CN105460090A - Track deformable robot mobile platform - Google Patents
Track deformable robot mobile platform Download PDFInfo
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- CN105460090A CN105460090A CN201510943632.6A CN201510943632A CN105460090A CN 105460090 A CN105460090 A CN 105460090A CN 201510943632 A CN201510943632 A CN 201510943632A CN 105460090 A CN105460090 A CN 105460090A
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- 239000002131 composite material Substances 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000014759 maintenance of location Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
Abstract
The invention relates to a track deformable robot mobile platform. The track deformable robot mobile platform comprises a robot body and two wheel-track composite modules. The two wheel-track composite modules are arranged on the two sides of the robot body symmetrically right and right. The robot body comprises a box body plate, a power source, a motor driver and two driving systems, and the driving systems are installed reversely. The power source, the motor driver and the two driving systems are all installed in the box body plate. The two driving systems drive the wheel-track composite modules to move correspondingly and respectively. The track deformable robot mobile platform is characterized in that each wheel-track composite module comprises a track, a track driving wheel, a synchronous pulley, a driven vehicle wheel rack, a ] transmission shaft, a main shaft, a third gear, a spring, a driving vehicle wheel, a driver vehicle wheel, a driving vehicle wheel rack, a sliding block mechanism, a second gear, a fourth gear, a driving vehicle wheel axle, two front supports, two rear supports and four track supporting wheels; the two front supports are connected through a connection frame, and the two rear supports are connected through a connection frame.
Description
Technical field
The present invention relates to robot moving platform technical field, be specially a kind of crawler belt transformable robot mobile platform.
Background technology
In existing robot moving mechanism research, the flexible property of wheeled mobile robot is better, but it is mainly used in ground grading environment; Leg type mobile robot can pass through comparatively complicated ground environment, but its inefficiency, control algorithm is complicated; The applied research of caterpillar type robot is extensive, and had efficiency and obstacle concurrently by performance, common caterpillar robot is mostly joint swing arm type structure, and by the angle of adjusting joint swing arm, conform change on one's own initiative.And this kind of robot depends on environmental information and control and regulation initiatively that sensor feeds back to a great extent.And the constrained force in environment can export as a kind of actv. by passive self adaptation caterpillar robot, crawler belt appearance profile is changed passively, thus better conform, decrease the dependence of robot to sensor-based system and control system, and improve travel efficiency, become an important research direction of caterpillar robot.
Existing passive self adaptation caterpillar robot research has: the patent No. is that the Chinese patent of ZL2013101764130 discloses a kind of passive self adaptation crawler belt transformable mobile robot platform, this robot platform adopts the plane six-bar linkage of drive lacking as the mechanism supporting crawler belt, by the obstacle higher than crawler belt, but its distortion is little, smooth-riding surface speed is lower, and the auxiliary swing arm module too large effect of out of reach in actual applications; The patent No. is that the Chinese patent of ZL2010102195152 discloses a kind of wheel-shoe composite deformation mobile robot with adaptive ability, this robot has wheel-shoe two kinds of mode of motioies, but it is when wheel type movement, crawler belt takes turns still kiss the earth as virtual, and the linear velocity identical with driving wheel will be kept, easily produce the friction on crawler belt and ground.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of crawler belt transformable robot mobile platform.This mobile platform is based on crank block structure, there is passive adaptive ability, and there are wheel, shoe two kinds of mode of motioies, can environmentally in the size of obstacle change the profile of crawler belt passively, and while distortion, independently can realize the switching taking turns, carry out two kinds of mode of motioies, under the prerequisite guaranteeing complex-terrain adaptive capacity, enhance smooth-riding surface by efficiency, avoid the friction on crawler belt and ground.
