CN105128973A - Mars detection vehicle chassis - Google Patents
Mars detection vehicle chassis Download PDFInfo
- Publication number
- CN105128973A CN105128973A CN201510445274.6A CN201510445274A CN105128973A CN 105128973 A CN105128973 A CN 105128973A CN 201510445274 A CN201510445274 A CN 201510445274A CN 105128973 A CN105128973 A CN 105128973A
- Authority
- CN
- China
- Prior art keywords
- wheel
- drive motor
- breast
- frame
- driving cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a Mars detection vehicle chassis comprising a vehicle body, a front swinging arm, a back swinging arm, a steering control servo motor, a wheel driving servo motor, vehicle wheels, an electric push rod and a camera rotary platform. Six wheels can independently rotate and are individually driven; upon barriers, such as large stone blocks and land surface gullies, the front swinging arm can be lifted up via the electric push rod, so the front swinging arm can cross the barriers; and then the back swinging arm is lifted up and crosses the barriers. The Mars detection vehicle chassis is intelligent and flexible and rationally designed; and the chassis can be suitable for detection demands of various terrains.
Description
Technical field
The invention provides a kind of mars exploration chassis, belong to mars exploration car technical field.
Background technology
Mars exploration car a kind ofly artificial can travel on its surface in order to Mars Exploration and carry out the vehicle investigated.Also can be described as Mars Rover.The probe vehicles logging in Mars up to now comprises Suo Jiena that NASA successively launches, courage number and Opportunity Rover.In order to explore extraterrestrial field better, increasing probe vehicles is invented.
Summary of the invention
For the problems referred to above, the invention provides a kind of mars exploration chassis, landform unknown on Mars or other celestial bodies can be adapted to, meet the requirement of detection better.
The technical solution used in the present invention is: a kind of mars exploration chassis, comprise camera, car body, rear wheel frame, rear-axle steering drive motor, trailing wheel is advanced drive motor, rear-axle steering seat, trailing wheel, rear wheel frame drive motor, rear wheel frame driving cylinder, rear wheel frame actuating arm, breast wheel, breast wheel turns to drive motor, breast wheel is advanced drive motor, breast wheel steering base, front wheel carrier, front wheel carrier drive motor, front wheel carrier driving cylinder, front wheel carrier actuating arm, front-wheel, front-wheel is advanced drive motor, front-wheel steering seat, front-wheel steering drive motor, it is characterized in that: described camera is fixedly mounted on the rotatable platform of car body, Rear frame is rotatably installed in the rear side axis hole of car body, the postbrachium end of Rear frame is installed with rear-axle steering drive motor, the output shaft of rear-axle steering drive motor is installed with rear-axle steering seat, rear-axle steering seat internal fixtion is provided with trailing wheel and advances drive motor, trailing wheel advance drive motor output shaft on be installed with trailing wheel, rear wheel frame driving cylinder is installed with rear wheel frame drive motor, rear wheel frame actuating arm is installed in rear wheel frame driving cylinder, guarantees that the two mutually can slide under the effect of rear wheel frame drive motor, rear wheel frame driving cylinder tail end is rotatably installed on the erection column of car body, and the front end of rear wheel frame actuating arm is rotatably installed on the forearm of rear wheel frame, breast wheel turns to drive motor to be fixedly mounted on the forearm end of rear wheel frame, breast wheel turns on the output shaft of drive motor and is installed with breast wheel steering base, breast wheel steering base is installed with breast wheel to advance drive motor, breast wheel advance drive motor output shaft on be installed with breast wheel, front wheel arm is rotatably installed on car body, front wheel carrier driving cylinder is installed with front wheel carrier drive motor, and front wheel carrier actuating arm is installed in front wheel carrier driving cylinder, guarantees that the two mutually can slide under the effect of front wheel carrier drive motor, front wheel carrier driving cylinder tail end is rotatably installed on the erection column of car body, and the front end of front wheel carrier actuating arm is rotatably installed on the arm of front wheel carrier, front-wheel steering drive motor is fixedly mounted on the arm of front wheel carrier, the output shaft of front-wheel steering drive motor is installed with front-wheel steering seat, front-wheel steering seat is installed with front-wheel to advance drive motor, front-wheel advance drive motor output shaft on be installed with front-wheel.
