CN105197119B - Star-shaped obstacle crossing wheel based on planet gear - Google Patents
Star-shaped obstacle crossing wheel based on planet gear Download PDFInfo
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- CN105197119B CN105197119B CN201510696715.XA CN201510696715A CN105197119B CN 105197119 B CN105197119 B CN 105197119B CN 201510696715 A CN201510696715 A CN 201510696715A CN 105197119 B CN105197119 B CN 105197119B
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Abstract
The invention aims to provide a star-shaped obstacle crossing wheel based on a planet gear. A DC servo motor is directly connected with a drive shaft through a coupler, so as to directly drive the drive shaft; power is transmitted to a shaft system through gear drive, and a driving wheel is mounted on the shaft system; under the driving action of the driving wheel, an obstacle crossing platform can move on the road surface; at the same time, the overall star-shaped obstacle crossing wheel based on the planet gear has a certain turn-over capacity under the no-load condition and under the driving action of the motor; when being applied to an obstacle crossing moving platform, a plurality of the obstacle crossing wheels are used in a matched manner; when encountering an obstacle, the obstacle crossing wheel can turn over under the driving of the driving wheel and under the thrusting and tensioning action of the obstacle crossing wheel that is matched with the driving wheel, so as to realize the obstacle crossing function. The star-shaped obstacle crossing wheel based on the planet gear has certain road surface crossing capacity, and further has the capacity of rotating around a transmission shaft, so that achievement of the obstacle crossing function of the obstacle crossing wheel is facilitated.
Description
Technical field
The present invention relates to a kind of robot, the specifically barrier getting over mechanism of robot.
Background technology
The current research on mobile platforms such as barrier-surpassing robot, building search and rescue robots, mainly there is two kinds：It is caterpillar
Walking mechanism, using the Climbing building device of three horn rings.The characteristics of mobile platform of two kinds of complicated landform of adaptation has its each, crawler belt
The walking mechanism of formula has preferable road surface handling capacity but flexibility is poor, is used using the Climbing building device of three horn rings more square
Just, but autonomous driving can not be realized.Obstacle detouring, the road surface handling capacity and obstacle detouring level of the mobile platforms such as building are climbed to a certain degree
On determine its working environment, therefore research to Stump-jump wheel has certain meaning.
A kind of stair active obstacle wheel disclosed in Chinese patent (CN103770823A), controls direct current to become by control unit
The unlatching of frequency motor, intelligently to drive each driving wheel to carry out alternate rotation in good time, makes whole stair subsidize Stump-jump wheel autonomous
Walking；When running into barrier, by control unit control relay carry out the stretching out of electromagnetism push rod, until contacted with ground and after
Continuous elongation by whole stair active obstacle wheel until periodically carry out upset counterclockwise to clear the jumps, this stair active obstacle wheel
Operationally, control process is complicated, increased the complexity of whole barrier getting over mechanism.
The content of the invention
It is an object of the invention to provide can be advanced on road surface and with upset ability a kind of star based on planetary gear
Shape Stump-jump wheel.
The object of the present invention is achieved like this：
A kind of star Stump-jump wheel based on planetary gear of the present invention, it is characterized in that：Including the first-the three obstacle detouring unit；First
Obstacle detouring unit includes the first-the second train support frame, first-the three pair of driving wheel, the first-the six travelling gear, the first round
Be that the inwall of support frame and the internal face of the second train support frame are provided opposite to, the first train support frame inwall and
Between second train support frame ecto-entad install successively the first power transmission shaft, the first bolt, second driving shaft, the second bolt,
3rd power transmission shaft, the 4th power transmission shaft, first power transmission shaft, the first bolt, second driving shaft, the second bolt, the 3rd power transmission shaft
Coordinated by deep groove ball bearing and the first train support frame and the second train support frame respectively with the 4th power transmission shaft, first pair
Driving wheel is arranged on the first power transmission shaft, and the second pair of driving wheel is arranged on second driving shaft, and the 3rd pair of driving wheel is arranged on the
On four power transmission shafts, the first travelling gear is arranged on the first power transmission shaft between a pair of driving wheels, and the second travelling gear is installed
On first bolt, the 3rd travelling gear is arranged on the second driving shaft between second pair of driving wheel, and the 4th travelling gear is installed
On the second bolt, the 5th travelling gear is arranged on the 3rd power transmission shaft, and the 6th travelling gear is arranged on the 4th power transmission shaft, the
One-the six travelling gear is meshed successively；Second obstacle detouring unit, the 3rd obstacle detouring unit are identical simultaneously with the structure of the first obstacle detouring unit
The 5th travelling gear is shared, and the axis of the first-the three obstacle detouring unit is separated by 120 degree two-by-two.
