CN108202775B - Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot - Google Patents
Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot Download PDFInfo
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- CN108202775B CN108202775B CN201810198131.3A CN201810198131A CN108202775B CN 108202775 B CN108202775 B CN 108202775B CN 201810198131 A CN201810198131 A CN 201810198131A CN 108202775 B CN108202775 B CN 108202775B
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- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 description 9
- 238000013461 design Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
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- 239000003245 coal Substances 0.000 description 2
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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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
- B62D55/08—Endless track units; Parts thereof
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Abstract
The invention discloses a crawler-type mobile platform of a double-drive double-arm concentric four-axis small mining robot, which comprises a platform frame and walking crawler assemblies arranged on the left side and the right side of the platform frame, wherein the swinging arm crawler assemblies are arranged at the front end, and the walking crawler assemblies comprise: the device comprises a driving main shaft, a driving motor, a driving gear set, a main crawler wheel, a main crawler belt and a guide wheel; swing arm track assembly includes: the swing arm shaft, the swing arm motor, the swing arm gear set, the swing arm crawler wheel and the swing arm crawler swing arm support plate are combined and fixed at the front ends of the two support plates; the driving motor of the single-side crawler belt assembly is arranged on a space plane below the swing arm motor and drives two sides of the main shaft at the projection part; the driving motors on the left side and the right side and the swing arm motors are respectively and correspondingly distributed in an axisymmetric mode. The invention aims to provide a crawler-type moving platform of a double-drive double-arm concentric four-axis small mining robot, which is convenient for the use in complex and narrow spaces in mines, and has the advantages of smaller occupied space, more convenient movement and more stable movement.
Description
Technical Field
The invention belongs to the technical field of ground mobile robots, in particular to a crawler-type mobile platform of a double-drive double-arm concentric four-axis small mining robot, which can be used for walking in a complex terrain and narrow space environment road condition, is particularly suitable for being used as a mobile carrier in tasks such as investigation, search and rescue on a mine site, and provides important first hand information for workers.
Background
After accidents such as gas explosion and collapse happen in underground coal mines or under other disaster environments, surrounding environments are seriously damaged, disaster-affected environment information cannot be directly transmitted to a rescue command center, rescue workers cannot engage in rescue actions, rescue efficiency is seriously affected, and the rescue workers bear huge life risks. The rescue robot is required to collect disaster environment information in a complex environment and transmit the disaster environment information to the rescue command center, so that an object carrying platform capable of moving in the complex mine environment is required; and under the condition of the same requirements of carrying equipment, the smaller and more flexible the mobile platform is, the more suitable for complex environments can be achieved.
With the continuous progress of science and technology, human beings develop more and more intelligently on automation equipment, such as unmanned automobiles, intelligent robots and the like; there are many areas for improvement in the development and application of small mining robots:
the following two driving methods are mostly adopted in the prior art.
1. The Chinese patent application No. CN201610710117.8 and the publication No. CN106275115A disclose a six-crawler four-swing arm rescue robot, wherein a transmission mode adopted by the robot participates in fig. 3 of the specification, the robot is bevel gear transmission, a side-by-side tiling transmission mode is adopted, more transverse platform space is occupied, and simplification of transmission equipment is difficult to achieve; and the bevel gear driving torque output is inferior to that of the cylindrical gear when the same motor is driven, and the transmission stability of the bevel gear is lower than that of the cylindrical gear.
2. Chinese patent application number CN200920218549.2, publication number CN201516604U discloses a modular track rocker arm type underground coal mine detection robot, which adopts a synchronous belt for transmission, and the synchronous belt technology has a certain requirement for the motor drive interval (the synchronous belt can be used only by keeping a proper distance between a driving wheel and a driven wheel), and the tolerance of the synchronous belt to space determines that the synchronous belt is not suitable for the miniaturization requirement of a robot platform.
In view of the defects of the prior art, the development team of the applicant carries out optimal design on a small mining robot platform, so that the small mining robot platform occupies smaller space, is more convenient to move and moves more stably.
