CN103273983A - Robot wheel moving module for plane advancing and linear advancing - Google Patents
Robot wheel moving module for plane advancing and linear advancing Download PDFInfo
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- CN103273983A CN103273983A CN2013102072230A CN201310207223A CN103273983A CN 103273983 A CN103273983 A CN 103273983A CN 2013102072230 A CN2013102072230 A CN 2013102072230A CN 201310207223 A CN201310207223 A CN 201310207223A CN 103273983 A CN103273983 A CN 103273983A
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Abstract
The invention discloses a robot wheel moving module for plane advancing and linear advancing. The robot wheel moving module for the plane advancing and the linear advancing comprises wheel modules, a first joint module, a second joint module and a U-shaped connecting piece, wherein the wheel modules are driven by a speed reducing motor, the first joint module and the second joint module are driven by a steering engine, the fixed end of the first joint module is connected with the fixed end of the second joint module through the U-shaped connecting piece, wheel modules are arranged at the movable end of the first joint module in parallel, a wheel module is arranged at the movable end of the second joint module in an opposite mode, movement power is output through an output shaft of the speed reducing motor and wheels on the speed reducing motor, the first joint module and the second joint module respectively has only one rotational degree of freedom, and a rotating shaft of the first joint module is parallel to a rotating shaft of the second joint module. According to the robot wheel moving module for the plane advancing and the linear advancing, combination of a ground movement function and a linear movement function can be achieved, and flexibility and maneuverability of a robot are improved. The robot wheel moving module for the plane advancing and the linear advancing has very strong portability and has the advantages of being simple to design, manufacture and maintain, and low in cost.
Description
Technical field
The present invention relates to the Robotics field, in particular to a kind of modularization, steering wheel drive, the variable motion attitude, can advance on the plane and three-wheel driver module that circuit is advanced.
Background technology
The application of robot more and more widely almost is penetrated into all spectra.The mobile robot is an important branch in the robotics.Robot mobile form on the ground mainly contains wheel formula, leg formula, crawler type etc. at present.Leg formula imitation animal walking mode has higher degree of intelligence, can adapt to complicated landform, but because the structure degree of freedom is too many, structure and control are comparatively complicated, and action speed is also slower.It is bigger that crawler type has an area of landing, less to geostatic pressure, at soft ground adhesion value and good by performance, stair climbing, obstacle detouring stationarity height, good characteristics such as runback potential energy power, but the speed of crawler type mobile platform is slow, power consumption is big, big to the ground degree of tortuosity when turning to.And the wheel formula is modal a kind of form.The technology comparative maturity of present wheel formula, moving velocity is higher, and stability is higher, and mechanism and control are relatively simple, work efficiency is higher.Yet wheel formula road pavement is had relatively high expectations, and can't adapt to various road surface.The version that three-wheel and four-wheel are arranged that traditional mechanism that moves in turn is most widely used adds cardan wheel and can realize omnibearing rotation.Typical case's 3 wheel constructions usually adopt the layout of a center gear and 2 trailing wheels, and simple in structure and poor stability mobilely on the ground that tilts is easily toppled over.Comparatively speaking, 4 wheel constructions have advantages of higher stability.And for the mobile robot on the transmission line of electricity, mainly based on inspection robot, the circuit deicing robot also is one of research focus at present.The mobile robot moves form based on the wheel formula on the transmission line of electricity, and general wheel has groove, and wheel vertically is suspended on the lead, also needs certain auxiliary device that robot can stably be suspended on the lead simultaneously.The present research direction of mobile robot on the circuit mainly is its obstacle detouring function, thereby realizes mobile completely.Generally speaking, adopt the structure design of novelty, improve one of the alerting ability of robot and important development direction that manoevreability is the mobile robot.
Summary of the invention
The objective of the invention is to move the boundary that moves with circuit in order to break ground, the combination with the circuit locomotive function is moved on realization ground, improves alerting ability and the manoevreability of robot, and the action radius of expansion robot increases the adaptive capacity to environment.
For achieving the above object, the technical solution used in the present invention is as follows:
Module that advance in a kind of plane and the circuit robot of advancing moves in turn, comprise 3 by reducing motor wheel driven module, first joint module and second joint module by the steering wheel driving, U-shaped attaching parts, described first joint module, the fixed end of second joint module is connected by U-shaped attaching parts, the movable end of described first joint module side by side be provided with 2 wheel modules, the movable end of described second joint module relatively is provided with 1 wheel module, the wheel of described wheel module is driven by reducing motor, and motion and power are by the output shaft of reducing motor and by the output of the wheel on it; Described first joint module, second joint module all have only a rotational freedom; The rotating shaft of second joint module and first joint module is parallel to each other.