The present invention can also include：
1st, the shaft part that the first power transmission shaft and a pair of driving wheels and the first travelling gear coordinate is square shaft, second driving shaft
The shaft part coordinated with second pair of driving wheel and the 3rd travelling gear is square shaft.
2nd, the first bolt and its deep groove ball bearing for coordinating are coordinated using gap, the deep-groove ball axle that the second bolt coordinates with it
Hold and coordinated using gap.
3rd, the 4th power transmission shaft is hollow-core construction, through setting fixing bolt, the two of fixing bolt in the 4th power transmission shaft
End is located at the first train support frame outer exterior wall and the second train support frame outer exterior wall respectively, and fixing bolt is by spacing
Fastening shaft sleeve fixes the first train support frame and the second train support frame.
Advantage of the invention is that：
1st, the present invention is the star Stump-jump wheel based on planetary gear, and Stump-jump wheel has under the driving effect of DC servo motor
Certain road surface handling capacity, while Stump-jump wheel also has the ability around drive axis, contributes to the upset obstacle detouring of Stump-jump wheel
Function；
2nd, the two groups of driving wheels not contacted with ground in the present invention, can instead give birth to relative motion, quite during with bar contact
In the function with ground contacting drive wheel, Stump-jump wheel will not be made to be stuck on barrier, improve the obstacle climbing ability of Stump-jump wheel.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the A-A views of Fig. 1；
Fig. 3 is driving wheel shafting a, the drive shaft system b partial views of Stump-jump wheel；
Fig. 4 is main drive shaft system e, the drive shaft system d partial views of Stump-jump wheel.
Specific embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
With reference to Fig. 1~4, a kind of star Stump-jump wheel (hereinafter referred to as " Stump-jump wheel ") based on planetary gear, Fig. 1 is its main view
Figure, place plane and horizontal plane carry out independent driving by DC servo motor, by gear drive shafting, most at last
Power is delivered to driving wheel shafting a.This star Stump-jump wheel for being based on planetary gear has certain upset ability under zero load, negative
In the case of load, obstacle crossing function is realized by the way that under the thrust or pulling force effect that coordinate the Stump-jump wheel of installation with it upset can be carried out.
The A-A views of star Stump-jump wheel of the present invention based on planetary gear are as shown in Fig. 2 it is the component units mould of Stump-jump wheel
Block, whole Stump-jump wheel is mutually 120 ° and constitutes by three such unit modules, and its design sketch is as shown in Figure 1.The unit of Stump-jump wheel
Module is main by train support frame 4, driving wheel shafting a, drive shaft system b, driving wheel shafting c, drive shaft system f, main drive shaft
It is the module such as e and driving wheel shafting d composition.
The module composition of wherein driving wheel shafting a and driving wheel shafting c is the same, but its function is different, drives
The function of driving wheel shafting a is that walking is driven on smooth-riding surface, and the function of driving wheel shafting c is when this Stump-jump wheel is more
During barrier, driving wheel 2 is ceaselessly rotated, and relative motion can occur during with bar contact, prevents that Stump-jump wheel is in throwing over barrier here
When blocked with bar contact.The function of driving wheel shafting d and the function of driving wheel shafting c are identicals,
When running into barrier, driving wheel 3 also can occur relative motion with barrier, but its composition is otherwise varied.Drive shaft system b and biography
The composition of moving axis system f is identical and function is also identical, but the installation site of drive shaft system b and drive shaft system f on Stump-jump wheel is not
Together.
The present invention is to provide a kind of star Stump-jump wheel based on planetary gear, both with the locomotor activity on smooth-riding surface,
There is the upset obstacle climbing ability under complex environment again.
