CN107640234A - It is a kind of that compound ground robot is carried out based on wheel - Google Patents
It is a kind of that compound ground robot is carried out based on wheel Download PDFInfo
- Publication number
- CN107640234A CN107640234A CN201710833617.5A CN201710833617A CN107640234A CN 107640234 A CN107640234 A CN 107640234A CN 201710833617 A CN201710833617 A CN 201710833617A CN 107640234 A CN107640234 A CN 107640234A
- Authority
- CN
- China
- Prior art keywords
- wheel
- secondary track
- main body
- ground robot
- compound ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to technical field of automation, more particularly to a kind of driven by crawler belt or train, it can be moved in the case of multiple types of floors, with reference to the manipulator and camera of equipment, the task such as scouting, explosive, carrying that can carry out carries out compound ground robot based on wheel, should include agent structure, running gear and battery case based on the compound ground robot of wheel shoe；Because using above-mentioned technical proposal, whole system of the present invention is divided into the several module compositions of main body, left and right caterpillar system, left and right train, left and right secondary track, symmetrical configuration, is easy to safeguard；The structure of wheel auxiliary swing arm further improves the handling capacity of robot, scheme compared to packbot, reduce unnecessary weight, reduce potential resistance again, above all, the position of centre of gravity of robot by the posture of swing arm, can be adjusted, ensures that robot technology action is stable.
Description
Technical field
The invention belongs to technical field of automation, more particularly to it is a kind of driven by crawler belt or train, can be more
Moved under kind of surface state, with reference to the manipulator and camera of equipment, the task such as scoutings that can carry out, explosive, carrying based on
Wheel carries out compound ground robot.
Background technology
Various types of ground robots are largely currently equipped both at home and abroad, are widely used in the special types such as army, police, fire-fighting
Field, and significant effect is achieved, a large amount of manpowers are saved, have saved countless life.But in practical application, it is limited by
Prior art, the common robot in market have the following disadvantages：
Travel speed and handling capacity contradict
Wherein wheeled robot is applied to ground robot that is medium-and-large-sized, quickly moving, in special sections such as building, rugged mountain areas
Domain then can not effectively use, and minitype wheeled ground robot is worse by performance, can only perform short distance by means such as hand throwings
Indoor simple task；Caterpillar robot possesses the handling capacity of stronger ground adaptability and complicated landform, but crawler belt itself
Less efficient, especially in the environment of cold, thick and heavy rubber or polyurethane elastomeric material are hardened on crawler belt, motor needs gram
Large drag forces traveling is taken, it is serious to reduce travel speed and distance travelled；
It is powerful to conflict with phase easy to carry
It is the usual bulky of robot that existing wheel, which is carried out compound, and transport inconvenience, expensive, matching system is complicated, to requirement report
The high-volume equipment of position and the widely available very big inconvenience brought of multitask.
Patent has had similar retrieval both at home and abroad at present, and there are the caterpillar robot using U.S. Packbot as representative in foreign countries
Product, there is the product for imitating Packbot the country, but concrete methods of realizing is slightly different with this patent.
Packbot product, possess thick and heavy crawler belt, by the external tooth type of crawler belt, realize increasing frictional ground force, carry
High step climbs ability, and system such as is hit at a series of functions when reduction is fallen.Packbot carries out equipped with two modularization auxiliary
Band, can be with auxiliary robot throwing over barrier.
Existing Packbot product, possess good by property and resistance to shock loads ability.But its caterpillar belt structure is turning to
When efficiency it is lower slightly, manufacturing process is complicated, thus manufacturing price is expensive, is unsuitable for high-volume and equips.
In addition, the design limitation of the module such as battery uniformly configured the position of center of gravity, excessively rearward, secondary track in addition
Length reason, limit its climb height barrier thing passing through property.
Domestic existing imitation products, although profile is similar to Packbot, are answered although avoiding Packbot in manufacturing process
The performance paid close attention in the multinomial practical applications such as miscellaneous technique, but car body weight is sacrificed for this, height of C.G., center of gravity front and back position
Parameter, Packbot possess by property and resistance to shock loads ability not accomplished, Er Qiechong on imitation products at home
Amount is big, not readily portable and carrying.
