CN102874338A - Track-sled combined type long voyage polar region independent roaming robot - Google Patents
Track-sled combined type long voyage polar region independent roaming robot Download PDFInfo
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- CN102874338A CN102874338A CN2012103558538A CN201210355853A CN102874338A CN 102874338 A CN102874338 A CN 102874338A CN 2012103558538 A CN2012103558538 A CN 2012103558538A CN 201210355853 A CN201210355853 A CN 201210355853A CN 102874338 A CN102874338 A CN 102874338A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/90—Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof
Abstract
The invention relates to a track-sled combined type long voyage polar region independent roaming robot, consisting of an overturn-resisting system part, a track type traveling mechanism part and a wind energy reusing device part. The overturn-resisting system part is connected with the track type traveling mechanism part through a sliding sleeve, and the wind energy reusing device is arranged at the tail part of the overturn-resisting system. According to the track-sled combined type long voyage polar region independent roaming robot, the independent reset and spanning a large ice groove crack can be finished through the position transformation of a track and a sled; the wind energy is reasonably utilized through the wind energy reusing device so as to provide motivation for the robot; and the wind energy is converted into power reserve so as to realize the integration of controllable initiative and power generation, so that the long voyage independent detecting task of the robot can be successfully finished.
Description
Technical field
The present invention relates to the knockdown long voyage polar region rover of a kind of polar region rover, particularly a kind of crawler belt-sled.
Background technology
The South Pole because of its special geological surrounding, enrich mining deposits etc., have very high science, economy, strategy and political value, make it become the focus that various countries pay close attention to.In the face of South Pole complex environment, that the scientific investigation operation has is expensive, high risk and region limitation, and the technical equipment means are deficient simultaneously.The common ground that is applied at present the robot of polar region mainly still relies on storage battery as the initiatively wheeled or caterpillar type robot of the energy of power is provided, and does not take full advantage of the polar region regenerative resources such as solar power and wind energy.Because energy resource supply deficiency or the adaptive restriction of snowfield, the polar region robot is difficult to satisfy the polar region detection mission of long voyage at present.
Summary of the invention
The technical matters that will solve required for the present invention is to overcome shortcoming of the prior art with not enough, provide a kind of crawler belt, sled combined long voyage extremely low autonomous rover, and controlled active and generating integrated wind energy multiplexer are installed to save and the storage energy, guarantee finishing of detection mission.
For solving the problems of the technologies described above, the present invention adopts following technical proposals:
A kind of crawler belt-sled compound type polar region rover comprises antidumping system, crawler type walking mechanism and wind energy multiplexer.Described antidumping system is connected by slider tube with crawler type walking mechanism, and described wind energy multiplexer is fixed on the long sleeve afterbody in the antidumping system.
Described antidumping system mainly comprises three pairs of supporting legs, three sleds, short sleeve, long sleeve, sealed chamber assembly, axial rotation assemblies, moves axially assembly, lifting assembly; Described three pairs of supporting leg one ends are captiveed joint with three sleds respectively, and two supporting leg other ends of every pair of supporting leg are bolted to connection with the projection of short sleeve or long sleeve respectively; Three projections of described short sleeve and long sleeve are circumferentially uniform along its axis respectively, and short sleeve and long sleeve dock by bolt; Described sealed chamber assembly comprises sealed chamber, sealing protecgulum and rear sealing cover, captive joint with sealing protecgulum, rear sealing cover in the rear and front end of described sealed chamber, described sealing protecgulum is installed on the short sleeve with revolute pair, described rear sealing cover is installed on the long sleeve with revolute pair, and the sealed chamber assembly can axially rotating around short sleeve and long sleeve.
Described axial rotation assembly comprises electric machine assembly a, cylindrical gear pair, motor cabinet among the described electric machine assembly a is fixed on the inside top of sealed chamber assembly, described cylindrical gear pair comprises big gear wheel, miniature gears, big gear wheel and miniature gears external toothing, big gear wheel is fixedly mounted on the short sleeve, and miniature gears is installed on the reducer shaft of electric machine assembly a; Described electric machine assembly comprises motor a, retarder, motor cabinet, and motor is captiveed joint with retarder, and retarder is installed on the motor cabinet.