As shown in figure 3, driving wheel shafting a is main by train support frame 4, travelling gear 5, pad 31, pad 32, positioning
Axle sleeve 33, deep groove ball bearing 11, the power transmission shaft 12 with the shaft shoulder are constituted.Power transmission shaft 12 and travelling gear 5 and drive wherein with the shaft shoulder
The cooperation shaft part of driving wheel 1 is square shaft, it is ensured that do not have relative motion between travelling gear 5 and driving wheel 1.Power transmission shaft with the shaft shoulder
The shaft shoulder on 12 plays positioning action to travelling gear 5 and driving wheel 1, while abutment sleeve 10 is the positioning to driving wheel 1, keeps away
There is axial motion in rotation process in free drive driving wheel 1.
As shown in figure 3, driving wheel shafting b is main by travelling gear 5, travelling gear 10, deep groove ball bearing 11, thrust bearing
13rd, positioning fastening shaft sleeve 14, bolt 15, spacing collar 16, spring washer 17, nut 18 are constituted.Wherein its power transmission shaft is acted on
It is bolt 15, bolt 15 runs through whole driving wheel shafting b, and bolt 15 coordinates with the gap of deep groove ball bearing 11, has ensured shafting
Freely rotate, the spacing collar 16 being enclosed within bolt 15 carries out spacing to travelling gear 5, it is ensured that travelling gear 15 is in power transmission shaft
Position in system.Positioning fastening shaft sleeve 14 one side is spacing for being carried out to thrust bearing 13, on the one hand for matching somebody with somebody with bolt 15
Close, train support frame 4 is fixed, prevent whole train to be scattered.
As shown in figure 4, drive train e is main by train support frame 4, travelling gear 6, limited support sleeve 19, tape spool
The power transmission shaft 20 of shoulder, deep groove ball bearing 21 are constituted.Power transmission shaft 20 with the shaft shoulder can carry out axially position to travelling gear 6, limit
Position stop sleeve 19 prevents travelling gear 6 from axial motion occurring, while providing certain axial outside support force prevents train
Spacing between support frame 4 diminishes.The center of travelling gear 6 is coordinated for square hole with the square shaft of the power transmission shaft 20 with the shaft shoulder, when
Band nutating gear 6 is rotated and carries out transmission power simultaneously when power transmission shaft 20 with the shaft shoulder is rotated.
As shown in figure 4, drive train d it is main by train support frame 4, travelling gear 7, deep groove ball bearing 22, bolt 23,
Pad 24, spacing fastening shaft sleeve 25, spacing collar 26, pad 27, Hollow Transmission Shafts 28, spring washer 29, nut 30 are constituted.Pass
Moving gear 7 carries out axially position by the shaft shoulder in Hollow Transmission Shafts 28, and driving wheel 3 carries out axial limit by spacing collar 26
Position, the centre bore of Hollow Transmission Shafts 28 is used to place bolt 23, and the effect of bolt 23 is mainly is consolidated to train support frame 4
It is fixed, it is ensured that to be immobilized in the relative position formula of train support frame 4 of both sides.
This is based on the star Stump-jump wheel of planetary gear, and under the driving effect of DC servo motor, rotational power is by main drive
Moving axis system e is delivered on travelling gear 6, as shown in Fig. 2 being seen from the right side of Stump-jump wheel to Stump-jump wheel, it is assumed that the up time of travelling gear 6
When pin is rotated, travelling gear 6 can drive the travelling gear 8 that engages and travelling gear 7 to rotate counterclockwise, the meeting of travelling gear 7
Drive is rotated counterclockwise with the driving wheel 3 on its same drive shaft system d, improves obstacle climbing ability.Travelling gear 8 turns counterclockwise
When dynamic, the travelling gear 9 for engaging is rotated clockwise, and travelling gear 9 drives and its same driving wheel 2 driven on shafting c
Rotated clockwise, improved obstacle climbing ability.The travelling gear 10 engaged with travelling gear 9 is rotated counterclockwise, travelling gear 5 with
Travelling gear 10 is engaged, and travelling gear 5 is rotated clockwise, drive the same driving wheel 1 driven on shafting a rotate clockwise and then
Drive whole train to move, make Stump-jump wheel that there is preferable road surface handling capacity on smooth-riding surface.When running into barrier
When, driving wheel 1 and bar contact on Stump-jump wheel, driving wheel 1 driving effect and its coordinate the Stump-jump wheel installed to push away
Upset obstacle detouring is carried out under power or pulling force effect, while the driving of driving wheel 2, driving wheel 3 in driving wheel shafting c, d in drive shaft
Under rotated, there is relative motion when it is with bar contact, prevent from being blocked between Stump-jump wheel and barrier, it is final to realize
Obstacle crossing function.
A kind of stair active obstacle wheel disclosed in Chinese patent (CN103770823A), controls direct current to become by control unit
The unlatching of frequency motor, intelligently to drive each driving wheel to carry out alternate rotation in good time, makes whole stair subsidize Stump-jump wheel autonomous
Walking；When running into barrier, by control unit control relay carry out the stretching out of electromagnetism push rod, until contacted with ground and after
Continuous elongation by whole stair active obstacle wheel until periodically carry out upset counterclockwise to clear the jumps, this stair active obstacle wheel
Operationally, control process is complicated, increased the complexity of whole barrier getting over mechanism.
The technical scheme is that：Independent driving is carried out by DC servo motor, by gear drive shafting, finally
Transfer power to driving wheel shafting a.This star Stump-jump wheel for being based on planetary gear has certain upset ability under zero load,
Under loading condition, obstacle crossing function is realized by the way that under the thrust or pulling force effect that coordinate the Stump-jump wheel of installation with it upset can be carried out.
The A-A views of star Stump-jump wheel of the present invention based on planetary gear are as shown in Fig. 2 it is the component units mould of Stump-jump wheel
Block, whole Stump-jump wheel is mutually 120 ° and constitutes by three such unit modules, and its design sketch is as shown in Figure 1.The unit of Stump-jump wheel
Module is main by train support frame 4, driving wheel shafting a, drive shaft system b, driving wheel shafting c, drive shaft system f, main drive shaft
It is the module such as e and driving wheel shafting d composition.
The module composition of wherein driving wheel shafting a and driving wheel shafting c is the same, but its function is different, drives
The function of driving wheel shafting a is that walking is driven on smooth-riding surface, and the function of driving wheel shafting c is when this Stump-jump wheel is more
During barrier, driving wheel 2 is ceaselessly rotated, and relative motion can occur during with bar contact, prevents that Stump-jump wheel is in throwing over barrier here
When blocked with bar contact.The function of driving wheel shafting d and the function of driving wheel shafting c are identicals,
When running into barrier, driving wheel 3 also can occur relative motion with barrier, but its composition is otherwise varied.Drive shaft system b and biography
The composition of moving axis system f is identical and function is also identical, but the installation site of drive shaft system b and drive shaft system f on Stump-jump wheel is not
Together.
The present invention is to provide a kind of star Stump-jump wheel based on planetary gear, both with the locomotor activity on smooth-riding surface,
There is the upset obstacle climbing ability under complex environment again.
As shown in figure 3, driving wheel shafting a is main by train support frame 4, travelling gear 5, pad 31, pad 32, positioning
Axle sleeve 33, deep groove ball bearing 11, the power transmission shaft 12 with the shaft shoulder are constituted.Power transmission shaft 12 and travelling gear 5 and drive wherein with the shaft shoulder
The cooperation shaft part of driving wheel 1 is square shaft, it is ensured that do not have relative motion between travelling gear 5 and driving wheel 1.Power transmission shaft with the shaft shoulder
The shaft shoulder on 12 plays positioning action to travelling gear 5 and driving wheel 1, while abutment sleeve 10 is the positioning to driving wheel 1, keeps away
There is axial motion in rotation process in free drive driving wheel 1.
As shown in figure 3, driving wheel shafting b is main by travelling gear 5, travelling gear 10, deep groove ball bearing 11, thrust bearing
13rd, positioning fastening shaft sleeve 14, bolt 15, spacing collar 16, spring washer 17, nut 18 are constituted.Wherein its power transmission shaft is acted on
It is bolt 15, bolt 15 runs through whole driving wheel shafting b, and bolt 15 coordinates with the gap of deep groove ball bearing 11, has ensured shafting
Freely rotate, the spacing collar 16 being enclosed within bolt 15 carries out spacing to travelling gear 5, it is ensured that travelling gear 15 is in power transmission shaft
Position in system.Positioning fastening shaft sleeve 14 one side is spacing for being carried out to thrust bearing 13, on the one hand for matching somebody with somebody with bolt 15
Close, train support frame 4 is fixed, prevent whole train to be scattered.
As shown in figure 4, drive train e is main by train support frame 4, travelling gear 6, limited support sleeve 19, tape spool
The power transmission shaft 20 of shoulder, deep groove ball bearing 21 are constituted.Power transmission shaft 20 with the shaft shoulder can carry out axially position to travelling gear 6, limit
Position stop sleeve 19 prevents travelling gear 6 from axial motion occurring, while providing certain axial outside support force prevents train
Spacing between support frame 4 diminishes.The center of travelling gear 6 is coordinated for square hole with the square shaft of the power transmission shaft 20 with the shaft shoulder, when
Band nutating gear 6 is rotated and carries out transmission power simultaneously when power transmission shaft 20 with the shaft shoulder is rotated.
As shown in figure 4, drive train d it is main by train support frame 4, travelling gear 7, deep groove ball bearing 22, bolt 23,
Pad 24, spacing fastening shaft sleeve 25, spacing collar 26, pad 27, Hollow Transmission Shafts 28, spring washer 29, nut 30 are constituted.Pass
Moving gear 7 carries out axially position by the shaft shoulder in Hollow Transmission Shafts 28, and driving wheel 3 carries out axial limit by spacing collar 26
Position, the centre bore of Hollow Transmission Shafts 28 is used to place bolt 23, and the effect of bolt 23 is mainly is consolidated to train support frame 4
It is fixed, it is ensured that to be immobilized in the relative position formula of train support frame 4 of both sides.
This is based on the star Stump-jump wheel of planetary gear, and under the driving effect of DC servo motor, rotational power is by main drive
Moving axis system e is delivered on travelling gear 6, as shown in Fig. 2 being seen from the right side of Stump-jump wheel to Stump-jump wheel, it is assumed that the up time of travelling gear 6
When pin is rotated, travelling gear 6 can drive the travelling gear 8 that engages and travelling gear 7 to rotate counterclockwise, the meeting of travelling gear 7
Drive is rotated counterclockwise with the driving wheel 3 on its same drive shaft system d, improves obstacle climbing ability.Travelling gear 8 turns counterclockwise
When dynamic, the travelling gear 9 for engaging is rotated clockwise, and travelling gear 9 drives and its same driving wheel 2 driven on shafting c
Rotated clockwise, improved obstacle climbing ability.The travelling gear 10 engaged with travelling gear 9 is rotated counterclockwise, travelling gear 5 with
Travelling gear 10 is engaged, and travelling gear 5 is rotated clockwise, drive the same driving wheel 1 driven on shafting a rotate clockwise and then
Drive whole train to move, make Stump-jump wheel that there is preferable road surface handling capacity on smooth-riding surface.When running into barrier
When, driving wheel 1 and bar contact on Stump-jump wheel, driving wheel 1 driving effect and its coordinate the Stump-jump wheel installed to push away
Upset obstacle detouring is carried out under power or pulling force effect, while the driving of driving wheel 2, driving wheel 3 in driving wheel shafting c, d in drive shaft
Under rotated, there is relative motion when it is with bar contact, prevent from being blocked between Stump-jump wheel and barrier, it is final to realize
Obstacle crossing function.
Claims (5)
1. a kind of star Stump-jump wheel based on planetary gear, it is characterized in that：Including the first-the three obstacle detouring unit；First obstacle detouring unit
Including the first-the second train support frame, first-the three pair of driving wheel, the first-the six travelling gear, the first train carriage
The internal face of the inwall of frame and the second train support frame is provided opposite to, in the inwall and the second train of the first train support frame
Ecto-entad installs the first power transmission shaft, the first bolt, second driving shaft, the second bolt, the 3rd transmission successively between support frame
Axle, the 4th power transmission shaft, first power transmission shaft, the first bolt, second driving shaft, the second bolt, the 3rd power transmission shaft and the 4th pass
Moving axis is coordinated by deep groove ball bearing and the first train support frame and the second train support frame respectively, a pair of driving wheels peace
On the first power transmission shaft, second pair of driving wheel is arranged on second driving shaft, and the 3rd pair of driving wheel is arranged on the 4th power transmission shaft
On, the first travelling gear is arranged on the first power transmission shaft between a pair of driving wheels, and the second travelling gear installs the first bolt
On, the 3rd travelling gear is arranged on the second driving shaft between second pair of driving wheel, and the 4th travelling gear is arranged on the second spiral shell
On bolt, the 5th travelling gear is arranged on the 3rd power transmission shaft, and the 6th travelling gear is arranged on the 4th power transmission shaft, and first-the six
Travelling gear is meshed successively；Second obstacle detouring unit, the 3rd obstacle detouring unit are identical with the structure of the first obstacle detouring unit and shared
Five travelling gears, and the axis of the first-the three obstacle detouring unit is separated by 120 degree two-by-two.