The content of the invention
In order to solve the above problems, it is an object of the present invention to provide a kind of distributing rationally by center of gravity, further increase
The climbing of product and side slope handling capacity；By distributing rationally for form, product weight is reduced, from weight and operating attitude two
Aspect improves portability；Distinctive modularized design is employed, simplifies operation, improves the weight of the working flexibility of system
Gently, speed is fast, good by performance, and compact portable carries out compound ground robot based on wheel.
The technical scheme is that：It is a kind of that compound ground robot is carried out based on wheel, compound ground should be carried out based on wheel
Robot includes agent structure, running gear and battery case；
The agent structure includes preceding main body and rear framework, and the front end both sides of the preceding main body are provided with drive shaft, among front end
Position is provided with front camera, and the preceding body interior is provided with control system and drives the motor of the drive shaft；Before described
Rear camera, guidance panel and the interface that stays for installing antenna, the guidance panel is provided with rear side of main body to be provided with
Emergency stop switch and data-interface, the front camera, rear camera, guidance panel, emergency stop switch, data-interface and staying connect
The mouth uniformly control system electrical connection；
Framework is in that hollow, wherein one end and the rear side of the preceding main body are affixed, and the other end is handle after described；
The running gear includes caterpillar system and the secondary track system that double cog synchronous belt is made, the double cog synchronous belt
The caterpillar system made is arranged on the both sides of the agent structure, the secondary track by Left-side support plate and Right side support plate
System is arranged on the front end for the caterpillar system that the double cog synchronous belt is made；
The battery case is arranged on by carry device in the side wall of the both sides of the agent structure.
Further, the caterpillar system, which includes the caterpillar system that double cog synchronous belt is made, includes crawler belt, Athey wheel, tensioning
Device and elastic wheel；
Wherein, 2 Athey wheels are separately mounted in the drive shaft of the preceding main body, and 2 Athey wheels pass through company in addition
Spindle is arranged on the both sides of the rear end of the rear framework, and 2 crawler belts are separately positioned on 4 Athey wheels, Mei Gesuo
State and the elastic wheel is all connected with the outside of Athey wheel, the tensioning apparatus is set in the rear in connecting shaft.
Further, the secondary track system includes secondary track support arm, synchronous Athey wheel, secondary track, auxiliary shoe
Belt wheel and stop flange；
Wherein, 2 synchronous Athey wheels are mounted in the drive shaft on the outside of elastic wheel by the stop flange,
The one end of 2 synchronous Athey wheels respectively with the secondary track support arm is hinged, 2 secondary track support arms it is another
One end sets the secondary track wheel, and the secondary track is arranged on the synchronous Athey wheel and secondary track wheel.
Further, the diameter of the elastic wheel is 1.2 times of the crawler belt wheel diameter.
Further, compound ground robot should be carried out based on wheel also includes loading structure, and the loading structure includes bearing a heavy burden
Main body and some bogie wheels, some bogie wheels be placed equidistant the heavy burden body side and with the crawler belt inner surface
Contact, 2 heavy burden main bodys are symmetrically fixed in the lower end of the agent structure both sides, and the end at the heavy burden main body both ends
Distance to the agent structure end is equal.
Further, the length of the secondary track support arm is not less than the wheelbase between front and rear elastic wheel.
Further, the 1/3 of a diameter of agent structure height of the bogie wheel.
Further, the surface of the secondary track support arm is provided with some rectangular through-holes, the secondary track support arm
One side end face is first-class away from provided with least 2 reinforcements.
Further, the length of the heavy burden main body is the 1/2 of the agent structure length.
Further, the lateral wall of the rear framework is provided with the neck for being used for fixing carry device.
Further, the outer surface of described crawler belt is equidistantly provided with some lug tooths, centrally located to be provided with screens groove, position
Internal track surfaces in the both sides of the screens groove are provided with internal tooth；Stop flange is provided with the outside of the wheel hub of the Athey wheel, it is described
Equidistantly power teeth is provided with the end face of stop flange provided with some.