The technical scheme that the present invention solve the technical problem employing is: provide a kind of crawler belt transformable robot mobile platform, and comprise robot body and two wheel-shoe composite modules, two wheel-shoe composite modules are symmetrically arranged in the both sides of robot body;
Described robot body comprises box plate, power supply, motor driver and two drive systems of oppositely installing, and power supply, motor driver and two drive systems are installed in box plate, and composite module motion is taken turns-carried out to two drive systems accordingly;
It is characterized in that describedly taking turns-carrying out composite module and comprise crawler belt, track sprocket, synchronous pulley, driven wheel frame, transmission shaft, main shaft, the 3rd gear, spring, adhesion wheel, driven wheel, adhesion wheel frame, slide block mechanism, the second gear, the 4th gear, adhesion wheel axle, two front support stands and two bracket of rear mountings and four crawler belt support wheels; Two front support stands are connected by link span, and two bracket of rear mountings are connected by link span;
Described two front support stands are L shape framework, the summit, long limit of the L shape framework of front support stand is provided with track sprocket mounting hole, be connected with track sprocket by this track sprocket mounting hole, the minor face place of L shape framework is provided with spindle mounting hole and front propeller shaft mounting hole from top to bottom successively, adhesion wheel axle mounting hole is also provided with below front support stand outside being wherein positioned at, described main shaft is arranged on the corresponding mounting hole of front support stand and robot body by bearing, main shaft one end is stretched in robot body, and the second gear is housed, the first gear in this second gear and respective drive system engages each other, main shaft between two front support stands is provided with the 3rd gear, described adhesion wheel axle one end is fixedly connected with adhesion wheel, the other end is installed on successively by bearing on the adhesion wheel axle mounting hole on the front support stand in adhesion wheel frame and outside, and the adhesion wheel axle between adhesion wheel frame and front support stand is provided with synchronous pulley, described adhesion wheel frame is fixedly connected with the front support stand in outside by link span,
Bracket of rear mounting is provided with crawler belt support wheel mounting hole, rear propeller shaft mounting hole and slide block axle mounting hole from left to right successively; Described transmission shaft is arranged on the corresponding mounting hole of two front support stands, two bracket of rear mountings and adhesion wheel frame by bearing, transmission shaft between two bracket of rear mountings is provided with the 4th gear and a synchronous pulley, this synchronous pulley is connected with track sprocket through Timing Belt, and the 3rd gear on the 4th gear and main shaft engages each other; Transmission shaft between bracket of rear mounting in outside and adhesion wheel frame is provided with a synchronous pulley, this synchronous pulley is connected with the synchronous pulley on adhesion wheel axle through Timing Belt;
Three in four crawler belt support wheels are arranged on the box plate of robot body side by side, be positioned at the bottom of mobile platform, another is arranged on the upper end of bracket of rear mounting by crawler belt support wheel mounting hole, four crawler belt support wheels and a track sprocket are distributed in same plane, and crawler belt is around being arranged on four crawler belt support wheels and a track sprocket; Described driven wheel frame is arranged on bracket of rear mounting by screw, and driven wheel frame bottom is provided with driven wheel;
Described slide block mechanism comprises slide block axle, slide block and chute, described chute is fixed by screws on the box plate of robot body, described slide block axle is arranged on the respective slide axle mounting hole of two bracket of rear mountings by bearing, slide block axle is provided with slide block near one end of chute, slide block to stretch in chute and can in chute sway; Described spring one end is connected with slide block axle, and the other end is connected with the box plate of robot body.
Compared with prior art, the invention has the beneficial effects as follows:
1. the present invention has passive adaptive ability: wheel-crank block structure of carrying out in composite module can produce distortion according to the size of concrete obstacle, thus make the alteration of form of crawler belt outline, and the change of track length can be controlled in certain small scope; The steadily efficient walking of the complex environments such as stair, slope, groove can be realized, and the obstacle higher than self can be crossed over.
2. the present invention has wheel-shoe two kinds of mode of motioies, the conversion realizing two kinds of patterns that can be passive, has very strong autonomous landform adaptive capacity, and it does not need complicated control algorithm to be achieved; In smooth-riding surface, adhesion wheel and driven wheel kiss the earth, robot moving platform is with wheel type movement, avoid occurring that crawler belt takes turns still kiss the earth as virtual, such problem that rubs is produced with ground, wheel, the motion of two kinds, shoe share drive systems but can realize different linear velocity, improve wheel type movement speed.
