | 2017-05-25 | 2023-11-10 | 深圳信息职业技术学院 | Movable robot and moving method of movable robot |
| CN111633688A (en) * | 2020-05-27 | 2020-09-08 | 行星算力(深圳)科技有限公司 | Robot goods shelf height adjusting mechanism |
| CN111633688B (en) * | 2020-05-27 | 2023-08-18 | 行星算力(深圳)科技有限公司 | Robot shelf height adjusting mechanism |
| CN111791967A (en) * | 2020-07-17 | 2020-10-20 | 上海布鲁可科技有限公司 | Walking robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20190525 |
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| CF01 | Termination of patent right due to non-payment of annual fee |