The beneficial effects of the invention are as follows：Because using above-mentioned technical proposal, the present invention, which has the special feature that, is：
First, taking into account the movement of high speed and the obstacle detouring of complex road surface, the train of optimization provides for system in straight road surface high-speed cruising
Efficient support, brief crawler belt can provide necessary and not unnecessary power-assisted under complicated landform, unnecessary so as to reduce
Electric quantity consumption, put forward effect and subtract consumption；
Second, center of gravity is short, forward, this causes ground robot to be concentrated mainly on front half section to the active force on ground, is more suitable for climbing
The inclined-plane of wide-angle is climbed, and possesses very strong stability；
Three are advantageous for loss of weight, more portable, the design of proprietary hollow out, eliminate unnecessary containment weight, can be subtracted with ultimate attainment
Weight, reserves the position of holding, that is, is easy to portable carrying, is easy to tactics to throw again；
Fourth, simple in construction, whole system is divided into main body, left and right caterpillar system, left and right train, the several moulds of left and right secondary track
Block forms, and symmetrical configuration, is easy to safeguard；The structure of wheel auxiliary swing arm further improves the handling capacity of robot, compared to
Packbot scheme, that is, reduce unnecessary weight, reduces potential resistance again, it is most important that, swing arm can be passed through
Posture, the position of centre of gravity of robot is adjusted, ensure that robot technology action is stable.
Brief description of the drawings
Fig. 1 is a kind of structural representation that compound ground robot is carried out based on wheel of the present invention.
Fig. 2 is a kind of structural representation for the agent structure that compound ground robot is carried out based on wheel of the present invention.
Fig. 3 is a kind of structural representation for the secondary track system that compound ground robot is carried out based on wheel of the present invention.
Fig. 4 is a kind of structural representation for the caterpillar system that compound ground robot is carried out based on wheel of the present invention.
Fig. 5 is a kind of crawler belt of caterpillar system and the structure of Athey wheel that compound ground robot is carried out based on wheel of the present invention
Schematic diagram.
In figure：
1. main body, 1-111. drive shafts, 1-112. emergency stop switch, 1-113. data-interfaces, 1-114. before agent structure, 1-11.
Stay framework, 2. running gears, 2-1. caterpillar systems, 2-11. crawler belts, 2-111. lug tooths, 2-112. screens after interface, 1-12.
Groove, 2-113. internal tooths, 2-12. Athey wheels, 2-13. tensioning apparatus, 2-14. elastic wheels, 2-2. secondary tracks system, 2-21. are auxiliary
Help crawler belt support arm, 2-22. synchronizations Athey wheel, 2-23. secondary tracks, 2-24. secondary tracks wheel, 2-25. angle adjusting mechanisms,
3. before battery case, 4. rear cameras, 5. loading structures, 5-1. heavy burdens main body, some bogie wheels of 5-2., 6. guidance panels, 7.
Put camera, 8. antennas, 9. carry devices, 10. handles.
Embodiment
Technical scheme is described further below in conjunction with the accompanying drawings.
As Figure 1-Figure 5, the present invention is a kind of carries out compound ground robot based on wheel, and compound ground should be carried out based on wheel
Robot includes agent structure 1, running gear 2 and battery case 3；
The agent structure 1 includes respectively accounting for the preceding main body 1-11 and rear framework 1-12 of agent structure length half, the preceding main body
1-11 front end both sides are provided with drive shaft 1-111, and front end centre position is provided with front camera 7, in the preceding main body 1-11
Portion is provided with control system and drives the motor of the drive shaft 1-111；Rearmounted take the photograph is provided with rear side of the preceding main body 1-11
Stay interface 1-114 as first 4, guidance panel 6 and for install antenna, the guidance panel 6 be provided with emergency stop switch 1-112 and
Data-interface 1-113, the front camera 7, rear camera 4, guidance panel 6, emergency stop switch 1-112, data-interface 1-
113 and stay interface 1-114 uniformly control system electrical connections；
Framework 1-12 is in hollow after described, and wherein one end and the rear side of the preceding main body 1-11 is affixed, and the other end is handle 10；
The running gear 2 includes the caterpillar system 2-1 that makes of double cog synchronous belt and secondary track system 2-2, described two-sided
The caterpillar system that toothed timing is made is arranged on the both sides of the agent structure 1, institute by Left-side support plate and Right side support plate
State the front end for the caterpillar system 2-1 that secondary track system 2-2 makes installed in the double cog synchronous belt；
The battery case 3 is arranged on by carry device 9 in the side wall of the both sides of the agent structure 1.
