CN107175641A - A kind of travelling platform of changeable wheel track - Google Patents
A kind of travelling platform of changeable wheel track Download PDFInfo
- Publication number
- CN107175641A CN107175641A CN201611204965.8A CN201611204965A CN107175641A CN 107175641 A CN107175641 A CN 107175641A CN 201611204965 A CN201611204965 A CN 201611204965A CN 107175641 A CN107175641 A CN 107175641A
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- CN
- China
- Prior art keywords
- wheel
- wheelspan
- platform
- chassis
- mobile robot
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
A kind of changeable mobile robot platform of wheelspan.This platform mainly includes chassis and wheel and corresponding flexible, driving and transmission mechanism.Can be with the miscellaneous part of mounting robot, such as trunk, support and elevating mechanism on this platform.Wheel includes driving wheel, driven pulley and auxiliary wheel.Wheelspan refers to a certain reference point or the distance of line of reference of some wheel relative to other wheels or relatively on chassis on platform.The wheelspan of this platform can change when platform is static, can also change when platform is walked.The wheelspan of platform at least one or more than one wheel can change.The wheelspan of one wheel can independently change, and can also coordinate to change with other wheels.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of mobile robot platform.
Background technology
With the development of robot technology, wheel type mobile robot platform is widely used in industrial robot, cleaning device
In device people, service robot.But wait indoors in complex environment, due to the limitation of landform, for mobile robot platform
Chassis size has strict limitation.The design on small chassis can decline the resistance to overturning of robot platform, cause what is overturned
Risk；The design of large chassis can decline the flexibility of robot platform again, make it can not be in and out of narrow zone.
The mainstay on current wheel type mobile robot platform chassis is the design of rigid wheel base, and Patents mainly have specially
The patent of invention of sharp entitled " a kind of ground mobile robot chassis system " (number of patent application is 201610105801.3), should
The omni-directional wheel of the independent driving of patent utilization four realizes the Omni-mobile on chassis；Also patent name is " four-wheel-type indoor moving
The patent of invention of robot " (number of patent application 201410567432.0), the driving wheel of the independent driving of the patent utilization two adds
The universal auxiliary wheel of each one completes walking movement before and after upper.It is big that the design of both rigid wheel bases makes wheelspan be limited by chassis
Small, indoors under complex environment, chassis size is limited, and wheelspan is limited, it is difficult to ensure robot platform easy motion.
The content of the invention
In view of the problem of robot platform is limited by chassis size at present, the present invention proposes that one kind goes control with driving mechanism
The flexible mechanism of mobile robot platform wheel processed, allows chassis wheelspan to be automatically adjusted by control system, in narrow zone,
Reduce wheelspan, narrow zone is passed through with minimum form；In broad area, increase wheelspan, lift platform resistance to overturning, so as to
Higher speed passes through broad area.The mobile robot platform of changeable wheel track can solve mobile robot in the prior art and put down
The problem of platform stability and flexibility can not take into account, is favorably improved the adaptive capacity to environment and stably of mobile robot platform
Property.
Regarding the issue above, the present invention provides a kind of variable mobile robot platform of wheelspan, the platform
It is main to include chassis, wheel, drive the flexible drive mechanism of wheel, the telescoping mechanism for changing wheel wheelspan, in telescoping mechanism
The transmission mechanism and automatic control system of motion are transmitted between drive mechanism；The wheelspan of described platform wheel is to change
's.Can be with the miscellaneous part of mounting robot, such as trunk, support and elevating mechanism on described mobile robot platform
Deng.
The operation principle of described mobile robot platform is as follows：Drive mechanism coordinated movement of various economic factors under automatic control system,
Under the drive of drive mechanism, the guide rail of telescoping mechanism does stretching motion in particular directions, and wheel is stretched out below chassis,
Make mobile robot platform more stable, or do opposite motion to shrink back wheel below chassis, make mobile robot platform
It is more flexible.The flexible specific direction of described guide rail can laterally change lateral wheel away from can also longitudinally change along platform along platform
Become longitudinal wheelspan, lateral wheel can also be made to change simultaneously away from, longitudinal wheelspan along certain angle (such as platform diagonal).This hair
Bright mobile robot platform has good stability and higher flexibility simultaneously, and the mobile platform is simple in construction, fortune
The flexible of wheel is driven with drive mechanism, easy for installation, cost is relatively low, and the telescoping mechanism has certain support strength,
Compared with wheel is directly anchored into chassis, bearing capacity difference is little.
