CN103043128A - Omnibearing moving track - Google Patents
Omnibearing moving track Download PDFInfo
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- CN103043128A CN103043128A CN201210347201XA CN201210347201A CN103043128A CN 103043128 A CN103043128 A CN 103043128A CN 201210347201X A CN201210347201X A CN 201210347201XA CN 201210347201 A CN201210347201 A CN 201210347201A CN 103043128 A CN103043128 A CN 103043128A
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- crawler belt
- roller
- around mobile
- driving wheel
- mobile crawler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/20—Tracks of articulated type, e.g. chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
An omnibearing moving track mainly comprises a driver (12), track boards (13), rollers (14), bogie wheels (15), towing wheels (16) and inducers (17), wherein every roller (14) is fixedly arranged on a roller support (23) of each track board, and rotary axis of every roller and an axis of the driver (12) of the omnibearing moving track are arranged into definite included angles to form offset angles of the rollers (14); the offset angle of the roller (14) ranges from 0 degree to 90 degrees or negative 90 degrees to 0 degree, and the offset angel of an optimal roller is 45 degrees or negative 45 degrees.
Description
Technical field
The invention belongs to mechanically moving device technique field, be specifically related to a kind of mobile crawler belt with omnibearing movable characteristic.
Background technology
For travel mechanism, omnibearing movable refers under space coordinates XYZ, and object has the motion of three degree of freedom simultaneously on the XY plane, namely along the translation of X-axis, Y-axis with around the rotation of Z axis.The travel mechanism that therefore, can realize omnibearing movable also is referred to as omni-directional moving mechanism.Travel mechanism can be divided into wheeled, crawler type and leg foot formula usually by its structure, is applicable in addition in addition step wise, creeping motion type and the snakelike formula of specific occasion.At present, most omni-directional moving mechanisms all are wheeled, mainly contain Mecanum wheel (Mecanum wheel), switch wheel (Alternate wheel), quadrature wheel (Orthogonal wheel), ball wheel (ball wheel) and Rover continuously and take turns etc.Wherein Mecanum wheel is one of most widely used a kind of structure on the engineering.
Yet, the research of crawler type omni-directional moving mechanism is relatively lagged behind, until just begin the beginning of the nineties in last century to have the achievement in research of this respect to occur.Existing crawler type omni-directional moving mechanism is all developed by design abroad, mainly contain Omnidirectional Spherical Tire Mechanism, " VUTON " Crawler, Crawler-Roller Running Mechanism and Omni-Crawler with Circular Cross-Section etc., but they are not used widely in engineering also at present.And domestic research to the crawler type omni-directional moving mechanism also is in blank.
At the beginning of the nineties in last century, American engineer Mark West and Haruhiko Asada have invented Omnidirectional Spherical Tire Mechanism.Its structure mainly is comprised of two parallel poles and several global wheels, holding point contacts between pole and the global wheel, global wheel can move along the direction that is parallel to the pole axis, and the simultaneously rotation of pole can drive again global wheel along moving perpendicular to the direction of pole axis.Therefore, this pedrail mechanism has two freedom of motions in the plane, namely along the translation of x axle, y axle.
" VUTON " Crawler is that his invention Inspiration Sources is in certain directional wheel by the Shigeo professor Hirose invention of Japan.Professor Hirose wants to have replaced original directional wheel by a series of free roller, thereby it is developed into a kind of crawler type omni-directional moving mechanism.As shown in Figure 1, its structure mainly be by a pair of chain 2,3 and several columniform free rollers 6 consist of, article two, keep fixing spacing between the chain, connect with rectangle frame 5 between them, free roller then is fixed on the rectangle frame, they can rotate around self axis, but keep all the time horizontal attitude.The characteristics of this mechanism are that structure is smooth, compact; Compare original directional wheel, ground contact area increases, and load-carrying ability also strengthens; Simultaneously because and sliding phenomenon does not occur between the ground and ground contact area is larger, so less to the degree of tortuosity on ground." VUTON " mobile crawler belt (crawler) is and the akin a kind of scheme of the present invention, in preamble, it is introduced to some extent, its object construction as shown in Figure 2, it mainly is made of drive sprocket axle 1, inboard chain 2, outside chain 3, speed belt 4, rectangle frame 5, frame bracket 6, roller 7 and tightening device 8, wherein the angle of roller axis and driving wheel axis is 90 °, and namely the offset angle of roller is that 90 ° of (1) obstacle climbing abilities are poor.The design of part-structure in " VUTON " mobile crawler belt such as adopting 90 ° of offset angle rollers and rectangle frame etc., causes the ability on its road surface by having the obstacles such as step, groove relatively poor, thereby has reduced its crossing ability.