The caterpillar system 2-1 include the caterpillar system made of double cog synchronous belt include crawler belt 2-11, Athey wheel 2-12,
Tensioning apparatus 2-13 and elastic wheel 2-14；
Wherein, 2 Athey wheel 2-12 are separately mounted on the drive shaft 1-111 of the preceding main body 1-11, in addition described in 2
Athey wheel 2-12 is arranged on the both sides of the rear end of the rear framework 1-12 by connecting shaft, and 2 crawler belt 2-12 are set respectively
On 4 Athey wheel 2-12, the elastic wheel 2-14, the tensioning dress are all connected with the outside of each Athey wheel 2-12
2-13 is put to set in the rear in connecting shaft.
The secondary track system 2-2 includes secondary track support arm 2-21, synchronous Athey wheel 2-22, secondary track 2-
23rd, secondary track wheel 2-24 and angle adjusting mechanism 2-25；
Wherein, 2 synchronous Athey wheel 2-21 are mounted on the outside of elastic wheel 2-14 by the stop flange 2-25
On the drive shaft 1-111,2 synchronous Athey wheel 2-22 are cut with scissors with one end of the secondary track support arm 2-21 respectively
Connect, the 2 secondary track support arm 2-21 other end sets the secondary track wheel 2-24, the secondary track 2-23 to set
Put on the synchronous Athey wheel 2-22 and secondary track wheel 2-24.
The diameter of the elastic wheel 2-14 is 1.2 times of the Athey wheel 2-12 diameters.
This carries out compound ground robot based on wheel also includes loading structure 5, and the loading structure includes heavy burden main body 5-1
With some bogie wheel 5-2, some bogie wheel 5-1 be placed equidistant the heavy burden main body 5-2 sides and with the crawler belt 2-
11 inner surfaces contact, and 2 heavy burden main body 5-2 are symmetrically fixed in the lower end of the both sides of agent structure 1, and the heavy burden
The distance of the end at main body 5-2 both ends to the end of agent structure 1 is equal.
The length of the secondary track support arm 2-21 is not less than the wheelbase between front and rear elastic wheel 2-14.
The 1/3 of the height of a diameter of agent structure 1 of the bogie wheel 5-2.
It is according to claim 3 that compound ground robot is carried out based on wheel, it is characterised in that the secondary track branch
Brace 2-21 surface is provided with some rectangular through-hole 2-211, and a side end face of the secondary track support arm 2-21 is first-class away from setting
There are at least 2 reinforcement 2-212.
The length of the heavy burden main body 5-1 is the 1/2 of the length of agent structure 1.
Framework 1-12 lateral wall is provided with the neck 8 for being used for fixing carry device after described.
Described crawler belt 2-11 outer surface is equidistantly provided with some lug tooth 2-111, centrally located to be provided with screens groove
2-111, the crawler belt 2-11 inner surfaces positioned at the both sides of the screens groove 2-112 are provided with internal tooth 2-113；The Athey wheel 2-12's
Stop flange 2-121 is provided with the outside of wheel hub, equidistantly power teeth 2- is provided with provided with some on the end face of the stop flange 2-121
122, during traveling, the stop flange of belt wheel is stuck in the screens groove of band, because belt wheel is secured, can only be rotated, it is impossible to axially
Play, band can only just be driven, without axial float chain-taking,
The sliding tooth of belt wheel, and traditional timing belt, tooth form, tooth pitch be it is the same, standard, unlike, herein, belt wheel
Sliding tooth grow on the end face of flange, traditional synchronous pulley, grown on cylindrical, so improve the advantages of be gravelstone
Son is easy to drop, it is not easy to blocks main crawler belt
It is characteristic of the invention that：
Hollow structure empty after weight before 1.
The ground robot design of centre of gravity in car body first half, i.e., before main body 1-11 there was only half of length over ends of body, and before concentrating on
Half part.This design has the advantage that center of gravity is forward, and during climbing, center of gravity is forward, helps to create power downward forward
Square, so as to be easier to photograph on higher barrier, the phenomenon for being not susceptible to insufficient pressure and skidding；
Framework 1-12 uses hollow frame structure afterwards, and the handle 10 reserved, the operator that is more convenient for, which carries, to be carried, and tactics are thrown
Throw, therefore structure as handle is also the protection point of this patent, whether its thickness, side or circle even bend, and are all special to this
The simple modification of profit；
Guidance panel 6 in hollow structure, the position simple and clear can conveniently operate, and because inside square shape,
Frame protection is substantially subjected to, it is possible to prevente effectively from false triggering, as emergency stop switch can be operated easily in this position, operator
Arrive, but in tactics jettisoning action, the emergency stop switch of this position is not easy to be triggered by the foreign matter in environment, causes failure.