The drive mechanism includes active movement part, and forms of motion is linear motion or rotary motion, such as selection straight line
The driving part of motion, drive mechanism should be arranged at below chassis, such as select the driving part of rotary motion, and drive mechanism should be set
It is placed in above chassis, and rotating shaft is passed through into chassis.The drive mechanism can by it is electronic, pneumatically or hydraulically mechanism realize drive
It is dynamic.
The drive mechanism is active rotary part, such as：The machines such as motor, steering wheel, hydraulic motor, oscillating oil cylinder, engine
Structure；Or active extensible member, such as：The mechanisms such as electric pushrod, air-leg, hydraulic push rod, push-pull electromagnet.
It is preferred that, the drive mechanism is motor or electric pushrod.
The telescoping mechanism includes the guide rail and fixed block being fixed on below the chassis body, and fixed block changes according to wheelspan
Installation of changing direction is fixed, and in guide rail insertion fixed block, guide rail is performed relative motion on fixed block length direction along straight line.
It is preferred that, the telescoping mechanism is made up of the guide rail for being fixed on fixed block below chassis and being embedded on fixed block
Line slide rail, is provided with roller or ball between guide rail and fixed block, allow guide rail and fixed block on straight line direction
Relative motion.
The guide rail front end of the telescoping mechanism is provided with wheel attachment structure and wheel, guide rail end and transmission mechanism phase
Even, motion transmission is realized, enables guide rail to drive wheel to be moved along a straight line；Stretching motion can be in bobbin movement or static mistake
Carried out in journey.
It is preferred that, the guide rail end articulated linkage of the telescoping mechanism, the other end of connecting rod is hinged rotating disk outer rim, and rotating disk turns
Dynamic to move drivening rod, connecting rod and then pulling or push rail are moved on fixed block length direction, realize universal wheel the bottom of at
Stretching motion below disk.
The telescoping mechanism can stretch out chassis certain distance under stretching state, specific length depending on the size of chassis,
Under stretching state, chassis has stronger stability, and with certain anti-tip ability.
The telescoping mechanism can be located at below chassis in a contracted state, and the overall size of the telescoping mechanism is no more than chassis
Size, in a contracted state, chassis have higher flexibility, can pass through narrow zone.
Described wheel includes driving wheel, driven pulley and auxiliary wheel.
It is preferred that, wheel is universal wheel or omni-directional wheel mechanism, and the guide rail front end is fixed on by wheel attachment structure.
It is preferred that, universal wheel is auxiliary wheel, and it is driving wheel also as auxiliary wheel that omni-directional wheel, which can be used as,.
The driving wheel is arranged on the position in the middle of the longitudinal direction of chassis, and two driving wheel independent controls, it is possible to achieve zero
Radius of turn is turned to, and makes motion more flexible.
The transmission mechanism includes range of motion transmission mechanism, including rotating disk and connecting rod, and described rotating disk passes through flange
Shaft coupling is fixed in rotating shaft.The forms of motion of active movement part can be converted into the flexible fortune of wheel by the transmission mechanism
It is dynamic, so as to change wheelspan.The difference designed according to drive mechanism, transmission mechanism may have a variety of ways of realization, such as connecting rod machine
Structure, crank mechanism etc..
It is preferred that, the transmission mechanism is four suite handles.
It is preferred that, rotating disk, the line slide rail of connecting rod and the telescoping mechanism of the transmission mechanism constitute four groups of slide cranks
Block mechanism, the convert rotational motion of drive mechanism is moved for the linear telescopic of line slide rail.
Described mobile robot platform may also drive mechanism do not need transmission mechanism, directly control telescoping mechanism.
Described wheelspan refers to some wheel on platform relative to a certain ginseng on other wheels or relative chassis
According to the distance of point or line of reference.The wheelspan of this platform can change when platform is static, can also change when platform is walked.Platform
The wheelspan of at least one or more than one wheel can change.The wheelspan of one wheel can independently change, can also be with
Other wheels are coordinated to change.