The people such as Peng Chen of the triple universities of Japan (Mie university) can only be applicable to flat road surface for current most of omni-directional moving mechanisms and can not for the problem of complicated uneven road surface, design Crawler-Roller Running Mechanism.This mechanism has increased some free gear at a chain drive, and per two free gear are one group, and their installation direction is vertical with the transmission direction of chain.These free gear can also be climbed the obstacles such as step so that this mechanism not only has the degree of freedom of cross motion, so it not only can realize omnibearing movable, have also possessed certain obstacle climbing ability.
The human hairs such as Japanese engineers Kenjiro Tadakuma, Riichiro Tadakuma and Hiroaki Kinoshita understand a kind of crawler type omni-directional moving mechanism with circular cross section.The cross-sectional plane of this mechanism is circular, and it be except can realizing the longitudinal movement also having possessed an active rotation axle along y direction, from and can realize cross motion.Previously described several crawler type omni-directional moving mechanism has all utilized free roller, because free roller is passive matrix, and its size is less with respect to whole crawler belt, so can cause crawler belt to overcome the ability of the obstacles such as step and discontinuous road surface.And this pedrail mechanism has not had free roller, thus can effectively overcome the shortcoming of above-mentioned several structures, but its structure design is comparatively complicated.
The Mecanum wheel is a kind of typical wheeled omni-directional moving mechanism, as shown in Figure 3, it mainly is comprised of wheel hub 9 and a series of well-distributed cydariform rollers 11 that are fixed on the wheel hub, the gabarit intrinsic curve 10 of roller coincides with the theoretical circumference of wheel, roller can rotate freely around its axis, the angle of roller axis and hub axis is the offset angle of roller, is generally ± 45 °.
The Mecanum wheel has 3 freedom of motions in the plane: the one, rotate around wheel axis; The 2nd, along ground connection roller axis vertical line direction translational; The 3rd, the contact point around wheel and ground rotates.Mecanum wheel is a kind of rigid wheel, between its ground connection roller and the ground is to contact, and is generally a bit or 2 contacts, ground contact area is very little, so in motion process, easily produce vibration and slippage, especially more obvious under high-speed motion, thus motion-affecting stability.In addition, the some contact has determined that also the Mecanum wheel can only be applicable to flat road surface, and the kinematic accuracy on Stochastic uneven road is difficult to guarantee.Simultaneously, because Mecanum wheel ground contact area is little, the suffered pressure in ground is large, so also easily ground is damaged.
The key of Mecanum wheel construction is the design of roller, should be the circumference of a standard because require in theory roller gabarit intrinsic curve, and the outline curve major decision of roller the deviation from circular from of roller gabarit intrinsic curve.But the method for calculating of existing roller outline curve is complicated and still have certain error, and also error may occur in the course of processing.In addition, the working accuracy of wheel hub also needs to guarantee.Above-mentioned factor probably makes roller gabarit intrinsic curve produce larger deviation from circular from, thereby produces larger vibration in motion process, affects stability of motion and precision.Generally speaking, the complex structural designs of Mecanum wheel is high to requirement on machining accuracy.