Describedly move axially assembly is fixed on the sealed chamber assembly by motor cabinet bottom inside, the described assembly that moves axially comprises electric machine assembly b, coupler, ball-screw, feed screw nut assembly, guide rail, stay bearing plate; Described electric machine assembly b is connected with ball-screw one end by coupler, and the other end is installed in the interstitial hole of stay bearing plate, and described stay bearing plate is installed in the long sleeve afterbody, and can be around the long sleeve axial rotation; The installation parallel with leading screw of described guide rail, two ends are installed in respectively in the mounting hole of the rear plate of sealing, stay bearing plate; Described feed screw nut assembly comprises feed screw nut, load-bearing base, and described feed screw nut is installed on the leading screw, and can move axially along leading screw, and feed screw nut is fixed on the load-bearing base, and the load-bearing base is installed on the guide rail simultaneously, can move axially along guide rail.
The load-bearing base of described lifting assembly by the feed screw nut assembly with move axially assembly and captive joint, described lifting assembly comprises installing sleeve, jacking sleeve, electric machine assembly c, bevel-gear pair a, power transmission leading screw, leading screw adapter plate; Described installing sleeve is captiveed joint with the load-bearing base of feed screw nut assembly, with the jacking sleeve slidable fit; Described electric machine assembly c is installed in the installing sleeve inboard, described bevel-gear pair comprises bevel pinion, bevel gear wheel, and bevel gear wheel is installed in power transmission leading screw top, and the power transmission leading screw is installed on the leading screw adapter plate, described leading screw adapter plate is installed in the installing sleeve inboard, apart from the about 200mm of top; Described jacking sleeve top is processed with tapped bore, and screw thread fit between the power transmission leading screw, is connected with the crawler type walking mechanism partial fixing.
Described crawler type walking mechanism comprises housing, electric machine assembly d, bevel-gear pair b, driving wheel, drive sprocket axle, drive sprocket axle assembly, flower wheel, follower shaft, follower shaft assembly, connecting panel, BOGEY WHEEL, crawler belt.Described housing is captiveed joint with jacking sleeve, described electric machine assembly d is installed on the housing bottom surface, the large miniature gears of described bevel-gear pair b is installed on the reducer shaft of drive sprocket axle and electric machine assembly d, described drive sprocket axle is installed on the housing by the drive sprocket axle assembly, the external part of drive sprocket axle is installed driving wheel, and the drive sprocket axle assembly comprises bearing seat, bearing cap shim, bearing; Described follower shaft is installed on the housing by the follower shaft assembly, and the external part of follower shaft is installed flower wheel, and the follower shaft assembly comprises bearing seat, bearing cap shim, bearing; Described connecting panel is fixedly mounted on the housing both sides, connecting panel bottom fixed installation load-bearing wheel shaft and assembly thereof, and BOGEY WHEEL is fixedly mounted on the load-bearing wheel shaft; Described crawler belt is installed on driving wheel, flower wheel and the BOGEY WHEEL.
Described wind energy multiplexer comprises blower fan, fan supporter, and described blower fan is installed in the long sleeve tail end by fan supporter.
Crawler belt sled combined long voyage rover's involved in the present invention principle of work is as follows: in the autonomous exploration process of the South Pole, can provide when wind-force under the condition of thrust, the wind energy multiplexer is under the wind-force effect, the promotion robot advances, and the wind energy transformation of will having more than needed simultaneously is that power storage rises; Can not provide when wind-force under the condition of thrust, control system makes the electric machine rotation of lifting assembly, by gear pair, power transmission leading screw crawler belt is landed, the electric machine rotation of track unit, drive crawler belt and rotate by gear pair, drive sprocket axle, driving wheel, provide power for robot advances; When powerful wind speed made robot that upset occur, two sleds landed, and control system is sent signal, make the electric machine rotation of axial rotation assembly, by cylindrical gear pair, drive the sealed chamber assembly around the long sleeve axial rotation, crawler type walking mechanism is gone under the sleeve, restPose; When running into ice ditch crack in the robot traveling process, move axially the action of assembly and lifting assembly, make crawler belt and sled carry out the different modes combination, to realize the robot obstacle crossing function, concrete action is as follows: move axially the assembly electric machine rotation, pass through ball-screw, crawler type walking mechanism is partly moved to nearly ice ditch crack location, moving axially motor stops operating, the electric machine rotation of lifting assembly, creeper undercarriage is partly landed, and apply a fixed load, the motor of lifting assembly stops operating, move axially the electric machine rotation of assembly, because the creeper undercarriage part contacts with ground, electric machine rotation drives initiatively, and the remaining component of robot moves forward, until shovel arrives at ice ditch crack opposite side, the motor that moves axially assembly stops operating, the electric machine rotation of lifting assembly, driving crawler type walking mechanism partly rises, that crawler belt and ground break away from, the motor of lifting assembly stops operating, move axially the electric machine rotation of assembly, drive the opposite side that crawler type walking mechanism partly moves to ice ditch crack, the motor that moves axially assembly stops operating, the electric machine rotation of lifting assembly, creeper undercarriage is partly landed, and apply a fixed load, the motor of lifting assembly stops operating, move axially the electric machine rotation of assembly, because the creeper undercarriage part contacts with ground, the remaining component that electric machine rotation drives the active robot moves forward, until ice ditch crack opposite side is arrived in the sled rear end.
The present invention has following apparent outstanding substantive distinguishing features and remarkable technological advance compared with prior art:
The present invention can finish from master reset, cross over larger ice ditch crack by the evolution of crawler belt and sled.Rationally utilize wind energy to provide onward impulse for robot by the wind energy multiplexer, and be electric energy storage with wind energy transformation, realize controlled active with generating integrated, guarantee finishing smoothly of robot long boat autonomous exploration task.
Description of drawings
Fig. 1 is crawler belt-sled compound type polar region rover's structural representation.
Fig. 2 is the structural representation that Fig. 1 removes sled.
Fig. 3 is among Fig. 1
IPlace's partial enlarged drawing.
Fig. 4 is crawler belt-sled compound type polar region rover's crawler type walking mechanism part birds-eye view (a) and lateral plan (b).
Fig. 5 is antidumping system work process schematic diagram (a) and (b), (c).
Fig. 6 is that crawler belt-sled compound type polar region rover strides ditch process schematic diagram: a) run into the ice seam, b) crawler belt moves axially, c) crawler belt descends, d) robot moves axially, and e) crawler belt rises, and f) crawler belt moves axially, g) crawler belt descends, h) robot moves axially, and i) crawler belt rises, and j) crawler belt resets.
The specific embodiment
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
Embodiment one:
Referring to Fig. 1 ~ Fig. 4, this crawler belt-sled combined long voyage autonomous rover in polar region, formed by antidumping system (01), crawler type walking mechanism (02) and wind energy multiplexer (05), it is characterized in that: described antidumping system (01) is flexibly connected with a long sleeve (26) and the short sleeve (4) of crawler type walking mechanism (02) by antidumping system (01), and described wind energy multiplexer (05) is connected in described long sleeve (26) afterbody.
Embodiment two:
The present embodiment and embodiment one are basic identical, special feature is: described antidumping system (01) comprises three sleds (1), three pairs of supporting legs (2), short sleeve (4), long sleeve (26), sealed chamber assembly (06), axial rotation assembly (08), move axially assembly (09) and lifting assembly (03), described three pairs of supporting legs (2) one ends are captiveed joint with three sleds (1) respectively, two supporting leg other ends of every pair of supporting leg are connected with the projection (5) of short sleeve (4) or long sleeve (26) respectively, and three pairs of supporting legs (2) are 120 ° and circumferentially distribute; Three projections (5) of described short sleeve (4) and long sleeve (26) are circumferentially uniform, and short sleeve (4) and long sleeve (26) are bolted to connection; Described sealed chamber assembly (06) comprises sealed chamber (24), sealing protecgulum (3) and rear sealing cover (25), and sealed chamber (24) is captiveed joint with sealing protecgulum (3), rear sealing cover (25); Described axial rotation assembly (08) is fixed on the inside top of sealed chamber assembly (06) by a motor cabinet, comprise electric machine assembly a(07a) and cylindrical gear pair; Describedly move axially assembly (09) is fixed on sealed chamber assembly (06) by a motor cabinet bottom inside, comprise electric machine assembly b(07b), coupler (6), ball-screw (7), feed screw nut assembly, guide rail (8), stay bearing plate (27), described electric machine assembly b(07b) be connected with ball-screw (7) one ends by coupler (6), ball-screw (7) other end is installed in the interstitial hole of stay bearing plate (27); Described stay bearing plate (27) sliding sleeve is installed in long sleeve (26) afterbody, can be around long sleeve (26) axial rotation; Described guide rail (8) and the parallel installation of leading screw (7), two ends are installed in respectively in the mounting hole of rear sealing cover (25) and stay bearing plate (27); Described feed screw nut assembly comprises feed screw nut (22) and load-bearing base (23), described feed screw nut (22) screws and is installed on the leading screw (7), can move axially along leading screw (7), feed screw nut (22) captive joint load-bearing base (23), load-bearing base (23) is installed on the guide rail (8) simultaneously, can move axially along guide rail (8); The load-bearing base (23) of described lifting assembly by feed screw nut (22) with move axially assembly (08) and captive joint, comprise installing sleeve (9), jacking sleeve (17), electric machine assembly c(07c), bevel-gear pair a(04a), power transmission leading screw (18) and leading screw adapter plate (21), described installing sleeve (9) is captiveed joint with the load-bearing base (23) of feed screw nut assembly, with jacking sleeve (17) slidable fit; Described leading screw adapter plate (21) is installed in installing sleeve (9) inboard, apart from the about 200mm ± 20mm of top; Described jacking sleeve (17) top is processed with tapped bore, and screw thread fit between the power transmission leading screw (18), captives joint with crawler type walking mechanism (02).
Embodiment three:
The present embodiment and embodiment one are basic identical, special feature is: described crawler type walking mechanism (02) comprises housing (38), electric machine assembly d(07d), bevel-gear pair b(04b), driving wheel (14), drive sprocket axle (15), drive sprocket axle assembly (011), flower wheel (10), follower shaft (11), follower shaft assembly (010), connecting panel (30), BOGEY WHEEL (12) and crawler belt (16), described housing (38) is captiveed joint with jacking sleeve (17); Described electric machine assembly d(07d) is installed on housing (38) bottom surface; Described drive sprocket axle (15) is installed on the housing (38) by drive sprocket axle assembly (011), and drive sprocket axle assembly (011) comprises bearing seat (35), bearing (36), bearing cap shim (37); Described follower shaft (11) is installed on the housing (38) by follower shaft assembly (010), and follower shaft assembly (010) comprises bearing seat (31), bearing cap shim (32), bearing (33); Described connecting panel (30) is fixedly mounted on housing (38) both sides, connecting panel (30) bottom fixed installation load-bearing wheel shaft (13) and assembly thereof, and BOGEY WHEEL (12) is fixedly mounted on the load-bearing wheel shaft (13); Described crawler belt (16) is installed on driving wheel (14), flower wheel (10) and the BOGEY WHEEL (12).
Embodiment four:
The present embodiment and embodiment one are basic identical, and special feature is: described wind energy multiplexer (05) comprises blower fan (29) and fan supporter (28), and described blower fan (29) is installed in long sleeve (26) tail end by fan supporter (28).