Further, described front-wheel mechanism, breast wheel mechanism, rear wheel mechanism is provided with two groups about Symmetry position.
Further, described front-wheel, breast wheel, trailing wheel wheel face are carved with anti-slop serrations.
Further, described all motors all independently control.
The present invention adopts above technical scheme, can realize six and take turns respective independent steering, individual drive, run into obstacle, and during as ratchel, gully, earth's surface, front swing arm lifts by available electric pushrod, clears the jumps, and then rear-swing arm lifts, and clears the jumps.The present invention's intelligence is flexibly, reasonable in design, can adapt to the detection requirement of various landform.
Accompanying drawing explanation
Fig. 1 is 3D modelling schematic diagram of the present invention.
Drawing reference numeral: 1-camera; 2-car body; 3-rear wheel frame; 4-rear-axle steering drive motor; 5-trailing wheel is advanced drive motor; 6-rear-axle steering seat; 7-trailing wheel; 8-rear wheel frame drive motor; 9-rear wheel frame driving cylinder; 10-rear wheel frame actuating arm; 11-breast wheel; 12-breast wheel turns to drive motor; 13-breast wheel is advanced drive motor; 14-breast wheel steering base; 15-front wheel carrier; 16-front wheel carrier drive motor; 17-front wheel carrier driving cylinder; 18-front wheel carrier actuating arm; 19-front-wheel; 20-front-wheel is advanced drive motor; 21-front-wheel steering seat; 22-front-wheel steering drive motor.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described, is used for explaining the present invention in this illustrative examples of inventing and explanation, but not as a limitation of the invention.
As shown in Figure 1, a kind of mars exploration chassis, comprises camera 1, car body 2, rear wheel frame 3, rear-axle steering drive motor 4, trailing wheel is advanced drive motor 5, rear-axle steering seat 6, trailing wheel 7, rear wheel frame drive motor 8, rear wheel frame driving cylinder 9, rear wheel frame actuating arm 10, breast wheel 11, breast wheel turns to drive motor 12, breast wheel is advanced drive motor 13, breast wheel steering base 14, front wheel carrier 15, front wheel carrier drive motor 16, front wheel carrier driving cylinder 17, front wheel carrier actuating arm 18, front-wheel 19, front-wheel is advanced drive motor 20, front-wheel steering seat 21, front-wheel steering drive motor 22, it is characterized in that: described camera 1 is fixedly mounted on the rotatable platform of car body 2, Rear frame 3 is rotatably installed in the rear side axis hole of car body 2, the postbrachium end of Rear frame 3 is installed with rear-axle steering drive motor 4, the output shaft of rear-axle steering drive motor 4 is installed with rear-axle steering seat 6, rear-axle steering seat 6 internal fixtion is provided with trailing wheel and advances drive motor 5, trailing wheel advance drive motor 5 output shaft on be installed with trailing wheel 7, rear wheel frame driving cylinder 9 is installed with rear wheel frame drive motor 8, rear wheel frame actuating arm 10 is installed in rear wheel frame driving cylinder 9, guarantees that the two mutually can slide under rear wheel frame drive motor 8 acts on, rear wheel frame driving cylinder 9 tail end is rotatably installed on the erection column of car body 2, and the front end of rear wheel frame actuating arm 10 is rotatably installed on the forearm of rear wheel frame 3, breast wheel turns to drive motor 12 to be fixedly mounted on the forearm end of rear wheel frame 3, breast wheel turns on the output shaft of drive motor 12 and is installed with breast wheel steering base 14, breast wheel steering base 14 is installed with breast wheel to advance drive motor 13, breast wheel advance drive motor 13 output shaft on be installed with breast wheel 11, front wheel arm 15 is rotatably installed on car body 2, front wheel carrier driving cylinder 17 is installed with front wheel carrier drive motor 16, and front wheel carrier actuating arm 18 is installed in front wheel carrier driving cylinder 17, guarantees that the two mutually can slide under front wheel carrier drive motor 16 acts on, front wheel carrier driving cylinder 17 tail end is rotatably installed on the erection column of car body 2, and the front end of front wheel carrier actuating arm 18 is rotatably installed on the arm of front wheel carrier 15, front-wheel steering drive motor 22 is fixedly mounted on the arm of front wheel carrier 15, the output shaft of front-wheel steering drive motor 22 is installed with front-wheel steering seat 21, front-wheel steering seat 21 is installed with front-wheel to advance drive motor 20, front-wheel advance drive motor 20 output shaft on be installed with front-wheel 19.