Summary of the invention
Jolt in order to solve the motion of existing Mecanum wheel, the road surface adaptive capacity is poor, and in order to solve the poor problem of " VUTON " mobile crawler belt obstacle climbing ability, and the stability and the precision that improve the omni-directional moving mechanism motion, the invention provides a kind of all-around mobile crawler belt, it is mainly by driving wheel (12), caterpillar block (13), roller (14), bearing wheed (15), moping pulley (16) and inducer (17) consist of, it is characterized in that, be spliced by a plurality of caterpillar blocks (13), described roller (14) is fixed on the roller bracket (23) of described each caterpillar block, the axis of the driving wheel of its pivot center and described all-around mobile crawler belt (12) arranges at a certain angle, forms the offset angle of described roller (14).
Described caterpillar block is made of plate body (19), guiding tooth (20), engagement shaft (21), pin-and-hole (22) and roller bracket (23), wherein said engagement shaft (21) is intermeshing to realize the conversion of power with the gear ring on the described driving wheel (12), and described pin-and-hole (22) is used for a plurality of caterpillar blocks are spliced into a complete crawler belt.
The axis of the roller bracket of described caterpillar block (23) becomes a fixed angle with described driving wheel (12) axis, so that the described roller (14) on the whole piece crawler belt forms unified fixed bias angle.
Described roller (14) all distributes on the whole piece crawler belt, and described roller (14) has the fixed bias angle, and its offset angle scope is between (0 °, 90 °) or (90 °, 0 °).The offset angle of preferred described roller (14) is ± 45 °.
The inducer of described all-around mobile crawler belt (17) is identical with the structure of described driving wheel (12), and described inducer (17) can provide propulsive effort simultaneously with described driving wheel (12).
Described roller (14) is free to rotate, and its outline is cylindrical shape.Described driving wheel (12) is the Double gear-ring structure.Described bearing wheed has guide groove on (15), and guiding tooth (20) engagement on itself and the caterpillar block (13) is not so that bearing wheed (15) departs from the slab track of caterpillar block (13).
All-around mobile crawler belt of the present invention is compared with the mobile crawler belt of aforementioned prior art, has following advantage: (1) has improved the stability of omni-directional moving mechanism motion; (2) improved the precision that omni-directional moving mechanism moves; (3) improved the crossing ability of omni-directional moving mechanism; (4) structure design is simple, and is not high to requirement on machining accuracy; (5) change the mode of motion of continuously tracked vehicle, greatly promoted the alerting ability of its motion.
Description of drawings
Fig. 1: the structure principle chart of " VUTON " mobile crawler belt in the prior art;
Fig. 2: the structural representation of " VUTON " mobile crawler belt in the prior art;
Fig. 3: Mecanum in the prior art (Mecanum) wheel shaft is to multiview drawing;
Fig. 4: all-around mobile caterpillar belt structure schematic diagram of the present invention;
Fig. 5: the driving wheel structural representation of all-around mobile crawler belt of the present invention;
Fig. 6: the track plate structure schematic diagram of all-around mobile crawler belt of the present invention;
Fig. 7: the roller structure schematic diagram of all-around mobile crawler belt of the present invention;
Fig. 8: the bearing wheed structural representation of all-around mobile crawler belt of the present invention.
The specific embodiment
As everyone knows, existing continuously tracked vehicle has the advantages such as motion is steady, the road surface is adaptable, the present invention program just is being based on the basic structure of existing continuously tracked vehicle travel mechanism, by a kind of novel crawler mechanism---the all-around mobile crawler belt that improves that design develops.The travel mechanism motion that the all-around mobile crawler belt had both kept original continuously tracked vehicle steadily, the adaptable advantage in road surface, possessed again the function that realizes omnibearing movable.
All-around mobile caterpillar belt structure schematic diagram of the present invention as shown in Figure 4, this mechanism mainly is comprised of six parts such as driving wheel 12, caterpillar block 13, roller 14, bearing wheed 15, moping pulley 16 and inducers 17.
Wherein driving wheel 12 adopts the double rows of teeth coil structures, and as shown in Figure 5, its function is that by gear ring and caterpillar block 13 engagements, the driving torque that motor is exported converts the pulling force of crawler belt to, thereby drives whole caterpillar drive.The number of teeth of driving wheel and size can crawler belt size according to actual needs be determined.
