CN103373402B - Wheel-track combined Modularized mobile robot mobile devices - Google Patents

Wheel-track combined Modularized mobile robot mobile devices Download PDF

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Publication number
CN103373402B
CN103373402B CN201310294470.9A CN201310294470A CN103373402B CN 103373402 B CN103373402 B CN 103373402B CN 201310294470 A CN201310294470 A CN 201310294470A CN 103373402 B CN103373402 B CN 103373402B
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China
Prior art keywords
wheel
caterpillar
gear
crawler belt
vehicle frame
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CN201310294470.9A
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Chinese (zh)
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CN103373402A (en
Inventor
杨耀先
费燕琼
吕海洋
葛俊
宋立博
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上海交通大学
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Priority to CN201310294470.9A priority Critical patent/CN103373402B/en
Publication of CN103373402A publication Critical patent/CN103373402A/en
Application granted granted Critical
Publication of CN103373402B publication Critical patent/CN103373402B/en

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Abstract

The invention provides a kind of wheel-track combined Modularized mobile robot mobile devices, comprise vehicle frame, caterpillar drive and crawler belt swing arm structure three part, wherein: caterpillar drive is fixed on vehicle frame by the large transverse axis on vehicle frame and little transverse axis, and crawler belt swing arm structure is connected with caterpillar drive by flange; Four angles being arranged at vehicle frame of four cover caterpillar drives and four crawler belt swing arm structure symmetries, arrange pair of wheels in the middle part of vehicle frame, thus make device be provided with the mode of advancing of wheel-shoe compound simultaneously.The present invention, by combining wheeled with crawler type driving mode, has both kept adaptivity that robot is very high and crossing ability, can ensure again its moving velocity faster, and this apparatus structure has been simple and reliable, alerting ability is high, applicability is strong.