New wheel carries out composite construction
This programme innovatively employs a kind of wheel and carries out composite construction, simple and practical so that robot is simple and reliable based on this
Structure, the efficiency that wheeled robot is run at high speed both was obtained, and met the handling capacity of robot under complicated landform again.
The diameter of the elastic wheel of the robot is slightly larger than the diameter of Athey wheel.Under such structure, robot transports on level land
During row, mainly by wheel contacts ground handling, crawler belt can be made narrow and small, undertake the effect of driving belt, narrow and small crawler belt
Chance because contacting ground is not easy to be worn reducing, meanwhile, narrow and small crawler belt running resistance is small, so as to improve the machine of robot
Tool efficiency；When robot is in rough ground cross-country service, complicated landform makes somebody a mere figurehead train, when can not drive, crawler belt intervention with
The matching contact of landform, so as to ensure robot with caterpillar band type normal operation.
Half long small bogie wheel supporting construction
Small bogie wheel only has half long structure, during robot ambulation, especially on the larger road surface of some resistances, can subtract
The effective length that small machine people contacts with ground, left and right crawler belt shorten with ground contact length, effect and generally bear a heavy burden during straight trip
Wheel is the same without bogie wheel, but when turning to, because being shortened with ground contact length, the moment of resistance shortens, and can effectively reduce resistance
Power, make steering more laborsaving, avoid not caused enough the stuck phenomenon of steering moment, save the electricity of preciousness, increase robot
Cruising time and mileage.
Stop flange, different original circumferential teeth deformation is to grow the small rod of cantilever circumferentially with tooth shape character；Belt wheel is then
Made a variation for common double cog synchronous belt, it is characterized in that being slotted among double cog synchronous belt, avoid the flange of belt wheel, so as to
When rotating, band is locked by flange constrains, so that can not axial float.
The design possesses that belt is light, and internal resistance is small, is driven the features such as efficient, it is most important that, can in complicated sand-gravel surface
Stuck phenomenon is caused effectively to prevent sandstone from entering teeth groove, improves the robustness of system.Therefore distinctive belt wheel and band
Design,
The hub positions of Athey wheel take the spoke of hollow out to fill shock-absorbing design.In addition, the tread of crawler belt external tooth tooth form, use
Big tooth form hollow out design, the external tooth tooth form tread of hollow out design, as the innovative point of this patent, the advantage is that, i.e., further
The elasticity of driving wheel is increased, impulsive force when reducing high-speed cruising suffered by system；Reduce weight again, to reducing machine
The overall weight of people is helpful.The shape of hollow out can be with varied, but the driving wheel of this dual shock-absorbing design is this patent
Innovative point, the simple transformation of hollow out fancy can not avoid the fact that invade this patent innovative point.
Secondary track swing arm structure
First point, the driving wheel of secondary track and driven pulley are increased, and after increasing Athey wheel, secondary track support arm is drawn with crawler belt
Distance is opened, such design can ensure that, in complicated rough ground, crawler belt is not maked somebody a mere figurehead, that is, ensure to avoid increasing again by property
Unnecessary weight；
Second point, secondary track support arm lengthen, and the secondary track support arm of lengthening can aid in vertical height higher in climbing
Spend obstacle, it is often more important that, the crawler belt arm of lengthening is enough the center of gravity for changing robot, so as to tackle freely upward slope, under
The technical need of centre of gravity adjustment when slope and obstacle detouring；
Thirdly, secondary track radius bend is big, can reduce motor required resistance overcome in driving.