3. in crank block structure of the present invention, the structure of slide block changes into cylindrical by traditional rectangle, thus slide block and chute is contacted from face become linear contact lay, namely replace lower pair with higher pair, while simplified structure, reduce friction, the distortion of crawler belt is more easily realized; Semicircle rubber cradle is equipped with at chute two ends, has the spacing effect with slowing down impact simultaneously, makes mobile platform two kinds of mode of motioies switch more stable.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of embodiment of crawler belt transformable robot mobile platform of the present invention;
Fig. 2 is the inner structure schematic diagram of the robot body 1 of a kind of embodiment of crawler belt transformable robot mobile platform of the present invention;
Fig. 3 is the main TV structure schematic diagram of the wheel-shoe composite module 2 of a kind of embodiment of crawler belt transformable robot mobile platform of the present invention;
Fig. 4 is the perspective view that Fig. 3 took turns-carry out in composite module 2 front support stand 205 being positioned at outside;
Fig. 5 is the perspective view that Fig. 3 took turns-carried out bracket of rear mounting 204 in composite module 2;
Fig. 6 is the connection diagram that Fig. 3 took turns-carried out transmission device in composite module 2;
Fig. 7 is the decomposing schematic representation that Fig. 3 took turns-carried out slide block mechanism 215 in composite module 2;
Fig. 8 is the schematic diagram doing caterpillar drive of a kind of embodiment of crawler belt transformable robot mobile platform of the present invention;
Fig. 9 is crawler belt transformable robot mobile platform slide block left limit schematic diagram of the present invention;
Figure 10 is crawler belt transformable robot mobile platform slide block right limit schematic diagram of the present invention;
In figure, 1-robot body, 101-box plate, 102-motor mounting rack, 103-first gear, 104-motor driver, 105-power supply, 106-servomotor, 107-retarder; 2-takes turns-carries out composite module, 201-crawler belt, 202-crawler belt support wheel, 203-track sprocket, 204-bracket of rear mounting, 205-front support stand, 206-synchronous pulley, 207-driven wheel frame, 208-transmission shaft, 209-main shaft, 210-the 3rd gear, 211-spring, 212-adhesion wheel, 213-driven wheel, 214-adhesion wheel frame, 216-second gear, 217-the 4th gear, 218-adhesion wheel axle; 215-slide block mechanism, 2151-slide block axle, 2152-slide block, 2153-chute, 2154-semicircle rubber cradle; 2041-crawler belt support wheel mounting hole, 2042-rear propeller shaft mounting hole, 2043-slide block axle mounting hole; 2051-track sprocket mounting hole, 2052-spindle mounting hole, 2053-front propeller shaft mounting hole, 2054-adhesion wheel axle mounting hole.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing thereof, the present invention is described further.Embodiment is the concrete enforcement carried out premised on technical scheme of the present invention, gives detailed embodiment and process, but not in this, as the restriction to the application's claims.
Crawler belt transformable robot mobile platform of the present invention (be called for short mobile platform, see Fig. 1-10) comprises robot body 1 and two, and wheel-shoe composite module 2, two wheel-shoe composite module 2 is symmetrically arranged in the both sides of robot body 1;
Described robot body 1 (see Fig. 2) comprises box plate 101, power supply 105, motor driver 104 and two drive systems of oppositely installing, power supply 105, motor driver 104 and two drive systems are installed in box plate 101, and two drive systems are taken turns-carried out composite module 2 accordingly and move; Each drive system comprises servomotor 106, retarder 107, motor mounting rack 102 and the first gear 103, described servomotor 106 output shaft is connected with the input end of retarder 107, and being arranged in box plate 101 by motor mounting rack 102, the first gear 103 is arranged on the mouth of retarder 107;
Describedly take turns-carry out composite module 2 (see Fig. 3-7) and comprise crawler belt 201, track sprocket 203, synchronous pulley 206, driven wheel frame 207, transmission shaft 208, main shaft 209, the 3rd gear 210, spring 211, adhesion wheel 212, driven wheel 213, adhesion wheel frame 214, slide block mechanism 215, second gear 216, the 4th gear 217, adhesion wheel axle 218, two front support stands 205 and two bracket of rear mountings 204 and four crawler belt support wheels 202; Two front support stands 205 are connected by link span, and two bracket of rear mountings 204 are connected by link span;