In the design of crawler belt and driving wheel, determined the diameter of width, pitch, engagement system and the engagement shaft of caterpillar block, described caterpillar block 13 is as shown in Figure 6.Described each caterpillar block can be divided into following components: plate body 19, guiding tooth 20, engagement shaft 21, pin-and-hole 22 and roller bracket 23.Wherein plate body 19 is used for supports bogie wheels 15 and carrier wheel 16, is equivalent to the track of the main movement of mobile crawler belt; 20 in tooth of guiding has played directional tagging, has guaranteed that bearing wheed 15 and moping pulley 16 do not depart from plate body 19 tracks; Engagement shaft 20 is intermeshing with the gear ring on the driving wheel 12, has realized the conversion of power, because driving wheel 12 is Double gear-ring structures, so have the pair of meshing axle on a caterpillar block; The connection that pin-and-hole 22 is used between a plurality of caterpillar blocks forms a complete crawler belt at last; Roller bracket 23 is positioned at the plate body below, is used for fixedly roller, and its axis 24 is at a certain angle with driving wheel axis 18, and its scope is (0 °, 90 °) or (90 °, 0 °), is typically designed to ± 45 °.
Roller of the present invention is the grounded part of crawler belt, and mainly the interaction by it and ground realizes omnibearing movable, and its outline is a cylinder.It compares the travel mechanism that uses the Mecanum wheel in the aforementioned prior art, and the stationarity of all-around mobile caterpillar drive promotes greatly.The grounded part of all-around mobile crawler belt is a series of cylindrical roller, they with ground between be that line contacts, this has increased the ground contact area of platform effectively, and increases along with the increase of track length.In addition, in motion process, the roller of comprehensive crawler belt is after each ground connection, the contact time (length and the driving wheel rotating speed that have depended on during this period of time crawler belt) that keeps one period, so probably make and reach of short duration static balance between ground connection roller and the ground, thereby effectively slow down the degree of jolting, improved the stationarity of platform motion.Described roller is installed on the roller bracket, can freely rotate around self axis, because axis and the driving wheel axis of roller bracket are at a certain angle, so roller has certain offset angle, its scope is (0 °, 90 °) or (90 °, 0 °), be generally ± 45 °.
The bearing wheed of the comprehensive crawler belt of the present invention is provided with guide groove 25 as shown in Figure 8 on the bearing wheed in addition, and guiding tooth 20 engagements on itself and the caterpillar block 13 are not so that bearing wheed 15 departs from the slab track of caterpillar block 13.The function of bearing wheed is to support car body and roll at the crawler belt ground section, and the gravity of platform is uniformly distributed on the whole crawler belt ground section.Usually, have a plurality of bearing wheeds on the crawler belt, increase the quantity of bearing wheed, can make the distribution of pressure on the crawler belt bearing surface even, this mechanism is improved at the poor ground crossing ability of load-carrying capacity, reduced the degree of tortuosity to ground.The selection of bearing wheed, structure and size can design according to the actual requirements.
In addition, all-around mobile crawler belt of the present invention also comprises moping pulley, moping pulley and bearing wheed structural similitude, but size less.It is played a supporting role to upper crawler belt section, can reduce like this swing of a upper crawler belt section, thereby reduces the loss in efficiency of caterpillar block hinged place.Also have a plurality of moping pulleys on the general crawler belt, concrete quantity can be determined according to the length of upper crawler belt section.
Further all-around mobile crawler belt of the present invention also comprises inducer.Usually, the function of inducer is the sense of motion that supports the crawler belt section and change a upper crawler belt section, the structural similitude of it and moping pulley, but size is larger.Yet although inducer as shown in Figure 4 is identical with the driving wheel structure, it does not have the active drive ability.Yet, if when wanting to increase the propulsive effort of crawler belt, this inducer directly can be transformed to driving wheel, the whole piece crawler belt is driven by two driving wheels, and this can come to determine according to the actual requirements.