Claims (10)
1. a kind of carry out compound ground robot based on wheel, should carry out compound ground robot based on wheel includes agent structure（1）、
Running gear（2）And battery case（3）；
The agent structure（1）Including preceding main body（1-11）With rear framework（1-12）, the preceding main body（1-11）Front end both sides
Drive shaft is installed（1-111）, front end centre position is provided with front camera（7）, the preceding main body（1-11）Inside is provided with
Control system and the driving drive shaft（1-111）Motor；The preceding main body（1-11）Rear side be provided with rear camera
（4）, guidance panel（6）Interface is stayed with for install antenna（1-114）, the guidance panel（6）It is provided with emergency stop switch（1-
112）And data-interface（1-113）, the front camera（7）, rear camera（4）, guidance panel（6）, emergency stop switch（1-
112）, data-interface（1-113）With stay interface（1-114）The uniformly control system electrical connection；
Framework after described（1-12）In hollow, wherein one end and the preceding main body（1-11）Rear side it is affixed, the other end is carries
Hand（10）；
The running gear（2）The caterpillar system made including double cog synchronous belt（2-1）With secondary track system（2-2）, institute
State the caterpillar system that double cog synchronous belt is made and the agent structure is arranged on by Left-side support plate and Right side support plate（1）'s
Both sides, the secondary track system（2-2）The caterpillar system made installed in the double cog synchronous belt（2-1）Front end；
The battery case（3）Pass through carry device（9）It is arranged on the agent structure（1）Both sides side wall on.
2. according to claim 1 carry out compound ground robot based on wheel, it is characterised in that the caterpillar system（2-
1）Include crawler belt including the caterpillar system that double cog synchronous belt is made（2-11）, Athey wheel（2-12）, tensioning apparatus（2-13）With
Elastic wheel（2-14）；
Wherein, 2 Athey wheels（2-12）It is separately mounted to the preceding main body（1-11）Drive shaft（1-111）On, in addition 2
The individual Athey wheel（2-12）The rear framework is arranged on by connecting shaft（1-12）Rear end both sides, 2 crawler belts（2-
12）It is separately positioned on 4 Athey wheels（2-12）On, each Athey wheel（2-12）Outside be all connected with the elastic wheel
（2-14）, the tensioning apparatus（2-13）Set in the rear in connecting shaft.
3. according to claim 1 carry out compound ground robot based on wheel, it is characterised in that the secondary track system
（2-2）Including secondary track support arm（2-21）, synchronous Athey wheel（2-22）, secondary track（2-23）, secondary track wheel（2-
24）And angle adjusting mechanism（2-25）；
Wherein, 2 synchronous Athey wheels（2-21）Pass through the stop flange（2-25）It is mounted on elastic wheel（2-14）
The drive shaft in outside（1-111）On, 2 synchronous Athey wheels（2-22）Respectively with the secondary track support arm（2-
21）One end be hinged, 2 secondary track support arms（2-21）The other end secondary track wheel is set（2-24）, institute
State secondary track（2-23）It is arranged on the synchronous Athey wheel（2-22）With secondary track wheel（2-24）On.
4. according to claim 1 carry out compound ground robot based on wheel, it is characterised in that the elastic wheel（2-14）
Diameter be the Athey wheel（2-12）1.2 times of diameter.
5. according to claim 1 carry out compound ground robot based on wheel, it is characterised in that should be carried out based on wheel compound
Ground robot also includes loading structure（5）, the loading structure includes heavy burden main body（5-1）With some bogie wheels（5-2）If
Do the bogie wheel（5-1）It is placed equidistant in the heavy burden main body（5-2）Side and with the crawler belt（2-11）Inner surface connects
Touch, 2 heavy burden main bodys（5-2）Symmetrically it is fixed in the agent structure（1）The lower end of both sides, and the heavy burden main body（5-
2）The end at both ends is to the agent structure（1）The distance of end is equal.
6. according to claim 3 carry out compound ground robot based on wheel, it is characterised in that the secondary track support
Arm（2-21）Length be not less than front and rear elastic wheel（2-14）Between wheelbase.
7. according to claim 5 carry out compound ground robot based on wheel, it is characterised in that the bogie wheel（5-2）
A diameter of agent structure（1）The 1/3 of height.
8. according to claim 3 carry out compound ground robot based on wheel, it is characterised in that the secondary track support
Arm（2-21）Surface be provided with some rectangular through-holes（2-211）, the secondary track support arm（2-21）A side end face it is first-class
Away from provided with least 2 reinforcements（2-212）.
9. according to claim 5 carry out compound ground robot based on wheel, it is characterised in that the heavy burden main body（5-
1）Length be the agent structure（1）The 1/2 of length.