Described two front support stands 205 (see Fig. 4) are L shape framework, the summit, long limit of the L shape framework of front support stand 205 is provided with track sprocket mounting hole 2051, be connected with track sprocket 203 by this track sprocket mounting hole, the minor face place of L shape framework is provided with spindle mounting hole 2052 and front propeller shaft mounting hole 2053 from top to bottom successively, adhesion wheel axle mounting hole 2054 is also provided with below front support stand 205 outside being wherein positioned at, described main shaft 209 is arranged on by bearing on the corresponding mounting hole of front support stand 205 and robot body 1, main shaft one end is stretched in robot body 1, and the second gear 216 is housed, this second gear 216 engages each other with the first gear 103 on retarder 107, main shaft 209 between two front support stands 205 is provided with the 3rd gear 210, described adhesion wheel axle 218 one end is fixedly connected with adhesion wheel 212, the other end is installed on successively by bearing on the adhesion wheel axle mounting hole 2054 on the front support stand 205 in adhesion wheel frame 214 and outside, and the adhesion wheel axle 218 between adhesion wheel frame 214 and front support stand 205 is provided with synchronous pulley, described adhesion wheel frame 214 is fixedly connected with the front support stand 205 in outside by link span,
Bracket of rear mounting 204 (participation Fig. 5) is provided with crawler belt support wheel mounting hole 2041, rear propeller shaft mounting hole 2042 and slide block axle mounting hole 2043 from left to right successively; Described transmission shaft 208 is arranged on the corresponding mounting hole of two front support stands, 205, two bracket of rear mountings 204 and adhesion wheel frame 214 (see Fig. 6) by bearing, transmission shaft 208 between two bracket of rear mountings 204 is provided with the 4th gear 217 and a synchronous pulley 206, this synchronous pulley 206 is connected with track sprocket 203 through Timing Belt, and the 4th gear 217 engages each other with the 3rd gear 210 on main shaft; Transmission shaft 208 between the bracket of rear mounting 204 and adhesion wheel frame 214 in outside is provided with a synchronous pulley 206, and this synchronous pulley is connected with the synchronous pulley on adhesion wheel axle 218 through Timing Belt;
Three in four crawler belt support wheels 202 are arranged on the box plate 101 of robot body 1 side by side, be positioned at the bottom of mobile platform, another is arranged on the upper end of bracket of rear mounting 204 by crawler belt support wheel mounting hole 2041, four crawler belt support wheels 202 and a track sprocket 203 are distributed in same plane, crawler belt 201, around being arranged on four crawler belt support wheels 202 and a track sprocket 203, makes the outline of crawler belt 201 be inverted trapezoidal (see Fig. 3); Described driven wheel frame 207 is arranged on bracket of rear mounting 204 by screw, and driven wheel frame 207 bottom is provided with driven wheel 213;
Described slide block mechanism 215 (see Fig. 7) comprises slide block axle 2151, slide block 2152 and chute 2153, described chute 2153 is fixed by screws on the box plate 101 of robot body 1, described slide block axle 2151 is arranged on the respective slide axle mounting hole 2043 of two bracket of rear mountings 204 by bearing, slide block axle 2151 is provided with slide block 2152 near one end of chute 2153, slide block 2152 to stretch in chute 2153 and can in chute 2153 sway; Described spring 211 one end is connected with slide block axle 2151, and the other end is connected with the box plate 101 of robot body 1.
Of the present inventionly be further characterized in that described slide block 2152 is for cylindrical, and contact with the upside of chute 2153 or lower inner surface retention wire, while simplified structure, also reduce the friction of slide block mechanism, the distortion of crawler belt is more easily realized.
Semicircle rubber cradle 2154 (see Fig. 7) is all equipped with at the two ends be further characterized in that in described chute 2153 of the present invention, the sway of semicircle rubber cradle 2154 pairs of slide blocks 2152 in chute 2153 plays position-limiting action, thus the distortion (see Fig. 9, Figure 10) of constraint crawler belt 201; Simultaneously because rubber has elasticity, impact when slide block 2152 arrives end of run can be slowed down, mobile platform is moved more stable.
In crawler belt transformable robot mobile platform of the present invention, crank block structure refers to the structure be made up of crank, connecting rod and slide block mechanism 215, wherein two front support stands 205 are hinged by main shaft 209 and robot body 1, two front support stands 205 and two bracket of rear mountings 204 are hinged by transmission shaft 208, and two front support stands 205 are arranged in the crank of part as aforementioned crank block structure of two hinged places; The part of two bracket of rear mountings 204 between transmission shaft 208 and slide block mechanism 215 is the connecting rod in aforementioned crank block structure; Slide block mechanism 215 is the slide block in crank block structure.
In the present invention by transmission shaft 208, main shaft 209, adhesion wheel axle 218 and on gear and the drive mechanism that forms of synchronous pulley be the transmission device (see Fig. 6) of mobile platform.Groove shapes in chute 2153 of the present invention matches with the specification of slide block 2152, and slide block can in chute sway.
Principle of work of the present invention and working process are: when walking on smooth-riding surface, mobile platform does wheel type movement (see Fig. 3), adhesion wheel 212 and driven wheel 213 and earth surface, and drive mobile platform to realize the motions such as advance, turning by adhesion wheel 212, now crawler belt 201 dallies, when mobile platform front runs into obstacle, environmental constraints masterpiece is that a kind of power-assisted acts on crawler belt 201, described crank block structure is deformed, namely the component of front support stand 205 and mounted thereto rotates counterclockwise certain angle around main shaft 209, slide block 2152 moves a certain distance along chute 2154, spring 211 stretches and produces restoring force, thus the track sprocket 203 on bracket of rear mounting 204 and the crawler belt support wheel 202 be located thereon and front support stand 205 is all raised, adhesion wheel 212 and driven wheel 213 lift, now crawler belt 201 kiss the earth, mobile platform does crawler type motion, and the obstacle (participation Fig. 8) can crossed higher than self, after the front portion of crawler belt 201 departs from obstacle, under the effect of spring 211, each component returns to initial position, thus mobile platform returns to wheel type movement again.
As Fig. 9, Figure 10 are respectively left and right two restraining position of slide block 2152, during left limit position, mobile platform does wheel type movement pattern, and during right limit position, mobile platform does crawler type mode of motion; In chute 2154, being provided with two semicircular rubber cradle 2153, can playing the spacing effect with slowing down impact, two kinds of mode of motioies are switched more level and smooth, mobile platform is advanced more stable.
The present invention has passive adaptive ability, takes turns, carries out two mode of motioies and switch and do not need human intervention, substantially reduces its degree of dependence for sensor-based system and control system, strengthens the adaptive capacity to environment; When wheel type movement, adhesion wheel and driven wheel simultaneously and earth surface, avoid the linear contact lay on crawler belt and ground, improve gait of march and the reliability of mobile platform.
The present invention does not use up part and is applicable to prior art.
Claims (3)
1. a crawler belt transformable robot mobile platform, comprise robot body and two wheel-shoe composite modules, two wheel-shoe composite modules are symmetrically arranged in the both sides of robot body;
Described robot body comprises box plate, power supply, motor driver and two drive systems of oppositely installing, and power supply, motor driver and two drive systems are installed in box plate, and composite module motion is taken turns-carried out to two drive systems accordingly;
It is characterized in that describedly taking turns-carrying out composite module and comprise crawler belt, track sprocket, synchronous pulley, driven wheel frame, transmission shaft, main shaft, the 3rd gear, spring, adhesion wheel, driven wheel, adhesion wheel frame, slide block mechanism, the second gear, the 4th gear, adhesion wheel axle, two front support stands and two bracket of rear mountings and four crawler belt support wheels; Two front support stands are connected by link span, and two bracket of rear mountings are connected by link span;
Described two front support stands are L shape framework, the summit, long limit of the L shape framework of front support stand is provided with track sprocket mounting hole, be connected with track sprocket by this track sprocket mounting hole, the minor face place of L shape framework is provided with spindle mounting hole and front propeller shaft mounting hole from top to bottom successively, adhesion wheel axle mounting hole is also provided with below front support stand outside being wherein positioned at, described main shaft is arranged on the corresponding mounting hole of front support stand and robot body by bearing, main shaft one end is stretched in robot body, and the second gear is housed, the first gear in this second gear and respective drive system engages each other, main shaft between two front support stands is provided with the 3rd gear, described adhesion wheel axle one end is fixedly connected with adhesion wheel, the other end is installed on successively by bearing on the adhesion wheel axle mounting hole on the front support stand in adhesion wheel frame and outside, and the adhesion wheel axle between adhesion wheel frame and front support stand is provided with synchronous pulley, described adhesion wheel frame is fixedly connected with the front support stand in outside by link span,