Further, be the front-wheel mechanism described in the needs of realization walking, breast wheel mechanism, rear wheel mechanism is provided with two groups about car body 2 symmetric position.
Further, for realizing anti-skidding needs, described front-wheel 19, breast wheel 11, trailing wheel 7 wheel face are carved with anti-slop serrations.
Further, for realizing the needs of obstacle detouring, described all motors all independently control.
Principle of the present invention is: when running into obstacle craspedodrome in detection process and cannot crossing over, as met gully, at this moment, the vision signal that central process unit collects according to camera 1, action command is sent after analysis, first front wheel carrier drive motor 16 action, front wheel carrier actuating arm 18 is driven to shrink, thus pull front wheel carrier 15 to lift, then advance drive motor 5 and breast wheel of trailing wheel is advanced drive motor 13 action, trailing wheel 7 and breast wheel 11 is driven to operate, then car body 2 is made to advance, after front-wheel 19 crosses gully, wheel drive motor 5 and breast wheel drive motor 13 of advancing of advancing stops action, front wheel carrier drive motor 16 counteragent, thus front wheel carrier 15 is put down, front wheel landing, then adopt same operating principle, front-wheel 19 and trailing wheel 7 operate, rear wheel frame drive motor 8 action simultaneously, and make breast wheel 11 lift and then cross gully, last rear wheel frame drive motor 8 counteragent, breast wheel 11 puts down, last rear wheel frame drive motor 8 continues action, and trailing wheel 7 is lifted, and front-wheel 19 and breast wheel 11 operate, and drive trailing wheel 7 to cross gully, last rear wheel frame drive motor 8 counteragent, puts down trailing wheel 7, thus makes whole car body 2 cross gully.
In the present invention, six wheels all independently can turn to separately, operate, and relative lifts, thus reach very strong obstacle climbing ability.Intelligence is flexibly, reliably easy.
Claims (4)
1. a mars exploration chassis, comprises camera (1), car body (2), rear wheel frame (3), rear-axle steering drive motor (4), trailing wheel is advanced drive motor (5), rear-axle steering seat (6), trailing wheel (7), rear wheel frame drive motor (8), rear wheel frame driving cylinder (9), rear wheel frame actuating arm (10), breast wheel (11), breast wheel turns to drive motor (12), breast wheel is advanced drive motor (13), breast wheel steering base (14), front wheel carrier (15), front wheel carrier drive motor (16), front wheel carrier driving cylinder (17), front wheel carrier actuating arm (18), front-wheel (19), front-wheel is advanced drive motor (20), front-wheel steering seat (21), front-wheel steering drive motor (22), it is characterized in that: described camera (1) is fixedly mounted on the rotatable platform of car body (2), Rear frame (3) is rotatably installed in the rear side axis hole of car body (2), the postbrachium end of Rear frame (3) is installed with rear-axle steering drive motor (4), the output shaft of rear-axle steering drive motor (4) is installed with rear-axle steering seat (6), rear-axle steering seat (6) internal fixtion is provided with trailing wheel and advances drive motor (5), trailing wheel advance drive motor (5) output shaft on be installed with trailing wheel (7), rear wheel frame driving cylinder (9) is installed with rear wheel frame drive motor (8), rear wheel frame actuating arm (10) is installed in rear wheel frame driving cylinder (9), guarantees that the two mutually can slide under rear wheel frame drive motor (8) effect, rear wheel frame driving cylinder (9) tail end is rotatably installed on the erection column of car body (2), and the front end of rear wheel frame actuating arm (10) is rotatably installed on the forearm of rear wheel frame (3), breast wheel turns to drive motor (12) to be fixedly mounted on the forearm end of rear wheel frame (3), breast wheel turns on the output shaft of drive motor (12) and is installed with breast wheel steering base (14), breast wheel steering base (14) is installed with breast wheel to advance drive motor (13), breast wheel advance drive motor (13) output shaft on be installed with breast wheel (11), front wheel arm (15) is rotatably installed on car body (2), front wheel carrier driving cylinder (17) is installed with front wheel carrier drive motor (16), front wheel carrier actuating arm (18) is installed in front wheel carrier driving cylinder (17), guarantees that the two mutually can slide under front wheel carrier drive motor (16) effect, front wheel carrier driving cylinder (17) tail end is rotatably installed on the erection column of car body (2), and the front end of front wheel carrier actuating arm (18) is rotatably installed on the arm of front wheel carrier (15), front-wheel steering drive motor (22) is fixedly mounted on the arm of front wheel carrier (15), the output shaft of front-wheel steering drive motor (22) is installed with front-wheel steering seat (21), front-wheel steering seat (21) is installed with front-wheel to advance drive motor (20), front-wheel advance drive motor (20) output shaft on be installed with front-wheel (19).
2. a kind of mars exploration chassis as claimed in claim 1, is characterized in that: described front-wheel mechanism, breast wheel mechanism, and rear wheel mechanism is provided with two groups about car body (2) symmetric position.
3. a kind of mars exploration chassis as claimed in claim 1, is characterized in that: described front-wheel (19), breast wheel (11), trailing wheel (7) wheel face are carved with anti-slop serrations.
4. a kind of mars exploration chassis as claimed in claim 1, is characterized in that: described all motors all independently control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510445274.6A CN105128973A (en) | 2015-07-27 | 2015-07-27 | Mars detection vehicle chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510445274.6A CN105128973A (en) | 2015-07-27 | 2015-07-27 | Mars detection vehicle chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105128973A true CN105128973A (en) | 2015-12-09 |
Family
ID=54714667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510445274.6A Pending CN105128973A (en) | 2015-07-27 | 2015-07-27 | Mars detection vehicle chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105128973A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575257A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Parking warning board |
| CN105774946A (en) * | 2016-04-02 | 2016-07-20 | 羊丁 | Robot with obstacle crossing function |
| CN106493709A (en) * | 2016-12-26 | 2017-03-15 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
| CN106514611A (en) * | 2017-01-14 | 2017-03-22 | 许建芹 | Highway detection robot |
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN106625564A (en) * | 2016-12-26 | 2017-05-10 | 徐州乐泰机电科技有限公司 | Dual-arm electric power maintenance robot capable of rising and falling, and rotating |
| CN106882283A (en) * | 2017-02-28 | 2017-06-23 | 大陆智源科技（北京）有限公司 | A kind of robot system |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN107160963A (en) * | 2017-05-04 | 2017-09-15 | 大陆智源科技（北京）有限公司 | Wheel type movement chassis |
| CN107414785A (en) * | 2017-09-14 | 2017-12-01 | 智造未来（北京）机器人系统技术有限公司 | Chassis structure and the robot for including it |
| CN109131637A (en) * | 2018-09-30 | 2019-01-04 | 华南理工大学 | It is a kind of climb step chassis and its climbing method |
| CN105774946B (en) * | 2016-04-02 | 2019-07-16 | 福建圣远信息科技有限公司 | A kind of robot with obstacle crossing function |
| CN110758772A (en) * | 2019-08-20 | 2020-02-07 | 哈尔滨工业大学 | Multipurpose planet detection vehicle |
| CN110816704A (en) * | 2019-11-14 | 2020-02-21 | 徐州普瑞赛思物联网科技有限公司 | Intelligent robot for mine gas detection |
| CN111778848A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | Multidirectional adjustable striding type U rib inner walking device based on radar |
| WO2021037177A1 (en) * | 2019-08-28 | 2021-03-04 | 太原科技大学 | Gait planning method for giant six-limb leg crawler foot polar scientific expedition vehicle spanning ice cracks |
| CN113016357A (en) * | 2021-03-18 | 2021-06-25 | 南昌工学院 | All-terrain picking robot |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
| CN113086247A (en) * | 2021-04-22 | 2021-07-09 | 哈尔滨工业大学 | Celestial body lava tube detecting vehicle |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198497A (en) * | 1999-01-05 | 2000-07-18 | Nissan Motor Co Ltd | Space survey traveling vehicle |
| CN1915747A (en) * | 2006-09-11 | 2007-02-21 | 北京航空航天大学 | Independent steering gear of scroll torsion |
| CN101028871A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Grip-hook planetary detecting robot wheel |
| CN200951834Y (en) * | 2006-03-01 | 2007-09-26 | 北京航空航天大学 | Grip hook type planetary probing robot wheel |
| CN101380978A (en) * | 2008-08-08 | 2009-03-11 | 山东科技大学 | Shrimp-shaped six-wheel mobile robot |
| CN101439737A (en) * | 2007-11-20 | 2009-05-27 | 王志良 | Drive structure and control device for moving robot platform |