Description

Wheel-track combined Modularized mobile robot mobile devices
Technical field
The present invention relates to a kind of device of robot probe's field of engineering technology, particularly, relate to a kind of wheel-track combined Modularized mobile robot mobile devices.
Background technology
Along with the progress of science and technology, the development of society, the field that people probe into is in continuous expansion, and in these activities, the effect of robot becomes more and more important, especially the special landform that a lot of mankind cannot involve in, the scene after such as earthquake, the surface of mars exploration etc.
So in the last few years, increasing people started to imagine and the possible walking manner of invention robot, but principal mode can be summed up as two classes, i.e. wheeled and crawler type.Pure wheeled owing to relying on wheel to advance, therefore moving velocity is fast, easy operation control; But be that main body also causes the requirement of its road pavement higher with wheel, easily become bogged in the swamp, and it be poor to keep away barrier obstacle climbing ability.And caterpillar robot is by increasing articulated type crawler belt, make robot can across obstacle, again due to large with contact area of ground, therefore the Special Road such as sand ground, marsh of can passing by; But the shortcomings such as the slow and power consumption of the speed that simultaneously also also exists is large.
Through finding that the people such as Zhao Haifeng are in " robot " the 06th phase in 2006 to the literature search of prior art, write articles " novelly to take turns-leg-crawler composite moving mechanism and stability analysis ", this article describes a kind ofly takes turns-carries out-design plan of robot form device that combines of leg, and completes the stability analysis to it.But this robot only has two parallel crawler belts, and crawler belt is fixed on vehicle body and can not rotates, therefore its obstacle climbing ability is not very high, therefore can not be applicable to occasion widely.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of wheel-track combined Modularized mobile robot mobile devices, not only there is higher autonomous crossing ability, and moving velocity is very fast, fast and effeciently can pass through Different Ground, and simple for structure, and motion is flexible, cost of manufacture is low, is applicable to multiple occasion.
For realizing above object, the invention provides a kind of wheel-track combined Modularized mobile robot mobile devices, comprise vehicle frame, caterpillar drive and crawler belt swing arm structure three part, wherein: caterpillar drive is fixed on vehicle frame by the large transverse axis on vehicle frame and little transverse axis, and crawler belt swing arm structure is connected with caterpillar drive by flange; Four angles being arranged at vehicle frame of four cover caterpillar drives and four crawler belt swing arm structure symmetries, arrange pair of wheels in the middle part of vehicle frame, thus make device be provided with the mode of advancing of wheel-shoe compound simultaneously.
Preferably, vehicle frame comprises two DC speed-reducing, two wheels, two axletrees, four gears, two worm and gear motors, two large transverse axis, four little transverse axis, two cardan wheels and two long aluminum corner braces, wherein: two large transverse axis form the main body of vehicle frame respectively successively through two long aluminum corner braces; Two DC speed-reducing are connected with two gears by holding screw is corresponding respectively; Correspondence and two other gears meshing form two pairs of speed reducing gear pairs to two gears respectively; Two axletrees are stepped shaft, its two ends bearings, and stage casing is connected with gear by general flat key is corresponding respectively, and spindle nose is connected with wheel by general flat key is corresponding respectively, is screwed into nut with difference fixing vehicle wheel at axle head; Two worm and gear motors are one in front and one in back separately fixed between two long aluminum corner braces; Two large transverse axis, four little transverse axis are all fixed on two long aluminum corner braces; Two cardan wheels are one in front and one in back separately fixed between two long aluminum corner braces.
Preferably, often overlap caterpillar drive and include two support plates, a pair straight-tooth gear, bevel-gear sett, inner shaft, outer shaft, little axle and DC speed-reducing, wherein: two support plates are interfixed by bolted; A pair straight-tooth gear engages each other, and bevel-gear sett engages each other; DC speed-reducing connects a finishing bevel gear cuter; Interior axle connects another finishing bevel gear cuter by bearing; Outer shaft connects a straight-tooth gear by bearing; Little axle connects another straight-tooth gear by bearing; Interior axle by bearing carrier ring in outer shaft; One support plate by two bearings outer shafts, and passes through one end of the little axle of bearings; Another support plate is by one end of axle in bearings.
More preferably, the outer shaft in caterpillar drive is provided with an axis hole, and internal axle sleeve is in this axis hole; The inner ring of bearing is enclosed within interior axle, and outside race is enclosed within the axis hole of outer shaft, and interior axle and outer shaft are rotated along same axis is simultaneously independent.
More preferably, the outer shaft in caterpillar drive is corresponding with the hole that the caterpillar block in crawler belt swing arm structure is arranged and be connected and fixed by four bolts by the tapped bore of four on flange, drives crawler belt swing arm structure to rotate together by outer shaft.
More preferably, the little axle in caterpillar drive by the output shaft of the worm and gear motor in coupler connecting vehicle frame, make worm and gear motor rotate through little axle and two straight-tooth gears pass to outer shaft.
More preferably, the interior axle in caterpillar drive is connected with the drive wheel in crawler belt swing arm structure by general flat key, interior axle the power transmission of DC speed-reducing to drive wheel.
Preferably, each crawler belt swing arm structure includes two pieces of caterpillar blocks, drive wheel, three flower wheels, crawler belt and tightening devices, wherein: three flower wheels are fixed between two pieces of caterpillar blocks by bearing and axle, tightening device is bolted between two pieces of caterpillar blocks, two pieces of caterpillar blocks are the quadrilateral structure of vertical direction symmetry, drive wheel is fixed by axle in general flat key and caterpillar drive, crawler belt wraps drive wheel and three flower wheels, makes the power of drive wheel (40) pass to three flower wheels by crawler belt.
Compared with prior art, the present invention has following beneficial effect:
Of the present inventionly to take turns-track combined Modularized mobile robot mobile devices are by combining wheeled with crawler type driving mode, overcome pure wheeled keeping away and hinder the shortcoming that obstacle climbing ability is poor and pure crawler type speed is slow, power consumption is large, both adaptivity that this device is very high and crossing ability had been kept, its moving velocity faster can be ensured again, and this apparatus structure is simple and reliable, alerting ability is high, applicability is strong, the robot ride device of the alternative overwhelming majority, especially requires higher robot to extreme terrain crossing ability.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the integral structure schematic diagram of apparatus of the present invention;
Fig. 2 is the vehicle frame schematic diagram of apparatus of the present invention;
Fig. 3 is the caterpillar drive schematic diagram of apparatus of the present invention;
Fig. 4 is the crawler belt swing arm structure schematic diagram of apparatus of the present invention;
Fig. 5 is the power drive system schematic diagram of apparatus of the present invention.
In figure: DC speed-reducing 1,2; Wheel 3,4; Axletree 5,6; Gear 7,8,9,10; Worm and gear motor 11,12; Large transverse axis 13,14; Little transverse axis 15,16,17,18; Cardan wheel 19,20; Long aluminum corner brace 21,22; Support plate 23,24; Straight-tooth gear 25,26; Finishing bevel gear cuter 27,28; DC speed-reducing 29; Interior axle 30; Outer shaft 31; Little axle 32; Tightening device 33; Caterpillar block 34,35; Flower wheel 36,37,38; Crawler belt 39; Drive wheel 40.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of wheel-track combined Modularized mobile robot mobile devices, comprise three component parts, vehicle frame, caterpillar drive, crawler belt swing arm structure respectively, wherein: caterpillar drive is fixed on vehicle frame by the large transverse axis 13,14 on vehicle frame and little transverse axis 15,16,17,18; Crawler belt swing arm structure is connected with caterpillar drive by flange; Whole robot ride device has four angles being arranged at vehicle frame of four cover caterpillar drives and four crawler belt swing arm structure symmetries; Be provided with pair of wheels 3,4 in the middle part of vehicle frame, thus make robot be provided with the mode of advancing of wheel-shoe compound simultaneously.
In Fig. 1, four cover caterpillar drives are arranged at the corner of vehicle frame respectively, and large transverse axis 13, large transverse axis 14 respectively successively through long aluminum corner brace 21, long aluminum corner brace 22, thus constitute the main body of vehicle frame; Four cover caterpillar drives are inserted in from the two ends of large transverse axis 13, large transverse axis 14 respectively; Often overlapping caterpillar drive has two little transverse axis to pass respectively; Caterpillar drive is supported on vehicle frame by large and small transverse axis jointly, and carries out fastening at the axle head screw-in nut of large and small transverse axis; The flange of the outer shaft 31 of caterpillar drive is evenly provided with four tapped bore corresponding with the hole on the caterpillar block 34 of crawler belt swing arm structure, successively tightens fixing through the hole on caterpillar block 34 and the tapped bore on flange with four bolts.
As shown in Figure 2, vehicle frame comprise DC speed-reducing 1,2, wheel 3,4, axletree 5,6, gear 7,8,9,10, worm and gear motor 11,12, large transverse axis 13,14, little transverse axis 15,16,17,18, cardan wheel 19,20 and long aluminum corner brace 21,22, wherein: DC speed-reducing 1,2 is connected with gear 7,9 by holding screw is corresponding respectively, gear 7,9 is corresponding respectively engages formation two pairs of speed reducing gear pairs with gear 8,10; Axletree 5 is stepped shaft, its two ends bearings, and stage casing is connected with gear 8 by general flat key, and spindle nose is connected with wheel 3 by general flat key, is screwed into nut with fixing vehicle wheel 3 at axle head; Equally, axletree 6 is stepped shaft, its two ends bearings, and stage casing is connected with gear 10 by general flat key, and spindle nose is connected with wheel 4 by general flat key, is screwed into nut with fixing vehicle wheel 4 at axle head; Worm and gear motor 11,12 is one in front and one in back individually fixed between long aluminum corner brace 21,22; Two large transverse axis, 13,14, four little transverse axis 15,16,17,18 are all fixed on two long aluminum corner braces 21,22; Cardan wheel 19,20 is one in front and one in back individually fixed between long aluminum corner brace 21,22.
As shown in Figure 3, caterpillar drive comprise two support plates 23,24, a pair straight-tooth gear 25,26, bevel-gear sett 27,28, DC speed-reducing 29, interior axle 30, outer shaft 31 and little axle 32, wherein: support plate 24 and support plate 23 are interfixed by bolted; A pair straight-tooth gear 25,26 engages each other; Bevel-gear sett 27,28 engages each other; Finishing bevel gear cuter 27 connects DC speed-reducing 29; Interior axle 30 connects finishing bevel gear cuter 28 by bearing; Outer shaft 31 connects straight-tooth gear 25 by bearing; Little axle 32 connects straight-tooth gear 26 by bearing; Interior axle 30 by bearing carrier ring in outer shaft 31; Support plate 23 by two bearings outer shafts 31, and passes through one end of the little axle 32 of bearings; Support plate 24 is by one end of axle 30 in bearings; Outer shaft 31 has an axis hole, and interior axle 30 is enclosed within this axis hole; The inner ring of bearing is enclosed within interior axle 30, and the outer ring sleeve of bearing, in the axis hole of outer shaft 31, makes interior axle 30 can rotate along same axis is simultaneously independent with outer shaft 31; Little axle 32 by the worm and gear motor 11 in coupler connecting vehicle frame, make worm and gear motor 11 rotate through little axle 32 and straight-tooth gear 25,26 passes to outer shaft 31.
As shown in Figure 4, crawler belt swing arm structure comprise tightening device 33, caterpillar block 34,35, flower wheel 36,37,38, crawler belt 39 and drive wheel 40, wherein: flower wheel 36,37,38 is fixed between caterpillar block 34,35 by bearing and axle, tightening device 33 is bolted between caterpillar block 34,35, and the shape of caterpillar block 34,35 is the quadrilateral structure of vertical direction symmetry.
One wheel-track combined Modularized mobile robot mobile devices the working process of the present embodiment is as follows:
In the present embodiment, a kind of wheel-track combined Modularized mobile robot mobile devices are made up of three parts and vehicle frame, caterpillar drive, crawler belt swing arm structure, as shown in Figure 5: the deceleration rotating through gear 7,8 of DC speed-reducing 1 passes to axletree 5, again by axletree 5 transmission of power to wheel 3, the deceleration rotating through gear 9,10 of same DC speed-reducing 2 passes to axletree 6, by axletree 6 transmission of power to wheel 4, wheel 3,4 constitutes the wheeled mode of advancing of robot in conjunction with cardan wheel 19,20; DC speed-reducing 29 in caterpillar drive by reduction ratio be 1:1 finishing bevel gear cuter 27,28 transmission of power give interior axle 30, the drive wheel 40 of crawler belt swing arm structure is driven to rotate by interior axle 30 again, thus crawler belt 39 is rolled, the crawler type constituting robot is advanced mode; Worm and gear motor 11 in vehicle frame by coupler transmission of power to the little axle 32 of caterpillar drive, straight-tooth gear 26 on little axle 32 passes to straight-tooth gear 25 power, and then drive outer shaft 31 to rotate, outer shaft 31 drives the caterpillar block 34 connected firmly with it to rotate, thus drives crawler belt swing arm structure to rotate; The conversion between the wheeled traveling mode of robot and crawler type traveling mode can be realized by the rotation of crawler belt swing arm structure, each spinning of front and back crawler belt swing arm structure, mutual cooperation, enable robot adjust attitude to improve obstacle climbing ability.
Use this to take turns-track combined Modularized mobile robot mobile devices, robot can be made to have good carrying capacity to various complex environment, and keep higher speed; This device can change the attitude of robot by the rotation of crawler belt swing arm, and improve motion flexibly, physical construction is simple simultaneously, and workable, applicability is wide.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (6)