Particularly, described wheel module comprises: nut, and the reducing motor support, reducing motor, spoke, the tire of band groove connects support, pad, bolt, described tire is fastened on the spoke, and spoke is fixed on the output shaft of reducing motor.Reducing motor is placed in the reducing motor support, 3 faces of reducing motor and 3 inside faces of reducing motor support are close to, the another side of reducing motor be connected support on-right angle end and be close to mutually, two unthreaded holes on the reducing motor support align with two unthreaded holes on being connected support, will connect support, reducing motor and reducing motor support by bolt, pad and nut and closely be connected.
Particularly, described first joint module comprises: steering wheel binding bolt, circle steering wheel, nut, first connecting plate, pad, bolt, pedestal, rotating shaft pad, hollow rotating shaft, steering wheel, first connect support; Described steering wheel is fixed with screw bolt and nut by the mounting hole on it and pedestal and first connecting plate; The circle steering wheel is placed in the output shaft of steering wheel by the profile of tooth spline on it, and fastening with the steering wheel binding bolt at axle head; Connect an end of support by being bolted on the round steering wheel, first other end that connects support is enclosed within steering wheel by hollow rotating shaft, middle by the rotating shaft spacers, use the steering wheel binding bolt that hollow rotating shaft, rotating shaft pad (28), first are connected support again and be fixed on the steering wheel; Steering wheel binding bolt and steering wheel output shaft are at same straight line, and steering wheel is around this straight line rotation, and first connects support self maintains static, and realizes first joint module and 2 wheel module rotations under the steering wheel output torque drives.
Particularly, described second joint module comprises: circle steering wheel, bolt, steering wheel, nut, second connecting plate, pad, pedestal, steering wheel binding bolt, hollow rotating shaft, rotating shaft pad, second connect support, described steering wheel is by mounting hole and pedestal bolted on it, the circle steering wheel is placed in the output shaft of steering wheel by the profile of tooth spline on it, and fastening with the steering wheel binding bolt at axle head.Second end that connects support is fixed on the round steering wheel by screw, second other end that connects support is enclosed within on the output shaft of steering wheel by hollow rotating shaft, middle by the rotating shaft spacers, with the steering wheel binding bolt hollow rotating shaft, rotating shaft pad, second are connected support again and be fixed on the steering wheel; Steering wheel binding bolt and steering wheel output shaft are on same straight line, and steering wheel is around this straight line rotation, and second connects support self maintains static, and realizes second joint module and wheel module rotation under the steering wheel output torque drives.
Particularly, described U-shaped attaching parts comprises: nut, pad, U-shaped support, bolt are connected support captive joint with U-shaped support with first of support and first joint module that be connected of second joint module by bolt, pad and nut.
The present invention includes 3 wheel modules, 1 second joint module, 1 first joint module and 1 U-shaped attaching parts.Wheel module is driven by reducing motor, and second joint module and first joint module are driven by steering wheel.All modules adopt series-parallel mode to connect, and the order of connection passes through: wheel module-second joint module-U-shaped attaching parts-first joint module-wheel module.The rotating shaft of second joint module and first joint module is parallel to each other, and described second joint module and first joint module can be done half turn, is connected with wheel module respectively, drives wheel module and rotates, the configuration of module thereby change is moved in turn.
The robot that advance in above-mentioned a kind of plane and circuit is advanced moves in turn in the module, described wheel module wheel is driven by reducing motor, motion and power are by the output shaft of reducing motor and by the output of the wheel on it, and rubber tire is the groove shape, wheel be may be stuck on the circuit, also can increase the friction between wheel and the circuit.Described second joint module refers to have only a rotational freedom and the rotating shaft joint module vertical with connecting rod line.The motion of module and power act on the connection support that is anchored on steering wheel output panel, thereby react on steering wheel self by the output shaft of steering wheel and by the output of the output panel on it, and the wheel module that the steering wheel drive is fixed thereon rotates.Described first joint module refers to have only a rotational freedom and the rotating shaft joint module vertical with connecting rod line.The motion of first joint module is identical with the second joint module with the power way of output, and different is to drive two wheel modules when steering wheel rotates in first joint module.
In the module that moves in turn of the present invention, the movement of second joint module and first joint module rotating band motor-car wheel module makes and the module change form that moves in turn realizes the conversion of plane traveling mode and circuit traveling mode.Under the traveling mode of plane, forward U-shaped attaching parts below on 3 wheel modules to, the wheel bottom surface on the wheel module is in the same plane, is transformed in the circuit traveling mode process, first joint module and second joint modular belt motor-car wheel module are upwards rotated, and reach the target location.
The present invention has following characteristics:
1) module that moves in turn adopts series parallel structure, and each several part is formed and is followed successively by: " wheel module-second joint module-U-shaped attaching parts-first joint module-wheel module (two parallel connections) ".This mechanism makes under face wheel dynamic model formula and circuit move in turn pattern the wheel on 3 wheel modules form triangle to distribute, and the wheel quantum count is few and have certain stability.
2) move in turn in the module between 3 wheel modules and the joint module connection and fasteningly realize by design unified interface and bolt group, corresponding interface quantity in quantity by changing wheel module and arrangement and the joint module can change layout and the quantity of the modular cart wheel mechanism that moves in turn.
3) first joint module is driven by identical steering wheel with the second joint module, and wheel module uses identical motor, and control is simple.
4) wheel on the wheel module is all fluted, and this structure can not influence the module movement in the plane of moving in turn, and when moving on the line, can increase the area of contact of wheel and lead, strengthens mobile on the line stability.
The present invention compared with prior art has following advantage and effect
1) the move in turn degree of freedom of module is few, only with one degree of freedom just can two kinds of traveling modes of actv. realization freely switch, thereby make the control of the module that moves in turn become simple relatively.
2) the present invention adopts modular approach to make up, and main body has only 3 kinds of modules, has design, makes and safeguards simply, lower-cost advantage.
3) the present invention can be combined on other body robots very easily as a kind of motion module, increases its mode of motion, improves alerting ability and the manoevreability of robot.
4) 3 of wheel module staggered fixing on the line of wheel can very stably be fixed on the line, do not need accessory equipment.
Description of drawings
Fig. 1 is the schematic appearance of the module that moves in turn in the embodiment of the present invention.
Fig. 2 is the move in turn schematic appearance of module wheel module of the present invention.
Fig. 3 is the move in turn exploded perspective view of module wheel module of the present invention.
Fig. 4 is the move in turn schematic appearance of module first joint module of the present invention.
Fig. 5 is the move in turn exploded perspective view of module first joint module of the present invention.
Fig. 6 is the move in turn schematic appearance of module second joint module of the present invention.
Fig. 7 is the move in turn exploded perspective view of module second joint module of the present invention.
Fig. 8 is the move in turn exploded perspective view of the U-shaped attaching parts of module of the present invention.
Move in turn for this use is novel module flat traveling mode schematic representation intention of Fig. 9.
Figure 10 is move in turn module circuit traveling mode schematic representation intention of the present invention.
The specific embodiment
In order to understand the present invention better, below in conjunction with accompanying drawing the present invention is done to describe further, but its embodiment is not limited thereto.
Fig. 1 is the External view of the module that moves in turn of the present invention's structure.As shown in the figure, the module that moves in turn comprises 3 wheel modules 1 and first joint module 2, second joint module 4, the centre is connected by a U-shaped attaching parts 3, whole module is totally 5 submodules, each submodule connects in series-parallel mode, and order is: two parallel connections of the wheel module 1-second joint module 4-U type attaching parts 3-first joint module 2-wheel module 1().The interface of wheel module 1 is for connecting support 16(Fig. 3) two unthreaded holes of bottom; The connectivity port of second joint module 4 and wheel module 4 is second connecting plate 45(Fig. 7) on two unthreaded holes, be that second of second joint module 4 is connected support 411(Fig. 7 with the connectivity port of U-shaped attaching parts 3) on 4 unthreaded holes; The connectivity port of first joint module 2 and wheel module 1 is first connecting plate 24(Fig. 5) on 4 unthreaded holes, be first to be connected 4 unthreaded holes on the support 211 with the connectivity port of U-shaped attaching parts, be connected with the bolt group by unified interface between each submodule.
Fig. 2 and Fig. 3 are respectively External view and the explosive view of wheel module.Described wheel module 1 comprises: nut 11, and reducing motor support 12, reducing motor 13, spoke 14, the tire 15 of band groove connects support 16, pad 17, bolt 18, described tire 15 is fastened on the spoke 14, and spoke 14 is fixed on the output shaft of reducing motor 13.Reducing motor 13 is placed in the reducing motor support 12,3 faces of reducing motor 13 and 3 inside faces of reducing motor support 12 are close to, the another side of reducing motor 13 be connected support 16 on-right angle ends and be close to mutually, two unthreaded holes on the reducing motor support 12 align with two unthreaded holes on being connected support 16, will connect support 16, reducing motor 13 and reducing motor support 12 by bolt 18, pad 17 and nut 11 and closely be connected.On the right angle end and centre all has a pair of unthreaded hole on the connection support 16, can be used as the standard interface of other modules.
Fig. 4 and Fig. 5 are respectively External view and the explosive view of first joint module 2.Two wheel modules 1 are by being bolted on first connecting plate 24 on first joint module 2, and wheel module 1 is consistent with first joint module 2 mode of motion spatially, all are the turning cylinder rotations round steering wheel.Parts comprise: steering wheel binding bolt 21, circle steering wheel 22, nut 23, first connecting plate 24, pad 25, bolt 26, pedestal 27, rotating shaft pad 28, hollow rotating shaft 29, steering wheel 210, first connect support 211.Power resources are the outsourcing gauge member in steering wheel 210, carry output circle steering wheel 22.Steering wheel 210 is fixed by the mounting hole on it and pedestal 27 and first connecting plate, 24 usefulness bolts 26 and nut 23.The circle steering wheel is placed in the output shaft of steering wheel 210 by the profile of tooth spline on it, and fastening with steering wheel binding bolt 21 at axle head.First end that connects support 211 is fixed on the round steering wheel 22 by bolt 26, first other end that connects support 211 is enclosed within steering wheel 210 by hollow rotating shaft 29, middle fixing by rotating shaft pad 28, with steering wheel binding bolt 21 hollow rotating shaft 29, rotating shaft pad 28, first are connected support 211 again and be fixed on the steering wheel 210.Steering wheel binding bolt 21 and steering wheel output shaft are at same straight line, and steering wheel 210 is around this straight line rotation, and first connects support 211 self maintains static, and realize that under the steering wheel output torque drives first joint module 2 and 2 wheel modules 1 rotate.Circle having corresponding unified tapped bore and unthreaded hole on the steering wheel 22, one of standard interface that connects as other module combinations.First connects support 211 also has corresponding unified tapped bore and unthreaded hole, as with the standard interface of U-shaped attaching parts 3 one ends.
Fig. 6 and Fig. 7 are respectively External view and the explosive view of second joint module 4.A wheel module 1 is fixed on second connecting plate 45 of second joint module 4 by screw, and wheel module 1 is consistent with second joint module 4 mode of motion spatially, and all the turning cylinder round steering wheel rotates.Parts comprise: circle steering wheel 41, bolt 42, steering wheel 43, nut 44, second connecting plate 45, pad 46, pedestal 47, steering wheel binding bolt 48, hollow rotating shaft 49, rotating shaft pad 410, second connect support 411.Power resources are the outsourcing gauge member in steering wheel 43, carry output circle steering wheel 41.Steering wheel 43 is fastening by mounting hole and pedestal 47 usefulness bolts 42 on it.The circle steering wheel is placed in the output shaft of steering wheel 43 by the profile of tooth spline on it, and fastening with steering wheel binding bolt 48 at axle head.Second end that connects support 411 is fixed on the round steering wheel 41 by screw 42, second other end that connects support 411 is enclosed within on the output shaft of steering wheel 43 by hollow rotating shaft 49, middle fixing by rotating shaft pad 410, with steering wheel binding bolt 48 hollow rotating shaft 49, rotating shaft pad 410, second are connected support 411 again and be fixed on the steering wheel.Steering wheel binding bolt 48 and steering wheel output shaft are on same straight line, and steering wheel 43 is around this straight line rotation, and second connects support 411 self maintains static, and realize that under the steering wheel output torque drives second joint module 4 and wheel module 1 rotate.Circle having corresponding unified tapped bore and unthreaded hole on the steering wheel 41, one of standard interface that connects as other module combinations.Second connects support 411 also has corresponding unified tapped bore and unthreaded hole, as with the standard interface of U-shaped attaching parts 3 one ends.
Fig. 8 is the explosive view of U-shaped attaching parts 3.U-shaped attaching parts 3 is central bindiny mechanisms that second joint module 4 and first joint module 2 are fixed together.Parts comprise: nut 31, pad 32, U-shaped support 33, bolt 34.By bolt 34, pad 32 and nut 31 U-shaped support 33 being connected support 411 with second of second joint module 4, be connected support 211 with first of first joint module 2 fixing.2 unthreaded holes are reserved on U-shaped support 33 chassis, as the standard interface of whole move in turn module and other modules.
Fig. 9 and Figure 10 scheme drawing of module under plane traveling mode and circuit traveling mode of representing respectively to move in turn.As shown in Figure 9, forward the output shaft of steering wheel on second joint module 4 and first joint module 2 to suitable angle, wheel is lain against on the plane, under the driving of reducing motor, can move in the plane.As shown in figure 10, the steering wheel output shaft is forwarded to U-shaped attaching parts chassis to subvertical angle, the groove curved surface on the tire is overlapped with the circuit curved surface, make wheel clamping circuit, thereby realization is moved on the line.
The above embodiment of the present invention only is for example of the present invention clearly is described, and is not to be restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give all embodiments exhaustive.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the protection domain of claim of the present invention.
Claims (5)
1. the robot that advance in a plane and circuit the is advanced module that moves in turn, it is characterized in that, comprise 3 by reducing motor (13) wheel driven module (1), first joint module (2) and second joint module (4) by the steering wheel driving, U-shaped attaching parts (3), described first joint module (2), the fixed end of second joint module (4) is connected by U-shaped attaching parts (3), the movable end of described first joint module (2) side by side be provided with 2 wheel modules (1), the movable end of described second joint module (4) relatively is provided with 1 wheel module (1), the wheel of described wheel module (1) is driven by reducing motor (13), and motion and power are by the output shaft of reducing motor (13) and by the output of the wheel on it; Described first joint module (2), second joint module (4) all has only a rotational freedom; The rotating shaft of second joint module (4) and first joint module (2) is parallel to each other.
2. advance and the circuit robot of the advancing module that moves in turn in plane according to claim 1, it is characterized in that, described wheel module (1) comprising: nut (11), reducing motor support (12), reducing motor (13), spoke (14), the tire (15) of band groove, connect support (16), pad (17), bolt (18), described tire (15) is fastened on the spoke (14), spoke (14) is fixed on the output shaft of reducing motor (13), reducing motor (13) is placed in the reducing motor support (12), and 3 faces of reducing motor (13) and 3 inside faces of reducing motor support (12) are close to, the another side of reducing motor (13) be connected support (16) on-right angle end and be close to mutually, two unthreaded holes on the reducing motor support (12) align with two unthreaded holes on being connected support (16), by bolt (18), pad (17) and nut (11) will connect support (16), reducing motor (13) closely is connected with reducing motor support (12).
3. advance and the circuit robot of the advancing module that moves in turn in plane according to claim 1, it is characterized in that described first joint module (2) comprising: steering wheel binding bolt (21), circle steering wheel (22), nut (23), first connecting plate (24), pad (25), bolt (26), pedestal (27), rotating shaft pad (28), hollow rotating shaft (29), steering wheel (210), first connect support (211); Described steering wheel (210) is fixed by the mounting hole on it and pedestal (27) and first connecting plate (24) usefulness bolt (26) and nut (23); Circle steering wheel (22) is placed in the output shaft of steering wheel (210) by the profile of tooth spline on it, and fastening with steering wheel binding bolt (21) at axle head; An end that connects support (211) is fixed on the round steering wheel (22) by bolt (26), first other end that connects support (211) is enclosed within steering wheel (210) by hollow rotating shaft (29), middle fixing by rotating shaft pad (28), use steering wheel binding bolt (21) that hollow rotating shaft (29), rotating shaft pad (28), first are connected support (211) again and be fixed on the steering wheel (210); Steering wheel binding bolt (21) and steering wheel output shaft are at same straight line, steering wheel (210) is around this straight line rotation, first connects support (211) self maintains static, and realizes first joint module (2) and 2 wheel modules (1) rotation under the steering wheel output torque drives.
4. advance and the circuit robot of the advancing module that moves in turn in plane according to claim 1, it is characterized in that, described second joint module (4) comprising: circle steering wheel (41), bolt (42), steering wheel (43), nut (44), second connecting plate (45), pad (46), pedestal (47), steering wheel binding bolt (48), hollow rotating shaft (49), rotating shaft pad (410), second connects support (411), described steering wheel (43) is fastening with bolt (42) by the mounting hole on it and pedestal (47), circle steering wheel (41) is placed in the output shaft of steering wheel (43) by the profile of tooth spline on it, and it is fastening with steering wheel binding bolt (48) at axle head, second end that connects support (411) is fixed on the round steering wheel (41) by screw (42), second other end that connects support (411) is enclosed within on the output shaft of steering wheel (43) by hollow rotating shaft (49), middle fixing by rotating shaft pad (410), use steering wheel binding bolt (48) with hollow rotating shaft (49) again, rotating shaft pad (410), second connects support (411) is fixed on the steering wheel (43); Steering wheel binding bolt (48) and steering wheel output shaft are on same straight line, and steering wheel (43) is around this straight line rotation, and second connects support (411) self maintains static, and realizes that under the steering wheel output torque drives second joint module (4) and wheel module (1) rotate.
5. advance and the circuit robot of the advancing module that moves in turn in plane according to claim 1, it is characterized in that, described U-shaped attaching parts (3) comprising: nut (31), pad (32), U-shaped support (33), bolt (34) are connected support (411) by bolt (34), pad (32) and nut (31) with U-shaped support (33) and are connected support (211) captive joint with first of first joint module 2 with second of second joint module 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310207223.0A CN103273983B (en) | 2013-05-29 | 2013-05-29 | Module that a kind of plane is advanced and the circuit robot of advancing moves in turn |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310207223.0A CN103273983B (en) | 2013-05-29 | 2013-05-29 | Module that a kind of plane is advanced and the circuit robot of advancing moves in turn |
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| Publication Number | Publication Date |
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| CN103273983A true CN103273983A (en) | 2013-09-04 |
| CN103273983B CN103273983B (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310207223.0A Expired - Fee Related CN103273983B (en) | 2013-05-29 | 2013-05-29 | Module that a kind of plane is advanced and the circuit robot of advancing moves in turn |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108820069A (en) * | 2018-08-13 | 2018-11-16 | 国网江苏省电力有限公司检修分公司 | A kind of self-regulation walking mechanism and the crusing robot with self-regulation walking mechanism |
| CN110450943A (en) * | 2019-07-15 | 2019-11-15 | 北京交通大学 | A kind of mobile capture mechanism of UAV flight |
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| US20090039819A1 (en) * | 2007-08-09 | 2009-02-12 | U.S.A As Represented By The Administrator Of The National Aeronautics And Space Administration | Walk and roll robot |
| CN101423074A (en) * | 2008-12-09 | 2009-05-06 | 华南理工大学 | Modular double-wheel driven mobile robot capable of the changing wheel span and wheel direction |
| CN201316232Y (en) * | 2008-11-07 | 2009-09-30 | 国立高雄第一科技大学 | Improved structure of moving cleaner |
| CN203283311U (en) * | 2013-05-29 | 2013-11-13 | 华南理工大学 | Robot wheel movement module with plane movement and route movement |
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|---|---|---|---|---|
| US4266627A (en) * | 1978-02-22 | 1981-05-12 | Willy Habegger | Traveling assembly and wheel suspension for a rolling and stepping vehicle |
| CN1792698A (en) * | 2005-12-29 | 2006-06-28 | 上海交通大学 | Robot with multi-mode wheels |
| US20090039819A1 (en) * | 2007-08-09 | 2009-02-12 | U.S.A As Represented By The Administrator Of The National Aeronautics And Space Administration | Walk and roll robot |
| CN201316232Y (en) * | 2008-11-07 | 2009-09-30 | 国立高雄第一科技大学 | Improved structure of moving cleaner |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108820069A (en) * | 2018-08-13 | 2018-11-16 | 国网江苏省电力有限公司检修分公司 | A kind of self-regulation walking mechanism and the crusing robot with self-regulation walking mechanism |
| CN108820069B (en) * | 2018-08-13 | 2023-09-12 | 国网江苏省电力有限公司检修分公司 | Self-adjusting travelling mechanism and inspection robot with same |
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| CN110450943B (en) * | 2019-07-15 | 2021-07-27 | 北京交通大学 | Mechanism is caught in removal that unmanned aerial vehicle carried on |
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| Publication number | Publication date |
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| CN103273983B (en) | 2015-09-16 |
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