10. according to claim 2 carry out compound ground robot based on wheel, it is characterised in that described crawler belt（2-
11）Outer surface be equidistantly provided with some lug tooths（2-111）, it is centrally located to be provided with screens groove（2-111）, positioned at the card
Position groove（2-112）Both sides crawler belt（2-11）Inner surface is provided with internal tooth（2-113）；The Athey wheel（2-12）Wheel hub on the outside of
Provided with stop flange（2-121）, the stop flange（2-121）End face on be equidistantly provided with and some be provided with power teeth（2-122）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710833617.5A CN107640234A (en) | 2017-09-15 | 2017-09-15 | It is a kind of that compound ground robot is carried out based on wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710833617.5A CN107640234A (en) | 2017-09-15 | 2017-09-15 | It is a kind of that compound ground robot is carried out based on wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107640234A true CN107640234A (en) | 2018-01-30 |
Family
ID=61111457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710833617.5A Pending CN107640234A (en) | 2017-09-15 | 2017-09-15 | It is a kind of that compound ground robot is carried out based on wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107640234A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531600A (en) * | 2019-01-17 | 2019-03-29 | 北京晶品特装科技有限责任公司 | A kind of single-soldier backpack type scouting explosive-removal robot |
| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN104386152A (en) * | 2014-11-18 | 2015-03-04 | 上海交通大学 | Caterpillar band type mobile robot wheel band structure adaptive to complicated road conditions |
| US20150210327A1 (en) * | 2014-01-30 | 2015-07-30 | Robo-team Ltd. | Ground robot drive system |
| US9637186B1 (en) * | 2015-12-03 | 2017-05-02 | Engineering Services Inc. | Dual mode vehicle |
| CN106741258A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis |
| CN207875802U (en) * | 2017-09-15 | 2018-09-18 | 北京华信智航科技有限公司 | It is a kind of to carry out compound ground robot based on wheel |
-
2017
- 2017-09-15 CN CN201710833617.5A patent/CN107640234A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| US20150210327A1 (en) * | 2014-01-30 | 2015-07-30 | Robo-team Ltd. | Ground robot drive system |
| CN104386152A (en) * | 2014-11-18 | 2015-03-04 | 上海交通大学 | Caterpillar band type mobile robot wheel band structure adaptive to complicated road conditions |
| US9637186B1 (en) * | 2015-12-03 | 2017-05-02 | Engineering Services Inc. | Dual mode vehicle |
| CN106741258A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis |
| CN207875802U (en) * | 2017-09-15 | 2018-09-18 | 北京华信智航科技有限公司 | It is a kind of to carry out compound ground robot based on wheel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531600A (en) * | 2019-01-17 | 2019-03-29 | 北京晶品特装科技有限责任公司 | A kind of single-soldier backpack type scouting explosive-removal robot |
| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105292281B (en) | A kind of substation inspection wheel carries out formula barrier-surpassing robot | |
| CN105383586B (en) | Crawler leg composite movable robot | |
| CN104986233B (en) | Track swing arm type obstacle-crossing robot | |
| CN105128961B (en) | Deformation carries out wheel compound suspension frame and has its mobile platform | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN109731256A (en) | It is a kind of to realize the forest fit-extinguishing robot and method for throwing that soil fire extinguishing is gathered materials on the spot | |
| CN102849132A (en) | Wheel-track compound deformation track robot | |
| CN100354171C (en) | Dangerous operation robot with wheel-leg-crawler combined moving mechanism | |
| CN104975580A (en) | Electric sanitation vehicle | |
| CN101439736A (en) | All-terrain mobile robot | |
| CN102107688A (en) | Dual-leg travelling mechanism with adjustable joint length | |
| CN106965864A (en) | Wheel based on planetary gear carries out compound adaptive robot mobile platform | |
| CN107640234A (en) | It is a kind of that compound ground robot is carried out based on wheel | |
| CN102514640B (en) | Deformable rescue robot | |
| CN104787133A (en) | Turnover arm mechanism applicable to wheel-track combined chassis | |
| CN2933748Y (en) | Walking driving device of self-inverting track-mounted robot | |
| CN101428652A (en) | Mobile robot for ice and snow surface | |
| CN207875802U (en) | It is a kind of to carry out compound ground robot based on wheel | |
| CN208760749U (en) | A kind of wheel-track combined walking robot | |
| CN107280874A (en) | A kind of traveling mechanism of stair-climbing wheel chair | |
| CN104691642B (en) | A kind of leggy connecting rod actuation | |
| CN203158114U (en) | Intelligent obstacle crossing robot based on Bluetooth control | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN111591360A (en) | Novel wheel-track conversion walking device | |
| CN205181648U (en) | Electric power -assisted bicycke |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |