CN102991596A - Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure - Google Patents
Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure Download PDFInfo
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- CN102991596A CN102991596A CN2012105391036A CN201210539103A CN102991596A CN 102991596 A CN102991596 A CN 102991596A CN 2012105391036 A CN2012105391036 A CN 2012105391036A CN 201210539103 A CN201210539103 A CN 201210539103A CN 102991596 A CN102991596 A CN 102991596A
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Abstract
The invention discloses a stretchable track and travelling wheel positioning mechanism for a movable robot with a wheel-track conversion structure. The stretchable track and travelling wheel positioning mechanism mainly consists of a stretchable track, an inner travelling wheel, an outer travelling wheel, a travelling driving shaft, an inner travelling wheel positioning device and an outer travelling wheel positioning device, wherein the stretchable track is formed by concentrically coupling two single-faced synchronous belts with the same belt width and different tooth numbers; an inner belt synchronous tooth is engaged with outer teeth of the travelling wheels, so as to transform power; an outer belt synchronous tooth is in contact with the ground when the robot moves; teeth are machined inside and outside the two travelling wheels; inner teeth of the two travelling wheels are engaged with the travelling driving shaft; the outer teeth of the travelling wheels are engaged with the inner belt synchronous tooth of the track; the inner travelling wheel positioning device is formed by arranging no less than three basic positioning units on the circumference; each basic positioning unit mainly comprises a large cylindrical roller bearing and two small deep groove ball bearings which are orthorhombic with the cylindrical roller bearing; and the outer travelling wheel is mainly positioned on a box body through the cylindrical roller bearing. With the adoption of the stretchable track and travelling wheel positioning mechanism for the movable robot with the wheel-track conversion structure disclosed by the invention, the robot not only has the advantages of a wheel robot but also has the advantages of a track robot.
Description
Technical field
Invention relates to a kind of adjustable crawler and road wheel detent mechanism, is specifically related to a kind of adjustable crawler and road wheel detent mechanism for wheel caterpillar structure-variable mobile robot, belongs to the Robotics field.
Background technology
Wheeled mobile robot has the advantage of mobile rapidity, and the caterpillar mobile robot leaping over obstacles is very capable, and namely caterpillar mobile robot has the very high performance of passing through for complex-terrain.But, be innovation and the difficult point of robot mechanism technology with advantages wheeled, caterpillar mobile robot how together.And comprise the location of inside and outside road wheel, telescopic crawler belt etc. for wheeled with the gordian technique conversion of crawler type kinematic mechanism.
Realize combination wheeled, caterpillar mobile robot, the crawler belt in the robot should have the effect of tire, again tracked effect; Not only want transferring power, also will stretch continually or shrink.Location and the wheel/shoe mapping device of inside and outside road wheel need to satisfy reliably, low-cost and dynamical requirement.Patent documentation [publication number: CN101570216] has proposed this robot, and wherein, used two road wheels of this robot are for being fixed together, but do not provide two localization methods that road wheel is concrete.Resilient track in the robot that patent documentation [publication number: CN101570216] is mentioned is made by elastic rubber material, the interior outside of resilient track all is processed with tooth, tooth and the ground contact preventing resilient track in the outside skid, inboard tooth and driving wheel external tooth engagement transferring power.Because resilient track struts frequently, regains, it is large that the external diameter of resilient track becomes gradually, make the internal tooth of crawler belt can not well be fastened on the external tooth of driving wheel, causing motion to be lost efficacy, and there is becket this patent documentation Elastic crawler belt inside, crawler belt is when stretching and shrink, its circumferential length changes, elastic deformation can only occur in becket, can not produce plastic deformation, otherwise just destroyed.
Summary of the invention
In view of this, the invention provides a kind of adjustable crawler and road wheel detent mechanism for wheel caterpillar structure-variable mobile robot, by the independent detent mechanism of interior outer plate road wheel and the adjustable crawler that is comprised of Timing Belt, it is more steady, more reliable to realize that wheel/caterpillar structure-variable mobile robot moves on the level land, when stairway step, the first-class many landform walkings in slope.
The described wheel carried out the mapped structure mobile robot and comprised that casing, adjustable crawler, interior road wheel, outer plate road wheel, wheel carry out mapping device, imput shaft and propel driving shaft.Wherein imput shaft is used for the conversion between the motion wheeled motion of realization of driven wheel shoe mapping device and the crawler type motion, two gears on the propel driving shaft respectively with the engagement of the internal tooth of interior road wheel and outer plate road wheel, rotate synchronously the external tooth engagement of adjustable crawler and interior road wheel and outer plate road wheel to drive interior sheet road wheel and outer plate road wheel.Adjustable crawler of the present invention comprises outer Timing Belt, inter-sync band and extension spring; Outer Timing Belt is the toothed loop configuration of the identical single face of bandwidth with the inter-sync band, and wherein the geared surface of inter-sync band is inside, and the geared surface of outer Timing Belt is outside; The external tooth of sheet road wheel and outer plate road wheel engagement in the profile of tooth of described inter-sync band and the robot.Described outer Timing Belt and inter-sync band are coupled with one heart, and every interval same distance is connected with bolt by flat gasket between outer Timing Belt and surface that the inter-sync band is connected, thereby adjustable crawler is divided into some joints, connects extension spring between per two adjacent flat gaskets; Guarantee that extension spring is in state of nature lower time, outer Timing Belt and inter-sync band all are in contraction state, in the interior external tooth teeth groove that is stuck in equably interior road wheel and outer plate road wheel with the tooth on the Timing Belt, inter-sync this moment band respectively saves inwardly protruding, and each joint of outer Timing Belt is outwards protruding.
Described road wheel detent mechanism comprises interior road wheel detent mechanism and outer plate road wheel detent mechanism.
Described interior road wheel detent mechanism is positioned at a road wheel side relative with casing.Comprise three above basic fixed position unit and back-up ring structure.Described back-up ring structure comprises a radial location back-up ring and two axial location back-up rings; Connect by the radial location back-up ring between two axial location back-up rings; The back-up ring structure is coaxial affixed with interior road wheel.
Described basic fixed position unit is evenly distributed along the circumferencial direction of interior road wheel; The basic fixed position unit comprises radial location axle, axial location bearing pin, cylindrical roller bearing A and two deep groove ball bearings; Wherein an end of radial location axle vertically is fixed on the casing, and is gapped between the circumferential end surfaces of the other end and interior road wheel; Cylindrical roller bearing A is installed on the radial location axle, and the excircle of cylindrical roller bearing A contacts with the inside face of radial location back-up ring.On the periphery of radial location axle, cylindrical roller bearing A and two axial location back-up ring amongs are installed an axial location bearing pin, the vertical and radial location axle of described axial location bearing pin; At each axial location bearing pin a deep groove ball bearing is installed; The excircle of described two deep groove ball bearings respectively with the end contact of the axial location back-up ring of self place side.
Described outer plate road wheel registration device comprises bearing mounting base and cylindrical roller bearing; Bearing mounting base and robot casing are affixed, and cylindrical roller bearing B is installed on the bearing mounting base; Affixed with the outer ring of the affixed outer plate road wheel end cap of outer plate road wheel and cylindrical roller bearing B.
The another kind of form of described outer plate road wheel detent mechanism is: the inner ring of described ball bearing of main shaft B and robot imput shaft are fixed, and be affixed with the outer ring of the affixed outer plate road wheel end cap of outer plate road wheel and ball bearing of main shaft B.
Described outer Timing Belt and inter-sync band are made by the elastic rubber material of high-wearing feature.
Midway location in described inter-sync band inboard is installed circlip.
Beneficial effect:
(1) wheel caterpillar structure-variable mobile robot's interior outer plate road wheel adopts independent detent mechanism among the present invention, and detent mechanism combines by simple part cheaply, and especially the location for the larger road wheel of diameter has more economic implications.
(2) in the present invention, adjustable crawler is comprised of two Timing Belts cheaply, interior external tooth engagement transferring power with synchronous gear and road wheel, and the tyre synchronous gear contacts with ground when robot moves; Not only can finish preferably wheel and carry out the required function of conversion robot motion, and greatly reduce the productive costs of the special-purpose crawler belt of this robot.
(3) mainly realize by cylindrical roller bearing and deep groove ball bearing combination the location of outer plate road wheel in the present invention.Substituted large footpath ring-shaped guide rail etc. by cheaply cylindrical roller bearing and deep groove ball bearing combination, traditional cliding friction is become friction of rolling, not only greatly reduce cost, and improved work efficiency.
(4) interior sheet road wheel detent mechanism has not only guaranteed the reliability of interior sheet road wheel location, and makes robot motion's friction force less, and traditional large ring-shaped guide rail or other major diameter detent mechanism compare, and greatly reduces cost.
Description of drawings
Fig. 1 is the structural representation that has adopted the wheel caterpillar structure-variable mobile robot revolver of adjustable crawler of the present invention and road wheel detent mechanism;
Fig. 2 is the constructional drawing when adjustable crawler shrinks among the present invention;
Fig. 3 is the detail view of adjustable crawler among the present invention;
Fig. 4 is the constructional drawing of sheet road wheel detent mechanism in the present invention;
Fig. 5 is the structural representation of basic fixed position unit;
Fig. 6 is the constructional drawing in the outer plate road wheel outside among outer plate road wheel detent mechanism the first embodiment;
Fig. 7 is the constructional drawing of outer plate road wheel inboard among outer plate road wheel detent mechanism the first embodiment;
Fig. 8 is the structural representation of outer plate road wheel detent mechanism the second embodiment.
Wherein: sheet road wheel in the 2-, 3-outer plate road wheel, 6-propel driving shaft, the outer Timing Belt of 7-, 8-inter-sync band, 9-circlip, the 10-flat shim, 11-bolt, 12-extension spring, 13-axial location back-up ring A, 14-basic fixed position unit, 15-axial location back-up ring B, 16-radial location axle, 17-axial location bearing pin A, 18-cylindrical roller bearing A, 19-deep groove ball bearing A, 20-bearing mounting base, 21-cylindrical roller bearing B, the 22-screw rod, 23-outer plate road wheel end cap, 30-imput shaft, 31-deep groove ball bearing B, 32-axial location bearing pin B
The specific embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.
Wheel is carried out the characteristics that the mapped structure mobile robot has wheeled mobile robot quick travel and the good obstacle climbing ability of caterpillar mobile robot concurrently, when surface condition is good, adopts wheeled motion, has the performance of quick travel; When the surface condition situation is relatively poor, as when running into stairway step etc., adopt the crawler type motion, have good obstacle climbing ability.More steady, more reliable in order to guarantee to take turns caterpillar structure-variable mobile robot operation when many landform are walked, and reduce wheel caterpillar structure-variable mobile robot's cost, present embodiment provides a kind of adjustable crawler and road wheel detent mechanism of carrying out the mapped structure mobile robot for wheel.Wherein the road wheel detent mechanism has comprised interior sheet road wheel registration device and outer plate road wheel registration device.
Fig. 1 is the structural representation that has adopted the wheel caterpillar structure-variable mobile robot revolver of adjustable crawler of the present invention and road wheel detent mechanism, has comprised adjustable crawler, interior road wheel 2 and outer plate road wheel 3.
Wheel is carried out the mapped structure mobile robot and is comprised that casing, adjustable crawler, interior road wheel 2, outer plate road wheel 3, wheel carry out mapping device, imput shaft 30 and propel driving shaft 6.Wherein imput shaft 30 is used for the conversion between the motion wheeled motion of realization of driven wheel shoe mapping device and the crawler type motion, two gears installing on the propel driving shaft 6 respectively with the internal tooth engagement of interior road wheel 2 and outer plate road wheel 3, rotate synchronously the external tooth engagement of adjustable crawler and interior road wheel (2) and outer plate road wheel (3) to drive interior sheet road wheel 2 and outer plate road wheel 3.
Carry out the reliability of mapped structure moveable robot movement for improving wheel, present embodiment provides a kind of adjustable crawler that is comprised of Timing Belt, as shown in Figures 2 and 3.This adjustable crawler comprises outer Timing Belt 7, inter-sync band 8 and extension spring 12.Outer Timing Belt 7 and inter-sync band 8 be the identical toothed loop configuration of single face of bandwidth for being made by the elastic rubber material of high-wearing feature all, wherein the geared surface of inter-sync band 8 is inside, the geared surface of outer Timing Belt 7 is outside, the profile of tooth of inter-sync band 8 is used for and the external tooth of the interior sheet road wheel 2 of robot and outer plate road wheel 3 meshes, thus transferring power; The profile of tooth of outer Timing Belt 7 is used for the friction between increase and ground.The diameter of described inter-sync band 8 is less than the diameter of outer Timing Belt 7, outer Timing Belt 7 and inter-sync band 8 are coupled with one heart, outer Timing Belt 7 is connected between relative surface every interval same distance and is connected connection with bolt by flat gasket 10 with the inter-sync band, thereby adjustable crawler is divided into some joints, connect double extension spring 12 between per two adjacent flat gaskets 10, be used for controlling the flexible of adjustable crawler.Guarantee that extension spring 12 is in state of nature lower time, outer Timing Belt 7 and inter-sync band 8 all are in contraction state, in the interior external tooth teeth groove that is stuck in equably interior road wheel 2 and outer plate road wheel 3 with the tooth on the Timing Belt 8, inter-sync this moment band 8 each joint inwardly have projection, and outer Timing Belt 7 each save projection outwards arranged.
Simultaneously, at the midway location of the inboard of inter-sync band 8 circlip 9 is installed, during the external tooth engagement of inter-sync band 8 and interior road wheel 2 and outer plate road wheel 3, interior road wheel 2 and outer plate road wheel 3 lay respectively at the both sides of circlip 9.Circlip 9 both internally sheet road wheel 2 and outer plate road wheel 3 play the effect of axial location, prevent that again extension spring 12 from being destroyed because overload stretches.Because the effect of circlip 9, when adjustable crawler opened fully, outer Timing Belt 7 and inter-sync band 8 were not exclusively evened up, and all leave certain radian, were used for guaranteeing that each saves the conformability of direction when shrinking on the inside and outside Timing Belt.So both guaranteed the robot motion steadily, produce with extension spring 12 in the time of can avoiding the adjustable crawler folding and unfolding again and interfere, also played simultaneously the effect of protecting extension spring 12.The adjustable crawler of this kind structure is simple in structure, is easy to manufacturing and with low cost.
The mode of operation of adjustable crawler is:
When robot moved in wheeled mode, extension spring 12 was in the natural shrinking state, and adjustable crawler also is in contraction state.In the interior external tooth teeth groove that is stuck in equably interior road wheel 2 and outer plate road wheel 3 with the tooth on the Timing Belt 8, road wheel and adjustable crawler are coupled together, play the effect of transferring power.
When robot moves in the crawler-type mobile mode; extension spring 12 between outer Timing Belt 7 and the inter-sync band 8 is pulled open; strutting of adjustable crawler nature; and the outer Timing Belt 7 of adjustable crawler and inter-sync band 8 still have certain small embossment; robot is reduced jolt, move more steady when speeling stairway or climbing barrier thing; and can protect extension spring 12, avoid in the robot operational process, facing extension spring 12 and cause damage, in order to avoid affect strutting of adjustable crawler nature.Simultaneously because adjustable crawler is different with the level of stretch of road wheel contacting points position, so in the inhomogeneous part external tooth teeth groove that is connected to road wheel of the tooth of inter-sync band 8, can play transferring power and prevent the effect that resilient track skids.
The road wheel detent mechanism comprises interior road wheel detent mechanism and outer plate road wheel detent mechanism.
Interior road wheel detent mechanism comprises three above basic fixed position unit 14, axial location back-up ring A13, axial location back-up ring B15 and radial location back-up ring.The end of axial location back-up ring B15 and interior road wheel 2 are coaxial affixed with the end face of casing opposite side, and the other end is coaxial affixed with axial location back-up ring A13 by the radial location back-up ring.Basic fixed position unit 14 is evenly distributed along the circumferencial direction of interior road wheel 2, as shown in Figure 4.
The structure of described basic fixed position unit comprises radial location axle 16, axial location bearing pin 17, a wider big column coro bearng A18 and two little deep groove ball bearings 19 as shown in Figure 5.One end of described radial location axle 16 is vertically connected on the casing, and is gapped between the circumferential end surfaces of the other end and interior road wheel 2.Cylindrical roller bearing A18 is installed on the radial location axle 16, and its excircle contacts with the inside face of radial location back-up ring, thereby internal sheet road wheel 2 plays the effect of radial location, prevents that interior road wheel 2 from channeling to up and down.On the periphery of radial location axle 16, installation shaft is to alignment pin B32 between cylindrical roller bearing A18 and the axial location back-up ring B15, vertical and the radial location axle 16 of axial location bearing pin B32, the upper deep groove ball bearing A19 that installs of axial location bearing pin B32, the excircle of deep groove ball bearing A19 contacts with the circumferential end surfaces of axial location back-up ring B15.On the periphery of radial location axle 16, installation shaft is to alignment pin A17 between cylindrical roller bearing A18 and the axial location back-up ring A13, vertical and the radial location axle 16 of axial location bearing pin A17, the upper deep groove ball bearing B31 that installs of axial location bearing pin A17, the excircle of deep groove ball bearing B31 contacts with the circumferential end surfaces of axial location back-up ring A13, thus the axial location of sheet road wheel 2 in realizing.Substitute large scale slip ring, ball bearing of main shaft or plain bearing etc. by cheaply cylindrical roller bearing and deep groove ball bearing combination in the present embodiment, cliding friction becomes friction of rolling, not only greatly reduces cost, and has improved work efficiency.This mechanism has not only guaranteed the reliability of interior sheet road wheel location, and robot motion's friction force is less, and greatly reduces the large slip ring of employing or the cost of other major diameter detent mechanism.This mechanism has not only guaranteed the reliability of interior sheet road wheel location, and robot motion's friction force is less, and greatly reduces the large ring-shaped guide rail of employing or the cost of other large footpath detent mechanism.
Present embodiment provides two kinds of different outer plate road wheel detent mechanisms.
The structure of the first outer plate road wheel detent mechanism as shown in Figure 6 and Figure 7.
By screw rod 22 bearing mounting base 20 of outer plate road wheel 3 location with coro bearng 21 is fixedly attached on the robot casing, by shaft end ring cylindrical roller bearing B21 is installed on the bearing mounting base 20 again, described cylindrical roller bearing B21 is sleeved on the end of imput shaft 30, then will be locked at the affixed outer plate road wheel end cap 23 of outer plate road wheel 3 outer ring of cylindrical roller bearing B21 by holding screw, by means of the positioning action between bearing self inner and outer ring, thus the axial and radial location of realization outer plate road wheel 3.The characteristics of this kind structure are shock-resistant, and are easy to installation and maintenance.The end of the imput shaft 30 of robot and propel driving shaft 6 all is connected on the bearing mounting base 20 by bearing in this kind mode, can improve rigidity and the load-carrying capacity of robot.
In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. one kind is used for adjustable crawler and the road wheel detent mechanism that wheel is carried out the mapped structure mobile robot, and described the wheel carried out the mapped structure mobile robot and comprised that casing, adjustable crawler, interior road wheel (2), outer plate road wheel (3), wheel carry out mapping device, imput shaft (30) and propel driving shaft (6); Wherein imput shaft (30) is used for the conversion between the motion wheeled motion of realization of driven wheel shoe mapping device and the crawler type motion, two gears on the propel driving shaft (6) respectively with the engagement of the internal tooth of interior road wheel (2) and outer plate road wheel (3), rotate synchronously the external tooth engagement of adjustable crawler and interior road wheel (2) and outer plate road wheel (3) to drive interior sheet road wheel (2) and outer plate road wheel (3); It is characterized in that described adjustable crawler comprises outer Timing Belt (7), inter-sync band (8) and extension spring (12); Outer Timing Belt (7) is the toothed loop configuration of the identical single face of bandwidth with inter-sync band (8), and wherein the geared surface of inter-sync band (8) is inside, and the geared surface of outer Timing Belt (7) is outside; The external tooth of sheet road wheel (2) and outer plate road wheel (3) engagement in the profile of tooth of described inter-sync band (8) and the robot; Described outer Timing Belt (7) and inter-sync band (8) be coupling with one heart, outer Timing Belt (7) is connected 8 with the inter-sync band) between relative surface every interval same distance be connected 11 by flat gasket (10) with bolt) connection, thereby adjustable crawler is divided into some joints, connects extension spring (12) between per two adjacent flat gaskets (10); Guarantee that extension spring (12) is in state of nature lower time, outer Timing Belt (7) and inter-sync band (8) all are in contraction state, tooth on the interior band Timing Belt (8) is stuck in the external tooth teeth groove of interior road wheel (2) and outer plate road wheel (3) equably, inter-sync band this moment (8) respectively saves inwardly protruding, and each joint of outer Timing Belt (7) is outwards protruding;
Described road wheel detent mechanism comprises interior road wheel detent mechanism and outer plate road wheel detent mechanism;
Described interior road wheel detent mechanism is positioned at a road wheel (a 2) side relative with casing; Comprise three above basic fixed position unit (14) and back-up ring structure; Described back-up ring structure comprises a radial location back-up ring and two axial location back-up rings; Connect by the radial location back-up ring between two axial location back-up rings; The back-up ring structure is coaxial affixed with interior road wheel (2);
Described basic fixed position unit (14) is evenly distributed along the circumferencial direction of interior road wheel (2); Basic fixed position unit (14) comprises radial location axle (16), axial location bearing pin (17), cylindrical roller bearing A(18) and two deep groove ball bearings (19); Wherein an end of radial location axle (16) vertically is fixed on the casing, and is gapped between the circumferential end surfaces of the other end and interior road wheel (2); Cylindrical roller bearing A(18) be installed on the radial location axle (16) cylindrical roller bearing A(18) excircle contact with the inside face of radial location back-up ring; On the periphery of radial location axle (16), cylindrical roller bearing A(18) with two axial location back-up ring amongs an axial location bearing pin (17) is installed, the vertical and radial location axle (16) of described axial location bearing pin (17); At each axial location bearing pin (17) deep groove ball bearing (19) is installed; The excircle of described two deep groove ball bearings (19) respectively with the end contact of the axial location back-up ring of self place side;
Described outer plate road wheel registration device comprises bearing mounting base (20) and cylindrical roller bearing (21); Bearing mounting base (20) is affixed with the robot casing, cylindrical roller bearing B(21) be installed on the bearing mounting base (20); With the affixed outer plate road wheel end cap (23) of outer plate road wheel (3) and cylindrical roller bearing B(21) the outer ring affixed.
2. as claimed in claim 1 a kind of for taking turns adjustable crawler and the road wheel detent mechanism of carrying out the mapped structure mobile robot, it is characterized in that, the another kind of form of described outer plate road wheel detent mechanism is: inner ring described ball bearing of main shaft B(21) and robot imput shaft (30) are fixed, outer plate road wheel end cap and the ball bearing of main shaft B(21 affixed with outer plate road wheel (3)) the outer ring affixed.
3. a kind of adjustable crawler and road wheel detent mechanism for wheel shoe mapped structure mobile robot as claimed in claim 1 or 2 is characterized in that described outer Timing Belt (7) and inter-sync band (8) are made by the elastic rubber material of high-wearing feature.
4. a kind of adjustable crawler and road wheel detent mechanism for wheel shoe mapped structure mobile robot as claimed in claim 1 or 2 is characterized in that, at the midway location that described inter-sync band (8) is inboard circlip (9) are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210539103.6A CN102991596B (en) | 2012-12-13 | 2012-12-13 | Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210539103.6A CN102991596B (en) | 2012-12-13 | 2012-12-13 | Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure |
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| Publication Number | Publication Date |
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| CN102991596A true CN102991596A (en) | 2013-03-27 |
| CN102991596B CN102991596B (en) | 2015-04-22 |
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| CN201210539103.6A Expired - Fee Related CN102991596B (en) | 2012-12-13 | 2012-12-13 | Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure |
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Cited By (6)
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| CN104002884A (en) * | 2014-05-13 | 2014-08-27 | 中国人民解放军军事交通学院 | Reconfigurable rubber track belt |
| CN104210570A (en) * | 2014-09-02 | 2014-12-17 | 中国矿业大学 | Elastic caterpillar band capable of realizing telescopic deformation |
| CN105946995A (en) * | 2016-06-07 | 2016-09-21 | 北京理工大学 | Travelling mechanism of wheel-track variable-structure robot |
| CN109131610A (en) * | 2018-10-11 | 2019-01-04 | 中国科学院深海科学与工程研究所 | Wheel carries out deformation mechanism, running gear and vehicle |
| CN112660256A (en) * | 2020-12-31 | 2021-04-16 | 华南理工大学 | Obstacle auxiliary mechanism is crossed to dolly based on hold-in range |
| CN113941992A (en) * | 2020-07-15 | 2022-01-18 | 沈阳新松机器人自动化股份有限公司 | Wheel train mechanism with adjustable robot walking mode |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113941992A (en) * | 2020-07-15 | 2022-01-18 | 沈阳新松机器人自动化股份有限公司 | Wheel train mechanism with adjustable robot walking mode |
| CN113941992B (en) * | 2020-07-15 | 2023-10-03 | 沈阳新松机器人自动化股份有限公司 | Wheel train mechanism with adjustable walking mode of robot |
| CN112660256A (en) * | 2020-12-31 | 2021-04-16 | 华南理工大学 | Obstacle auxiliary mechanism is crossed to dolly based on hold-in range |
| CN112660256B (en) * | 2020-12-31 | 2024-01-05 | 华南理工大学 | Trolley obstacle passing auxiliary mechanism based on synchronous belt |
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| CN102991596B (en) | 2015-04-22 |
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