The direction that described wheelspan changes includes changing along chassis fore-and-aft direction, changes along chassis left and right directions, such as sharp
With the line handspike driving wheel placed along chassis back and forth or left and right direction away from change, in addition to along chassis fore-and-aft direction into a clamp
The direction at angle changes, for example, realize that coordination of the wheelspan along chassis diagonal changes using rotating disk and connecting rod.Described wheelspan
Change nyctitropic angle between 25 degree to 75 degree, particularly 45 degree.
Compared with prior art, a kind of advantage of the mobile robot platform of changeable wheel track disclosed by the invention is：Driving
Under the drive of motivation structure, the guide rail of telescoping mechanism can do stretching motion in particular directions, and wheel is stretched out below chassis,
Make mobile robot platform more stable, or wheel is shunk back below chassis, make mobile robot platform more flexible；And this is flat
Platform can drive 4 wheels to stretch simultaneously by single drive mechanism, simple in construction, be easily installed and use, cost is relatively low, also may be used
To be independently controlled respectively to wheel by multiple drive mechanisms, flexibility is stronger；In addition, the mechanism has certain support
Intensity, compared with being directly anchored on chassis by wheel, carrying difference is little.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
One embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of front view of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 2 is a kind of bottom view of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 3 is a kind of top view of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 4 is a kind of underside perspective view of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 5 is a kind of upside stereogram of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 6 is a kind of flange coupling connection diagram of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 7 is a kind of universal wheel connection diagram of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 8 is a kind of transmission mechanism kinematic sketch of changeable wheel track chassis embodiment 1 disclosed by the invention.
Fig. 9 is a kind of retracted configuration schematic diagram of changeable wheel track chassis embodiment 1 disclosed by the invention.
Figure 10 is a kind of stretching form schematic diagram of changeable wheel track chassis embodiment 1 disclosed by the invention.
Figure 11 is a kind of bottom view of changeable wheel track chassis embodiment 2 disclosed by the invention.
The title of digital or alphabetical representative corresponding component in figure：
1st, chassis 2, rotating disk 3, connecting rod 4, guide rail 5, fixed block 6, wheel attachment structure 7, wheel 8, drive mechanism
9th, flange coupling 10, push rod extension bar 11, push rod housing
1a, chassis mesopore 1b, drive mechanism mounting hole 8a, drive mechanism rotating shaft
Embodiment
Technical scheme will be clearly and completely described by embodiment below.Obviously, retouched
The embodiment stated is only a kind of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.
Embodiment 1
Please also refer to Fig. 1 to Fig. 5, Fig. 1 is a kind of mobile robot platform auxiliary wheel telescoping mechanism disclosed by the invention
Front view.Fig. 2 is a kind of bottom view of mobile robot platform auxiliary wheel telescoping mechanism disclosed by the invention.Fig. 3 is this hair
A kind of bright disclosed top view of mobile robot platform auxiliary wheel telescoping mechanism.Fig. 4 is a kind of moving machine disclosed by the invention
The chassis underside stereogram of device people's platform auxiliary wheel telescoping mechanism.Fig. 5 is that a kind of mobile robot platform disclosed by the invention is auxiliary
Help stereogram on the upside of the chassis of wheel telescoping mechanism.
As shown in figure 1, the top of chassis 1 is provided with drive mechanism 8, drive mechanism 8 is active rotary part, the present embodiment
In, drive mechanism 8 is Worm reduction motor.The lower section of chassis 1 be provided with flange coupling 9, rotating disk 2, connecting rod 3, guide rail 4,
Fixed block 5, wheel attachment structure 6, wheel 7.Wherein, the wheel 7 in the present embodiment is universal wheel.
A kind of assemble method of mobile robot platform auxiliary wheel telescoping mechanism disclosed by the invention：
As shown in fig. 6, being provided with chassis mesopore 1a in the middle of chassis 1, drive mechanism mounting hole 1b is distributed with surrounding, by driving
Drive mechanism 8 is fixed on above chassis by motivation structure mounting hole 1b, and drive mechanism rotating shaft 8a stretches out from the mesopore 1a of chassis, and with
Flange coupling 9 is fixed；
As shown in figure 1, flange coupling 9 is concentric fixed with rotating disk 2, the synchronization of drive mechanism rotating shaft 8a and rotating disk 2 is realized
Rotate, as shown in Fig. 2 the outer rim of rotating disk 2 is hinged four connecting rods 3, articulated position is evenly distributed in the outer rim of rotating disk 2, using only one
Individual drive mechanism can drive four connecting rods 3 to move simultaneously, reduce cost.
As shown in figure 4, the other end of four connecting rods 3 is respectively articulated with the end of four guide rails 4, and guide rail 4 is respectively embedded into
In four fixed blocks 5, as shown in Fig. 2 diagonal distribution of the length direction axis of four fixed blocks 5 along chassis 1, and four
Individual fixed block 5 is fixed with chassis 1 respectively, guide rail 4 and the composition straight-line motion mechanism of fixed block 5, and the constraint guide rail 4 of fixed block 5 can only
It is diagonally adjacent for linear motion on chassis 1；
As shown in fig. 7, guide rail 4 is fixedly arranged at the front end with wheel attachment structure 6, wheel 7 is fixed in wheel attachment structure 6,
Realize connected with guide rail 4, it is possible to guide rail 4 diagonally adjacent for linear motion along chassis 1.
The operation principle of the present invention is as follows：
As shown in figure 8, rotating disk 2, connecting rod 3, guide rail 4 and fixed block 5 constitute four slider-crank mechanisms in 90 ° of distributions,
Rotating disk 2 be equivalent to four length it is identical be in 90 ° distribution cranks and be fixed together, while rotate slider-crank mechanism,
Connecting rod 3 is the intermediate connecting rod in slider-crank mechanism, and guide rail 4 and fixed block 5 are the sliding block in slider-crank mechanism.
As shown in figure 9, when drive mechanism 8 is rotated clockwise, driving rotating disk 2 to rotate clockwise, rotating disk 2 passes through the band of connecting rod 3
Move four guide rails 4 to shrink simultaneously, realize the contraction of wheel 7, in a contracted state, wheel 7 is located at the lower section of chassis 1, whole machine
The size of people's mobile platform is the size on chassis 1, with flexibility to greatest extent, is easy to navigate on narrow zone；
As shown in Figure 10, when drive mechanism 8 is rotated counterclockwise, rotating disk 2 is driven to rotate counterclockwise, rotating disk 2 passes through the band of connecting rod 3
Move four guide rails 4 to stretch out simultaneously, realize the stretching of wheel 7, under stretching state, wheel 7 is located at around chassis 1, enhances whole
The stability of individual robot moving platform, makes mobile robot platform be not easy overturning.
Embodiment 2
As shown in figure 11, the lower section of chassis 1 is provided with four electric pushrod mechanism conducts installed along chassis diagonal
Drive mechanism, electric pushrod mechanism includes being fixed on the push rod housing 11 of the lower section of chassis 1 and is nested in pushing away in push rod housing 11
Bar extension bar 10；
The front end of push rod extension bar 10 is fixed with the guide rail 4 in telescoping mechanism, and guide rail 4, which is embedded in, is fixed on consolidating for the lower section of chassis 1
Determine in block 5, fixed block 5, push rod housing 11, the axis of push rod extension bar 10 are located on the same line, it is ensured that guide rail 4 is electronic
In the presence of push rod, stretching motion can be done along the diagonal of chassis 1；
Guide rail 4, which is fixedly arranged at the front end with wheel attachment structure 6, wheel attachment structure 6, is fixed with wheel 7, and wherein wheel 7 is at this
It is universal wheel in embodiment.
The operation principle of the present invention is as follows：
Four electric pushrod mechanisms are synchronized with the movement under automatic control system control, are stretched while realizing push rod extension bar 10
Contracting, under the drive of push rod extension bar 10, guide rail 4 and wheel 7 connected therewith also do stretching motion therewith, realize wheelspan in horizontal stroke
Change while to longitudinal direction.Meanwhile, four electric pushrods can also self-movement as needed, realize single wheel wheelspan
Independent change, or several wheel wheelspans change respectively.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (18)
1. the variable mobile robot platform of a kind of wheelspan, it is characterised in that the platform mainly includes chassis, wheel, driving wheel
Flexible drive mechanism, the biography for making telescoping mechanism that wheel wheelspan changes, transmitting between telescoping mechanism and drive mechanism motion
Motivation structure and automatic control system, the wheelspan of described platform wheel is changeable.
2. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that described drive mechanism exists
The coordinated movement of various economic factors under automatic control system, under the drive of drive mechanism, the guide rail of telescoping mechanism does flexible fortune in particular directions
It is dynamic, wheel is stretched out below chassis, makes mobile robot platform more stable, or do opposite motion wheel is shunk back into bottom
Below disk, make mobile robot platform more flexible.
3. the variable mobile robot platform of wheelspan according to claim 2, it is characterised in that what described guide rail stretched
Specific direction can laterally change along platform lateral wheel away from, can also longitudinally change longitudinal wheelspan along platform, can also be along certain
Angle makes lateral wheel change simultaneously away from, longitudinal wheelspan.
4. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that described drive mechanism bag
Include active movement part, forms of motion is linear motion or rotary motion, can by it is electronic, pneumatically or hydraulically mechanism realize
Driving；The driving part of linear motion is such as selected, drive mechanism should be arranged at below chassis, such as select the initiative part of rotary motion
Part, drive mechanism should be arranged above chassis, and rotating shaft is passed through into chassis.
5. the variable mobile robot platform of wheelspan according to claim 4, it is characterised in that described drive mechanism is
Active rotation part, can be the mechanisms such as motor, steering wheel, hydraulic motor, oscillating oil cylinder, engine；Or active extensible member, can
To be the mechanisms such as electric pushrod, air-leg, hydraulic push rod, push-pull electromagnet.
6. the variable mobile robot platform of wheelspan according to claim 5, it is characterised in that described drive mechanism is
Motor or electric pushrod.
7. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that described telescoping mechanism bag
The guide rail and fixed block being fixed on below the chassis body are included, fixed block changes direction according to wheelspan and installs fixation, and guide rail is embedding
Enter in fixed block, guide rail is performed relative motion on fixed block length direction along straight line.
8. the variable mobile robot platform of wheelspan according to claim 7, it is characterised in that the telescoping mechanism by
The fixed block being fixed on below chassis and the guide rail being embedded on fixed block constitute line slide rail, are provided between guide rail and fixed block
Roller or ball, allow the relative motion on straight line direction of guide rail and fixed block.
9. the variable mobile robot platform of wheelspan according to claim 7, it is characterised in that the described telescopic machine
The guide rail front end of structure is provided with wheel attachment structure and wheel, and guide rail end is connected with transmission mechanism, realizes motion transmission, makes to lead
Rail can drive wheel to be moved along a straight line, and described stretching motion can be carried out in bobbin movement or quiescing process.
10. the variable mobile robot platform of wheelspan according to claim 7, it is characterised in that the telescoping mechanism is led
Rail end articulated linkage, the other end of connecting rod is hinged rotating disk outer rim.
11. the variable mobile robot platform of wheelspan according to claim 7, it is characterised in that described telescoping mechanism exists
Chassis certain distance can be stretched out under stretching state, can be located in a contracted state below chassis, the overall size of the telescoping mechanism
No more than chassis size.
12. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that described wheel includes master
Driving wheel, driven pulley and auxiliary wheel；It is preferred that, wheel is universal wheel or omni-directional wheel mechanism, and institute is fixed on by wheel attachment structure
State guide rail front end, universal wheel is auxiliary wheel, it is driving wheel also as auxiliary wheel that omni-directional wheel, which can be used as,.
13. the variable mobile robot platform of wheelspan according to claim 12, it is characterised in that the driving wheel is installed
Position in the middle of the longitudinal direction of chassis, and two driving wheel independent controls, it is possible to achieve zero radius of turn is turned to, and makes motion cleverer
It is living.
14. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that transmission mechanism is including one
Row movement transferring, including rotating disk and connecting rod, described rotating disk are fixed in rotating shaft by flange coupling, the driver
The forms of motion of active movement part can be converted into the stretching motion of wheel by structure, so as to change wheelspan, and transmission mechanism can be with
It is linkage or crank mechanism.
15. the variable mobile robot platform of wheelspan according to claim 14, it is characterised in that described transmission mechanism
For four suite handles, rotating disk, the line slide rail of connecting rod and the telescoping mechanism of the transmission mechanism constitute four groups of crank block machines
Structure, the convert rotational motion of drive mechanism is moved for the linear telescopic of line slide rail.
16. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that described mobile robot
Platform may also drive mechanism do not need transmission mechanism, directly control telescoping mechanism.
17. the variable mobile robot platform of wheelspan according to claim 1, it is characterised in that described wheelspan is referred to
Some wheel on platform is relative to a certain reference point or the distance of line of reference on other wheels or relative chassis；It is this flat
The wheelspan of platform can change when platform is static, can also change when platform is walked, platform at least one or more than one wheel
The wheelspan of son can change, and the wheelspan of a wheel can independently change, and can also coordinate to change with other wheels.
18. the variable mobile robot platform of wheelspan according to claim 17, it is characterised in that described wheelspan changes
Direction include changing along chassis fore-and-aft direction, change along chassis left and right directions, or form an angle along chassis fore-and-aft direction
Direction changes, and wheelspan changes nyctitropic angle between 25 degree to 75 degree, particularly 45 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611204965.8A CN107175641A (en) | 2016-12-23 | 2016-12-23 | A kind of travelling platform of changeable wheel track |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611204965.8A CN107175641A (en) | 2016-12-23 | 2016-12-23 | A kind of travelling platform of changeable wheel track |
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| CN107175641A true CN107175641A (en) | 2017-09-19 |
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| CN201611204965.8A Pending CN107175641A (en) | 2016-12-23 | 2016-12-23 | A kind of travelling platform of changeable wheel track |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108527335A (en) * | 2018-06-20 | 2018-09-14 | 无棣县萱妤技术服务工作室 | A kind of industrial robot pedestal |
| CN108982527A (en) * | 2018-09-06 | 2018-12-11 | 辽宁奇辉电子系统工程有限公司 | A kind of ground iron chassis intelligent checking system |
| CN109057273A (en) * | 2018-09-11 | 2018-12-21 | 洛阳理工学院 | A kind of automatic Mei Feng robot and its application method |
| CN109263749A (en) * | 2018-11-19 | 2019-01-25 | 北京邮电大学 | A kind of mobile robot that chassis is variable |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN109986528A (en) * | 2019-03-18 | 2019-07-09 | 合肥禾成信息科技有限公司 | A kind of rocking bar control robot |
| CN111360848A (en) * | 2020-04-17 | 2020-07-03 | 重庆慧居智能电子有限公司 | Intelligent household service robot |
| EP3815852A1 (en) * | 2019-10-29 | 2021-05-05 | IMS Gear SE & Co. KGaA | Driverless transport device and transport system for transporting objects |
| CN112897362A (en) * | 2020-12-22 | 2021-06-04 | 枣阳美岛生物科技有限公司 | A transport auxiliary device between process for organic fertilizer production |
| CN113021343A (en) * | 2021-03-19 | 2021-06-25 | 哈尔滨学院 | Chassis and visual robot comprising same |
| WO2024077641A1 (en) * | 2022-10-14 | 2024-04-18 | 深圳市闪至科技有限公司 | Movable platform, chassis of movable platform and control method thereof, and storage medium |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109057273A (en) * | 2018-09-11 | 2018-12-21 | 洛阳理工学院 | A kind of automatic Mei Feng robot and its application method |
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| CN109263749A (en) * | 2018-11-19 | 2019-01-25 | 北京邮电大学 | A kind of mobile robot that chassis is variable |
| CN109986528A (en) * | 2019-03-18 | 2019-07-09 | 合肥禾成信息科技有限公司 | A kind of rocking bar control robot |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN109909972B (en) * | 2019-04-17 | 2024-04-12 | 华电电力科学研究院有限公司 | Wheel tread adjustable water-cooled wall detection robot |
| WO2021083594A1 (en) * | 2019-10-29 | 2021-05-06 | Ims Gear Se & Co. Kgaa | Driverless transport device and driverless transport system for transporting objects, and method for operating a driverless transport device and a driverless transport system for transporting objects |
| EP3815852A1 (en) * | 2019-10-29 | 2021-05-05 | IMS Gear SE & Co. KGaA | Driverless transport device and transport system for transporting objects |
| CN111360848A (en) * | 2020-04-17 | 2020-07-03 | 重庆慧居智能电子有限公司 | Intelligent household service robot |
| CN112897362A (en) * | 2020-12-22 | 2021-06-04 | 枣阳美岛生物科技有限公司 | A transport auxiliary device between process for organic fertilizer production |
| CN113021343A (en) * | 2021-03-19 | 2021-06-25 | 哈尔滨学院 | Chassis and visual robot comprising same |
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Application publication date: 20170919 |