1. wheel-track combined Modularized mobile robot mobile devices, comprise vehicle frame, caterpillar drive and crawler belt swing arm structure three part, wherein: caterpillar drive is fixed on vehicle frame by the large transverse axis on vehicle frame and little transverse axis, and crawler belt swing arm structure is connected with caterpillar drive by flange; Four angles being arranged at vehicle frame of four cover caterpillar drives and four crawler belt swing arm structure symmetries, arrange pair of wheels in the middle part of vehicle frame, thus make device be provided with the mode of advancing of wheel-shoe compound simultaneously; It is characterized in that,
Described vehicle frame comprises two DC speed-reducing (1,2), two wheels (3,4), two axletrees (5,6), four gears (7,8,9,10), two worm and gear motors (11,12), two large transverse axis (13,14), four little transverse axis (15,16,17,18), two cardan wheels (19,20) and two long aluminum corner braces (21,22), wherein: two large transverse axis (13,14) form the main body of vehicle frame respectively successively through two long aluminum corner braces (21,22); Two DC speed-reducing (1,2) are connected with two gears (7,9) by holding screw is corresponding respectively; Two gear (7,9) difference correspondences engage formation two pairs of speed reducing gear pairs with two other gear (8,10); Two axletrees (5,6) are stepped shaft, its two ends bearings, stage casing is connected with gear (8,10) by general flat key is corresponding respectively, spindle nose is connected with wheel (3,4) by general flat key is corresponding respectively, is screwed into nut with difference fixing vehicle wheel (3,4) at axle head; Two worm and gear motors (11,12) are one in front and one in back separately fixed at (21,22) between two long aluminum corner braces; Two large transverse axis (13,14), four little transverse axis (15,16,17,18) are all fixed on two long aluminum corner braces (21,22); Two cardan wheels (19,20) are one in front and one in back separately fixed between two long aluminum corner braces (21,22);
Described caterpillar drive comprises two support plates (23,24), a pair straight-tooth gear (25,26), bevel-gear sett (27,28), interior axle (30), outer shaft (31), little axle (32) and DC speed-reducing (29), wherein: two support plates (23,24) are interfixed by bolted; A pair straight-tooth gear (25,26) engages each other; Bevel-gear sett (27,28) engages each other; DC speed-reducing (29) connects finishing bevel gear cuter (27); Interior axle (30) connects finishing bevel gear cuter (28) by bearing; Outer shaft (31) connects straight-tooth gear (25) by bearing; Little axle (32) connects straight-tooth gear (26) by bearing; Interior axle (30) by bearing carrier ring in outer shaft (31); Support plate (23) by two bearings outer shafts (31), and passes through one end of the little axle of bearings (32), and support plate (24) is by one end of axle in bearings (30).
2. a kind of wheel-track combined Modularized mobile robot mobile devices according to claim 1, it is characterized in that, described crawler belt swing arm structure comprises two pieces of caterpillar blocks (34, 35), drive wheel (40), three flower wheels (36, 37, 38), crawler belt (39) and tightening device (33), wherein: three flower wheels (36, 37, 38) two pieces of caterpillar blocks (34 are fixed on by bearing and axle, 35) between, tightening device (33) is bolted on two pieces of caterpillar blocks (34, 35) between, two pieces of caterpillar blocks (34, 35) quadrilateral structure of vertical direction symmetry is, drive wheel (40) is fixed by axle (30) in general flat key and caterpillar drive, crawler belt (39) wraps drive wheel (40) and three flower wheels (36, 37, 38), the power of drive wheel (40) is made to pass to three flower wheels (36 by crawler belt (39), 37, 38).
3. a kind of wheel-track combined Modularized mobile robot mobile devices according to claim 1, it is characterized in that, the outer shaft (31) in described caterpillar drive is provided with an axis hole, and interior axle (30) is enclosed within this axis hole; The inner ring of bearing is enclosed within interior axle (30), and outside race is enclosed within the axis hole of outer shaft (31), and interior axle (30) is rotated along same axis is simultaneously independent with outer shaft (31).
4. a kind of wheel-track combined Modularized mobile robot mobile devices according to claim 1, it is characterized in that, outer shaft (31) in described caterpillar drive is corresponding and be connected and fixed by four bolts by the upper hole arranged of the tapped bore of four on flange and the caterpillar block (34) in crawler belt swing arm structure, is rotated together by outer shaft (31) drive crawler belt swing arm structure.
5. the one wheel-track combined Modularized mobile robot mobile devices according to any one of claim 1-4, it is characterized in that, little axle (32) in described caterpillar drive by the output shaft of the worm and gear motor (11) in coupler connecting vehicle frame, make worm and gear motor (11) rotate through little axle (32) and two straight-tooth gears (25,26) pass to outer shaft (31).
6. the one wheel-track combined Modularized mobile robot mobile devices according to any one of claim 1-4, it is characterized in that, interior axle (30) in described caterpillar drive is connected with the drive wheel (40) in crawler belt swing arm structure by general flat key, interior axle (30) the power transmission of DC speed-reducing (29) to drive wheel (40).
CN201310294470.9A 2013-07-12 2013-07-12 Wheel-track combined Modularized mobile robot mobile devices CN103373402B (en)

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CN104709373B (en) * 2013-12-13 2017-01-11 中国科学院沈阳自动化研究所 Movable type gap opening robot
CN104802868B (en) * 2014-01-28 2017-03-29 南京聚特机器人技术有限公司 A kind of portable multifunctional mobile platform
CN105383586B (en) * 2015-11-23 2018-11-16 上海交通大学 Crawler leg composite movable robot
CN106253151B (en) * 2016-08-24 2017-12-19 国网山东省电力公司博兴县供电公司 A kind of cable traction device provided with motor protection
CN106945736A (en) * 2017-04-11 2017-07-14 宿迁学院 Wheel-track combined robot and remote-controlled robot
WO2019218288A1 (en) * 2018-05-17 2019-11-21 Zhong Zhaohong Balanced mobility device for disabled individuals

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