2. a kind of star Stump-jump wheel based on planetary gear according to claim 1, it is characterized in that：First power transmission shaft and first
It is square shaft, second driving shaft and second pair of driving wheel and the 3rd transmission to the shaft part that driving wheel and the first travelling gear coordinate
The shaft part that gear coordinates is square shaft.
3. a kind of star Stump-jump wheel based on planetary gear according to claim 1 and 2, it is characterized in that：First bolt and its
The deep groove ball bearing of cooperation is coordinated using gap, and the deep groove ball bearing that the second bolt coordinates with it is coordinated using gap.
4. a kind of star Stump-jump wheel based on planetary gear according to claim 1 and 2, it is characterized in that：4th transmission
Axle is hollow-core construction, and through fixing bolt is set in the 4th power transmission shaft, the two ends of fixing bolt support positioned at the first train respectively
Framework outer exterior wall and the second train support frame outer exterior wall, fixing bolt are supported the first train by spacing fastening shaft sleeve
Framework and the second train support frame are fixed.
5. a kind of star Stump-jump wheel based on planetary gear according to claim 3, it is characterized in that：4th power transmission shaft is
Hollow-core construction, through fixing bolt is set in the 4th power transmission shaft, the two ends of fixing bolt are located at the first train support frame respectively
Outer exterior wall and the second train support frame outer exterior wall, fixing bolt is by spacing fastening shaft sleeve by the first train support frame
Fixed with the second train support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696715.XA CN105197119B (en) | 2015-10-23 | 2015-10-23 | Star-shaped obstacle crossing wheel based on planet gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696715.XA CN105197119B (en) | 2015-10-23 | 2015-10-23 | Star-shaped obstacle crossing wheel based on planet gear |
Publications (2)
| Publication Number | Publication Date |
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| CN105197119A CN105197119A (en) | 2015-12-30 |
| CN105197119B true CN105197119B (en) | 2017-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510696715.XA Active CN105197119B (en) | 2015-10-23 | 2015-10-23 | Star-shaped obstacle crossing wheel based on planet gear |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416051B (en) * | 2017-08-04 | 2020-04-07 | 安徽信息工程学院 | Loading trolley structure |
| CN108908358A (en) * | 2018-06-29 | 2018-11-30 | 南京中高知识产权股份有限公司 | Explosive-removal robot |
| CN108860341B (en) * | 2018-08-06 | 2023-09-22 | 南京工程学院 | Switchable planet wheel crawler travel mechanism |
| CN109850023A (en) * | 2019-03-05 | 2019-06-07 | 内蒙古第一机械集团股份有限公司 | A kind of planetary triangle crawler travel and driving device |
| CN112891080A (en) * | 2019-12-03 | 2021-06-04 | 张润海 | Barrier-free star wheel of electric wheelchair |
| CN113425560A (en) * | 2021-06-16 | 2021-09-24 | 上海理工大学 | Fan-shaped folding miniature obstacle-crossing walking aid |
| CN114313036A (en) * | 2021-12-30 | 2022-04-12 | 徐工集团工程机械股份有限公司 | Unmanned vehicle and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS604401A (en) * | 1983-06-22 | 1985-01-10 | Hitachi Ltd | Wheel-type freely running gear |
| KR101031321B1 (en) * | 2006-06-27 | 2011-04-29 | 김기수 | Driving system |
| CN201132553Y (en) * | 2007-11-08 | 2008-10-15 | 武汉递进科技开发有限责任公司 | Star wheel planet wheel type stair-climbing wheel |
| CN102700591A (en) * | 2012-05-11 | 2012-10-03 | 山东交通职业学院 | Travel driving mechanism for walking up and down stairs |
| CN103587566A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Planetary multi-wheel carrier |
| CN205203162U (en) * | 2015-10-23 | 2016-05-04 | 哈尔滨工程大学 | Star is barrier wheel more based on planet wheel |
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