Bracket of rear mounting is provided with crawler belt support wheel mounting hole, rear propeller shaft mounting hole and slide block axle mounting hole from left to right successively; Described transmission shaft is arranged on the corresponding mounting hole of two front support stands, two bracket of rear mountings and adhesion wheel frame by bearing, transmission shaft between two bracket of rear mountings is provided with the 4th gear and a synchronous pulley, this synchronous pulley is connected with track sprocket through Timing Belt, and the 3rd gear on the 4th gear and main shaft engages each other; Transmission shaft between bracket of rear mounting in outside and adhesion wheel frame is provided with a synchronous pulley, this synchronous pulley is connected with the synchronous pulley on adhesion wheel axle through Timing Belt;
Three in four crawler belt support wheels are arranged on the box plate of robot body side by side, be positioned at the bottom of mobile platform, another is arranged on the upper end of bracket of rear mounting by crawler belt support wheel mounting hole, four crawler belt support wheels and a track sprocket are distributed in same plane, and crawler belt is around being arranged on four crawler belt support wheels and a track sprocket; Described driven wheel frame is arranged on bracket of rear mounting by screw, and driven wheel frame bottom is provided with driven wheel;
Described slide block mechanism comprises slide block axle, slide block and chute, described chute is fixed by screws on the box plate of robot body, described slide block axle is arranged on the respective slide axle mounting hole of two bracket of rear mountings by bearing, slide block axle is provided with slide block near one end of chute, slide block to stretch in chute and can in chute sway; Described spring one end is connected with slide block axle, and the other end is connected with the box plate of robot body.
2. crawler belt transformable robot mobile platform according to claim 1, is characterized in that described slide block is cylindrical, and contacts with the upside of chute or lower inner surface retention wire.
3. crawler belt transformable robot mobile platform according to claim 1 and 2, is characterized in that semicircle rubber cradle is all equipped with at the two ends in described chute.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510943632.6A CN105460090B (en) | 2015-12-16 | 2015-12-16 | A kind of crawler belt transformable robot mobile platform |
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| CN201510943632.6A CN105460090B (en) | 2015-12-16 | 2015-12-16 | A kind of crawler belt transformable robot mobile platform |
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| CN105460090A true CN105460090A (en) | 2016-04-06 |
| CN105460090B CN105460090B (en) | 2017-06-23 |
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| CN106114661A (en) * | 2016-07-20 | 2016-11-16 | 河北工业大学 | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism |
| CN107600200A (en) * | 2017-10-26 | 2018-01-19 | 中国矿业大学 | Co-deflection crawler travel portion and there is its robot moving platform |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
| CN109625110A (en) * | 2018-11-16 | 2019-04-16 | 宁波大学 | A kind of automatic stari creeping device |
| CN110001803A (en) * | 2019-05-05 | 2019-07-12 | 河北工业大学 | A kind of adaptive robot |
| CN111938931A (en) * | 2020-08-24 | 2020-11-17 | 燕山大学 | Up-down stair type stretcher |
| CN113548119A (en) * | 2021-09-02 | 2021-10-26 | 厦门理工学院 | Variable multipurpose miniature mobile platform |
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| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
| CN108673469B (en) * | 2018-06-14 | 2023-04-25 | 河北工业大学 | Caterpillar band deformable robot moving platform for dangerous disaster site environment |
| CN109625110A (en) * | 2018-11-16 | 2019-04-16 | 宁波大学 | A kind of automatic stari creeping device |
| CN109625110B (en) * | 2018-11-16 | 2020-04-07 | 宁波大学 | Automatic stair climbing device |
| CN110001803A (en) * | 2019-05-05 | 2019-07-12 | 河北工业大学 | A kind of adaptive robot |
| CN110001803B (en) * | 2019-05-05 | 2023-05-05 | 河北工业大学 | Self-adaptive robot |
| CN111938931A (en) * | 2020-08-24 | 2020-11-17 | 燕山大学 | Up-down stair type stretcher |
| CN113548119A (en) * | 2021-09-02 | 2021-10-26 | 厦门理工学院 | Variable multipurpose miniature mobile platform |
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Effective date of registration: 20210329 Address after: 300401 2-1 Yougu Xinke Park, east of Jingfu Road, medical and medical equipment Industrial Park, Beichen economic and Technological Development Zone, Tianjin Patentee after: BHP robot (Tianjin) Co.,Ltd. Address before: 300130 No. 8, Hebei University of Technology, Tianjin, Hongqiao No. 330 Patentee before: Hebei University of Technology |
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