The concrete application:
1. in the autonomous exploration process of the South Pole, can provide when wind-force under the condition of thrust, wind energy multiplexer 05 promotes robot and advances under the wind-force effect, and the wind energy transformation of will having more than needed simultaneously is that power storage rises; Can not provide when wind-force under the condition of thrust, control system makes the electric machine rotation of lifting assembly 03, by bevel-gear pair 04, power transmission leading screw 18 crawler belt 16 is landed, the electric machine rotation of track unit 02, drive crawler belt 16 and rotate by bevel-gear pair 04, drive sprocket axle 15, driving wheel 14, provide power for robot advances;
2. when powerful wind speed made robot that upset occur, two sleds 1 landed, and control system is sent signal, make the electric machine rotation of axial rotation assembly 08, by cylindrical gear pair, drive sealed chamber assembly 06 around long sleeve 26 axial rotation, make robot reset to initial condition; When running into ice ditch crack in the robot traveling process, move axially assembly 09 and lifting assembly 03 action, make crawler belt 16 and sled 1 carry out the different modes combination, to realize the robot obstacle crossing function, concrete action is as follows: the electric machine rotation that moves axially assembly 09, by ball-screw 18, crawler type walking mechanism 02 is moved to nearly ice ditch crack location, the motor that moves axially assembly 09 stops operating, the electric machine rotation of lifting assembly 03, creeper undercarriage 02 is landed, and apply a fixed load, the motor of lifting assembly 03 stops operating, move axially the electric machine rotation of assembly 09, because creeper undercarriage 02 contacts with ground, motor 34 rotates the remaining component that drives the active robot and moves forward, until sled 1 front end arrives at ice ditch crack opposite side, the motor that moves axially assembly 08 stops operating, the electric machine rotation of lifting assembly 03, driving crawler type walking mechanism 02 rises, crawler belt 16 and ground are broken away from, the motor of lifting assembly 03 stops operating, move axially the electric machine rotation of assembly 09, drive the opposite side that crawler type walking mechanism 02 moves to ice ditch crack, the motor that moves axially assembly 09 stops operating, the electric machine rotation of lifting assembly 03, creeper undercarriage 02 is landed, and apply a fixed load, the motor of lifting assembly 03 stops operating, move axially the electric machine rotation of assembly 08, because creeper undercarriage contacts with ground, the remaining component that electric machine rotation drives the active robot moves forward, until ice ditch crack opposite side is arrived in the sled rear end.
Claims (4)
1. crawler belt-sled combined long voyage autonomous rover in polar region, formed by antidumping system (01), crawler type walking mechanism (02) and wind energy multiplexer (05), it is characterized in that: described antidumping system (01) is flexibly connected with a long sleeve (26) and the short sleeve (4) of crawler type walking mechanism (02) by antidumping system (01), and described wind energy multiplexer (05) is connected in described long sleeve (26) afterbody.
2. crawler belt according to claim 1-sled compound type polar region rover, it is characterized in that: described antidumping system (01) comprises three sleds (1), three pairs of supporting legs (2), short sleeve (4), long sleeve (26), sealed chamber assembly (06), axial rotation assembly (08), move axially assembly (09) and lifting assembly (03), described three pairs of supporting legs (2) one ends are captiveed joint with three sleds (1) respectively, two supporting leg other ends of every pair of supporting leg are connected with the projection (5) of short sleeve (4) or long sleeve (26) respectively, and three pairs of supporting legs (2) are 120 ° and circumferentially distribute; Three projections (5) of described short sleeve (4) and long sleeve (26) are circumferentially uniform, and short sleeve (4) and long sleeve (26) are bolted to connection; Described sealed chamber assembly (06) comprises sealed chamber (24), sealing protecgulum (3) and rear sealing cover (25), and sealed chamber (24) is captiveed joint with sealing protecgulum (3), rear sealing cover (25); Described axial rotation assembly (08) is fixed on the inside top of sealed chamber assembly (06) by a motor cabinet, comprise electric machine assembly a(07a) and cylindrical gear pair; Describedly move axially assembly (09) is fixed on sealed chamber assembly (06) by a motor cabinet bottom inside, comprise electric machine assembly b(07b), coupler (6), ball-screw (7), feed screw nut assembly, guide rail (8), stay bearing plate (27), described electric machine assembly b(07b) be connected with ball-screw (7) one ends by coupler (6), ball-screw (7) other end is installed in the interstitial hole of stay bearing plate (27); Described stay bearing plate (27) sliding sleeve is installed in long sleeve (26) afterbody, can be around long sleeve (26) axial rotation; Described guide rail (8) and the parallel installation of leading screw (7), two ends are installed in respectively in the mounting hole of rear sealing cover (25) and stay bearing plate (27); Described feed screw nut assembly comprises feed screw nut (22) and load-bearing base (23), described feed screw nut (22) screws and is installed on the leading screw (7), can move axially along leading screw (7), feed screw nut (22) captive joint load-bearing base (23), load-bearing base (23) is installed on the guide rail (8) simultaneously, can move axially along guide rail (8); The load-bearing base (23) of described lifting assembly by feed screw nut (22) with move axially assembly (08) and captive joint, comprise installing sleeve (9), jacking sleeve (17), electric machine assembly c(07c), bevel-gear pair a(04a), power transmission leading screw (18) and leading screw adapter plate (21), described installing sleeve (9) is captiveed joint with the load-bearing base (23) of feed screw nut assembly, with jacking sleeve (17) slidable fit; Described leading screw adapter plate (21) is installed in installing sleeve (9) inboard, apart from the about 200mm ± 20mm of top; Described jacking sleeve (17) top is processed with tapped bore, and screw thread fit between the power transmission leading screw (18), captives joint with crawler type walking mechanism (02).