| CN201249818Y (en) * | 2008-08-07 | 2009-06-03 | 北京工业大学 | Self-balancing type six-wheel independent driving robot |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN101850795A (en) * | 2010-05-26 | 2010-10-06 | 河北工业大学 | Wheel-leg combined type mobile robot platform |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| CN202180936U (en) * | 2011-06-17 | 2012-04-04 | 重庆大学 | Bionic lunar rover |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN202848985U (en) * | 2012-10-17 | 2013-04-03 | 任红伟 | Support arm type four-wheel drive hydraulic motor-driven fork-lift truck |
| CN103029539A (en) * | 2011-10-09 | 2013-04-10 | 沈阳理工大学 | Novel driven self-adaptive six-wheeled all-terrain mobile robot |
| CN203735019U (en) * | 2014-01-28 | 2014-07-30 | 现代农装科技股份有限公司 | Power chassis for orchards on mountains and hills |
-
2015
- 2015-07-27 CN CN201510445274.6A patent/CN105128973A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198497A (en) * | 1999-01-05 | 2000-07-18 | Nissan Motor Co Ltd | Space survey traveling vehicle |
| CN101028871A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Grip-hook planetary detecting robot wheel |
| CN200951834Y (en) * | 2006-03-01 | 2007-09-26 | 北京航空航天大学 | Grip hook type planetary probing robot wheel |
| CN1915747A (en) * | 2006-09-11 | 2007-02-21 | 北京航空航天大学 | Independent steering gear of scroll torsion |
| CN101439737A (en) * | 2007-11-20 | 2009-05-27 | 王志良 | Drive structure and control device for moving robot platform |
| CN201249818Y (en) * | 2008-08-07 | 2009-06-03 | 北京工业大学 | Self-balancing type six-wheel independent driving robot |
| CN101380978A (en) * | 2008-08-08 | 2009-03-11 | 山东科技大学 | Shrimp-shaped six-wheel mobile robot |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN101850795A (en) * | 2010-05-26 | 2010-10-06 | 河北工业大学 | Wheel-leg combined type mobile robot platform |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| CN202180936U (en) * | 2011-06-17 | 2012-04-04 | 重庆大学 | Bionic lunar rover |
| CN103029539A (en) * | 2011-10-09 | 2013-04-10 | 沈阳理工大学 | Novel driven self-adaptive six-wheeled all-terrain mobile robot |
| CN202848985U (en) * | 2012-10-17 | 2013-04-03 | 任红伟 | Support arm type four-wheel drive hydraulic motor-driven fork-lift truck |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN203735019U (en) * | 2014-01-28 | 2014-07-30 | 现代农装科技股份有限公司 | Power chassis for orchards on mountains and hills |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575257A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Parking warning board |
| CN105774946B (en) * | 2016-04-02 | 2019-07-16 | 福建圣远信息科技有限公司 | A kind of robot with obstacle crossing function |
| CN105774946A (en) * | 2016-04-02 | 2016-07-20 | 羊丁 | Robot with obstacle crossing function |
| WO2018010178A1 (en) * | 2016-07-15 | 2018-01-18 | 深圳市大疆创新科技有限公司 | Movable apparatus, mobile photographing device, control system and method for movable apparatus |
| WO2018010578A1 (en) * | 2016-07-15 | 2018-01-18 | SZ DJI Technology Co., Ltd. | Systems and methods for providing stability support |
| CN107124899B (en) * | 2016-07-15 | 2019-07-05 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN109564436A (en) * | 2016-07-15 | 2019-04-02 | 深圳市大疆创新科技有限公司 | For providing the system and method for stability support |
| US10953998B2 (en) | 2016-07-15 | 2021-03-23 | SZ DJI Technology Co., Ltd. | Systems and methods for providing stability support |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN109564436B (en) * | 2016-07-15 | 2022-04-05 | 深圳市大疆创新科技有限公司 | System and method for providing stability support |
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
| CN106625564A (en) * | 2016-12-26 | 2017-05-10 | 徐州乐泰机电科技有限公司 | Dual-arm electric power maintenance robot capable of rising and falling, and rotating |
| CN106493709B (en) * | 2016-12-26 | 2018-11-13 | 深圳供电局有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN106493709A (en) * | 2016-12-26 | 2017-03-15 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN106625564B (en) * | 2016-12-26 | 2019-03-15 | 衡昇科技有限公司 | A kind of both arms electric power overhaul robot of liftable rotation |
| CN106514611A (en) * | 2017-01-14 | 2017-03-22 | 许建芹 | Highway detection robot |
| CN106882283B (en) * | 2017-02-28 | 2019-03-12 | 大陆智源科技（北京）有限公司 | A kind of robot system |
| CN106882283A (en) * | 2017-02-28 | 2017-06-23 | 大陆智源科技（北京）有限公司 | A kind of robot system |
| EP3620352A4 (en) * | 2017-05-04 | 2021-03-10 | DALU Robotech, Technology (Beijing) Co., Ltd. | Wheeled movement chassis |
| CN107160963A (en) * | 2017-05-04 | 2017-09-15 | 大陆智源科技（北京）有限公司 | Wheel type movement chassis |
| CN107414785A (en) * | 2017-09-14 | 2017-12-01 | 智造未来（北京）机器人系统技术有限公司 | Chassis structure and the robot for including it |
| CN109131637A (en) * | 2018-09-30 | 2019-01-04 | 华南理工大学 | It is a kind of climb step chassis and its climbing method |
| CN110758772A (en) * | 2019-08-20 | 2020-02-07 | 哈尔滨工业大学 | Multipurpose planet detection vehicle |
| WO2021037177A1 (en) * | 2019-08-28 | 2021-03-04 | 太原科技大学 | Gait planning method for giant six-limb leg crawler foot polar scientific expedition vehicle spanning ice cracks |
| CN110816704A (en) * | 2019-11-14 | 2020-02-21 | 徐州普瑞赛思物联网科技有限公司 | Intelligent robot for mine gas detection |
| CN111778848A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | Multidirectional adjustable striding type U rib inner walking device based on radar |
| CN113016357A (en) * | 2021-03-18 | 2021-06-25 | 南昌工学院 | All-terrain picking robot |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
| CN113086247A (en) * | 2021-04-22 | 2021-07-09 | 哈尔滨工业大学 | Celestial body lava tube detecting vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105128973A (en) | Mars detection vehicle chassis | |
| CN105667622B (en) | It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots | |
| CN101269678B (en) | Wheeled robot with traveling system | |
| EP3345811A1 (en) | Walking mechanism and electric power-assisted vehicle and toy equipped with same | |
| CN201597658U (en) | Threaded driving running device | |
| CN103935410A (en) | All-dimensional steering obstacle crossing vehicle based on hub motor | |
| CN206470073U (en) | A kind of multi-functional geology detecting car | |
| CN103231748B (en) | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot | |
| CN203740002U (en) | Swing arm type tracked robot | |
| CN106892011A (en) | The walking combined mobile robot of crawler belt leg | |
| CN102581836A (en) | Mobile robot coordinately driven by multifunctional mechanical arms and wheels | |
| CN207513271U (en) | A kind of intelligent parking robot | |
| CN103197680A (en) | Amphibious all-terrain mobile robot control system | |
| CN106038103A (en) | Four-wheel independent driving control system of electric wheelchair | |
| CN103863434B (en) | A kind of morphological transformation formula obstacle-surmounting travelling gear | |
| CN104670394A (en) | Variable-structure two-state man carrying device | |
| CN107605207A (en) | A kind of intelligent parking robot and its control method | |
| CN102514640A (en) | Deformable rescue robot | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN103818493A (en) | All-terrain surface adaptive relief vehicle | |
| CN102295029A (en) | Adaptive wheel-leg combined obstacle detouring mechanism | |
| CN103600785A (en) | Wheeled dive mechanism capable of climbing continuous steps | |
| CN203268122U (en) | Automobile four-wheel steering system | |
| CN204688251U (en) | Stair-climbing mechanism | |
| CN104760629A (en) | Ladder climbing mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151209 |
|
| RJ01 | Rejection of invention patent application after publication |