All-around mobile crawler belt of the present invention is compared with the mobile crawler belt of aforementioned prior art, has following advantage:
(1) improved the stability that omni-directional moving mechanism moves.The grounded part of all-around mobile crawler belt is a series of cylindrical roller, they with ground between be that line contacts, this has increased ground contact area effectively, and increases along with the increase of track length.In addition, in motion process, the roller of comprehensive crawler belt is after each ground connection, the contact time (length and the driving wheel rotating speed that have depended on during this period of time crawler belt) that keeps one period, so probably make and reach of short duration static balance between ground connection roller and the ground, thereby effectively the degree of slowing down vibration has improved the stationarity of motion.
(2) improved the precision that omni-directional moving mechanism moves.Because the grounded part of all-around mobile crawler belt is a series of line contact, the contact point on whole mechanism and ground is more, so it still can realize omnibearing movable on Stochastic uneven road, and can guarantee preferably kinematic accuracy.
(3) improved the crossing ability of omni-directional moving mechanism.The all-around mobile crawler belt has kept the good crossing ability of the travel mechanism of continuously tracked vehicle, so it has possessed certain obstacle climbing ability, such as by 30 degree slope, step and grooves etc.What need here to indicate is, more above-described road surfaces are the hard pavement, and the all-around mobile crawler belt is less to the pressure on ground because ground contact area is large, so also possessed by the ability on soft road surface to a certain degree.In addition, the roller on the all-around mobile crawler belt can also play the effect of spud in the travel mechanism of similar continuously tracked vehicle by soft road surface the time.For example, the ground connection roller can partly be pressed in the earth on the earth road surface, thereby increases the adhesive ability to ground, prevents track slip.
(4) structure design is simple, and is not high to requirement on machining accuracy.The structure of each parts of all-around mobile crawler belt is all fairly simple, and wherein the structure relative complex of caterpillar block a bit but only need guarantee that pitch on the caterpillar block and the precision of roller bracket offset angle get final product.In addition, the present invention program's roller only is cylindrical roller, and pair of rollers outline curve does not need complicated method of designing and not high to accuracy requirement.As seen, the structure of all-around mobile crawler belt is very simple, and is not high to requirement on machining accuracy.
(5) changed the mode of motion of continuously tracked vehicle, for the development of continuously tracked vehicle provides a new approach.The travel mechanism of the existing continuously tracked vehicle often underaction that moves causes continuously tracked vehicle to adjust the ability of self attitude relatively poor, the suffered resistance of crawler belt when turning to especially, and the power that consumes of causing moving is larger.And the all-around mobile crawler belt had both possessed the function of all-around mobile, keep again the good performance of original crawler belt, so utilize its mode of motion that can change continuously tracked vehicle, greatly promote the alerting ability of its motion, for the development of continuously tracked vehicle provides a new approach.
Although the present invention is described with reference to a plurality of embodiment; but the present invention is not limited to above-described embodiment; be to be understood that those skilled in the art can carry out to the parts that relate in above-described embodiment the suitable new embodiment that is combined to form, the various obvious modifications and variations of carrying out on the basis that does not break away from the principle of the invention all should fall within protection scope of the present invention.
Claims (10)
1. all-around mobile crawler belt, it mainly is made of driving wheel (12), caterpillar block (13), roller (14), bearing wheed (15), moping pulley (16) and inducer (17), it is characterized in that, be spliced by a plurality of caterpillar blocks (13), described roller (14) is fixed on the roller bracket (23) of described each caterpillar block, the axis of the driving wheel of its pivot center and described all-around mobile crawler belt (12) arranges at a certain angle, forms the offset angle of described roller (14).
2. all-around mobile crawler belt as claimed in claim 1, it is characterized in that, described caterpillar block is made of plate body (19), guiding tooth (20), engagement shaft (21), pin-and-hole (22) and roller bracket (23), wherein said engagement shaft (21) is intermeshing to realize the conversion of power with the gear ring on the described driving wheel (12), and described pin-and-hole (22) is used for a plurality of caterpillar blocks are spliced into a complete crawler belt.
3. all-around mobile crawler belt as claimed in claim 2, it is characterized in that, the axis of the roller bracket of described caterpillar block (23) becomes a fixed angle with described driving wheel (12) axis, so that the described roller (14) on the whole piece crawler belt forms unified fixed bias angle.
4. such as the described all-around mobile crawler belt in one of claim 1 or 2, it is characterized in that, described roller (14) all distributes on the whole piece crawler belt, and described roller (14) has the fixed bias angle.
5. all-around mobile crawler belt as claimed in claim 3 is characterized in that, the offset angle scope of described roller (14) is between (0 °, 90 °) or (90 °, 0 °).
6. all-around mobile crawler belt as claimed in claim 5 is characterized in that, the offset angle of described roller (14) is ± 45 °.
7. all-around mobile crawler belt as claimed in claim 6, it is characterized in that, the inducer of described all-around mobile crawler belt (17) is identical with the structure of described driving wheel (12), and described inducer (17) can provide propulsive effort simultaneously with described driving wheel (12).
8. all-around mobile crawler belt as claimed in claim 6 is characterized in that, described roller (14) is free to rotate, and its outline is cylindrical shape.
9. all-around mobile crawler belt as claimed in claim 8 is characterized in that, described driving wheel (12) is the Double gear-ring structure.
10. all-around mobile crawler belt as claimed in claim 9, it is characterized in that, have guide groove (25) on the described bearing wheed (15), guiding tooth (20) engagement on itself and the caterpillar block (13) is not so that bearing wheed (15) departs from the slab track of caterpillar block (13).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347201.XA CN103043128B (en) | 2012-09-19 | 2012-09-19 | All-around mobile crawler belt |
| PCT/CN2012/001639 WO2014043836A1 (en) | 2012-09-19 | 2012-12-07 | Omnibearing moving track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347201.XA CN103043128B (en) | 2012-09-19 | 2012-09-19 | All-around mobile crawler belt |
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| Publication Number | Publication Date |
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| CN103043128A true CN103043128A (en) | 2013-04-17 |
| CN103043128B CN103043128B (en) | 2017-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210347201.XA Active CN103043128B (en) | 2012-09-19 | 2012-09-19 | All-around mobile crawler belt |
Country Status (2)
| Country | Link |
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| CN (1) | CN103043128B (en) |
| WO (1) | WO2014043836A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386154A (en) * | 2014-11-17 | 2015-03-04 | 张豫南 | High-efficiency steering crawler belt and platform thereof |
| CN104494720A (en) * | 2014-12-12 | 2015-04-08 | 张豫南 | Tracked vehicle movement mode-based high-efficiency steering platform |
| CN106627823A (en) * | 2016-12-06 | 2017-05-10 | 哈工大机器人集团上海有限公司 | Omni-directional motion robot transmission track |
| KR101877837B1 (en) * | 2014-08-04 | 2018-07-13 | 한화에어로스페이스 주식회사 | A caterpillar for vehicles |
| CN109368565A (en) * | 2018-12-11 | 2019-02-22 | 中联重科股份有限公司 | high-altitude operation equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102451381B1 (en) * | 2021-06-29 | 2022-10-06 | 충남대학교산학협력단 | Laterally movement device of mobile robot |
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Cited By (5)
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| CN104494720A (en) * | 2014-12-12 | 2015-04-08 | 张豫南 | Tracked vehicle movement mode-based high-efficiency steering platform |
| CN106627823A (en) * | 2016-12-06 | 2017-05-10 | 哈工大机器人集团上海有限公司 | Omni-directional motion robot transmission track |
| CN109368565A (en) * | 2018-12-11 | 2019-02-22 | 中联重科股份有限公司 | high-altitude operation equipment |
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| WO2014043836A1 (en) | 2014-03-27 |
| CN103043128B (en) | 2017-06-13 |
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Application publication date: 20130417 Assignee: Heshan Turing Crawler Platform Technology Co., Ltd. Assignor: Zhang Yunan Contract record no.: 2019440000038 Denomination of invention: Omnibearing moving track Granted publication date: 20170613 License type: Exclusive License Record date: 20190313 |
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