3. crawler belt according to claim 1-sled compound type polar region rover, it is characterized in that: described crawler type walking mechanism (02) comprises housing (38), electric machine assembly d(07d), bevel-gear pair b(04b), driving wheel (14), drive sprocket axle (15), drive sprocket axle assembly (011), flower wheel (10), follower shaft (11), follower shaft assembly (010), connecting panel (30), BOGEY WHEEL (12) and crawler belt (16), described housing (38) is captiveed joint with jacking sleeve (17); Described electric machine assembly d(07d) is installed on housing (38) bottom surface; Described drive sprocket axle (15) is installed on the housing (38) by drive sprocket axle assembly (011), and drive sprocket axle assembly (011) comprises bearing seat (35), bearing (36), bearing cap shim (37); Described follower shaft (11) is installed on the housing (38) by follower shaft assembly (010), and follower shaft assembly (010) comprises bearing seat (31), bearing cap shim (32), bearing (33); Described connecting panel (30) is fixedly mounted on housing (38) both sides, connecting panel (30) bottom fixed installation load-bearing wheel shaft (13) and assembly thereof, and BOGEY WHEEL (12) is fixedly mounted on the load-bearing wheel shaft (13); Described crawler belt (16) is installed on driving wheel (14), flower wheel (10) and the BOGEY WHEEL (12).
4. crawler belt according to claim 1-sled compound type polar region rover, it is characterized in that: described wind energy multiplexer (05) comprises blower fan (29) and fan supporter (28), and described blower fan (29) is installed in long sleeve (26) tail end by fan supporter (28).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210355853.8A CN102874338B (en) | 2012-09-24 | 2012-09-24 | Track-sled combined type long voyage polar region independent roaming robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210355853.8A CN102874338B (en) | 2012-09-24 | 2012-09-24 | Track-sled combined type long voyage polar region independent roaming robot |
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| CN102874338A true CN102874338A (en) | 2013-01-16 |
| CN102874338B CN102874338B (en) | 2015-01-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264723A (en) * | 2013-05-17 | 2013-08-28 | 上海大学 | Wind-driven sled type polar region rover |
| CN103481786A (en) * | 2013-09-12 | 2014-01-01 | 北京航空航天大学 | Polar robot based on wind-solar hybrid power supply |
| CN110481667A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of compound walking polar region robot of crawler belt sled |
| CN114260876A (en) * | 2021-12-24 | 2022-04-01 | 南京理工大学 | Special sea ice detection robot |
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| JPS61113573A (en) * | 1984-11-08 | 1986-05-31 | Hitoshi Takahashi | Walking robot |
| US5005658A (en) * | 1988-12-22 | 1991-04-09 | Carnegie-Mellon University | Orthogonal legged walking robot |
| JPH0911940A (en) * | 1995-06-29 | 1997-01-14 | Sumitomo Heavy Ind Ltd | Balancer horizon maintaining device for balancer type structure supporting device |
| JPH09254838A (en) * | 1996-03-19 | 1997-09-30 | Sony Corp | Spherical moving device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264723A (en) * | 2013-05-17 | 2013-08-28 | 上海大学 | Wind-driven sled type polar region rover |
| CN103264723B (en) * | 2013-05-17 | 2017-02-01 | 上海大学 | Wind-driven sled type polar region rover |
| CN103481786A (en) * | 2013-09-12 | 2014-01-01 | 北京航空航天大学 | Polar robot based on wind-solar hybrid power supply |
| CN103481786B (en) * | 2013-09-12 | 2016-04-06 | 北京航空航天大学 | A kind of polar region robot based on wind-solar hybrid energy |
| CN110481667A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of compound walking polar region robot of crawler belt sled |
| CN114260876A (en) * | 2021-12-24 | 2022-04-01 | 南京理工大学 | Special sea ice detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102874338B (en) | 2015-01-07 |
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