Disclosure of Invention
Aiming at the problems, the invention provides the crawler-type moving platform of the double-drive double-arm concentric four-axis small mining robot, which is convenient for the use in complex and narrow spaces in mines, and has smaller occupied space, more convenient movement and more stable movement.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a small-size mining robot crawler-type moving platform of double drive both arms, concentric four-axis, it includes platform frame (1) and sets up the walking track subassembly in its left and right sides, sets up the swing arm track subassembly at the front end, and wherein, the walking track subassembly includes: the driving main shaft (7) is fixedly and rotatably arranged between a first bearing seat (8) and a second bearing seat (9), and a driving pinion (71) is sleeved on the driving main shaft (7) between the first bearing seat (8) and the second bearing seat (9) and is meshed with a driving gear (41) at the tail end of the driving motor (4); the position of the driving main shaft (7) extending out of the platform frame (1) is provided with a main crawler wheel (2) and a main crawler belt (21) arranged on the main crawler wheel, and the other end of the main crawler belt (21) is arranged on a guide wheel (22).
Swing arm track assembly includes: the swing arm shaft (6) and the tail end of the inner side of the swing arm shaft (6) are provided with a swing arm auxiliary gear (61) which is meshed with a swing arm gear (51) on the swing arm motor (5); a swing arm crawler belt (31) is arranged on the outer side of the swing arm shaft (6) through a fixed swing arm crawler wheel (3); the swing arm crawler wheel (3) is sleeved on the outer end of the driving main shaft (7), the two sides of the swing arm crawler wheel (3) are respectively fixed with a swing arm inner side supporting plate (36) and a swing arm outer side supporting plate (35), and the front ends of the two supporting plates are combined and fixed with a swing arm front wheel (32); the swing arm crawler belt (31) is arranged between the swing arm crawler wheel (3) and the swing arm front wheel (32).
The driving motor (4) of the single-side crawler belt assembly is arranged on a space plane below the swing arm motor (5) and drives two sides of the main shaft (7) at the projection part; the driving motors (4) on the left side and the right side and the swing arm motor (5) are respectively and correspondingly distributed in an axisymmetric mode.
Further, the driving main shaft (7) is sleeved on the swing arm shaft (6) and extends from the first bearing seat (8) at the inner side to the swing arm crawler wheel (3) at the outer side.
Further, the main crawler wheels (2) and the guide wheels (22) are tensioned through the supporting plates, and the guide wheels (22) on the single main crawler (21) are coaxially arranged on two sides of the main crawler (21) respectively in groups.
Further, a boss (351) is arranged on the outer side of the swing arm outer side supporting plate (35), and the boss (351) is arranged at the axis of the swing arm shaft (6).
Further, sleeve bearings (72) are arranged at the two ends of the swing arm shaft (6) in a sleeved mode, a swing arm end seal (34) is sleeved on the swing arm shaft (6) at the outer sleeve bearing (72), and the swing arm end seal (34) is fastened on the swing arm crawler wheel (3).
Further, a shaft sleeve (92) is provided at the second bearing seat (9) outside the platform frame (1), which is fastened to the second bearing seat (9).
Further, a towing wheel (33) is fixedly arranged at the inner side edge of the swing arm crawler belt (31) between the swing arm inner side supporting plate (36) and the swing arm outer side supporting plate (35).
Further, the outer driving main shaft (7) of the main crawler wheel (2) is fixed through a small round nut (23).
Further, motor ends of the driving motor (4) and the swing arm motor (5) face to the inner side of the platform frame (1).
Further, the platform frame (1) is divided into a transmission area (11) at the front end for installing transmission components and an expansion area (12) at the tail end for carrying functional equipment.
The invention has the beneficial effects that: the crawler-type moving platform of the double-drive double-arm concentric four-axis small mining robot is convenient for being used in complex and narrow spaces in mines, occupies smaller space, is more convenient to move and moves more stably.
1. The two driving, two swing arms and double driving double arm design are adopted, so that the mobile platform is suitable for different road condition requirements and has strong adaptability.
2. The design mode of concentric sleeve shafts and concentric four shafts are adopted, and the axes of the driving motor and the swing arm motor are parallel to the axis of the sleeve shafts, so that the motion is more stable, and the transmission efficiency is higher; the axial force problem of the bevel gear is avoided, and the problems of low transmission efficiency and unstable movement of the synchronous belt are avoided.
3. The upper and lower motor staggered superposition mode is adopted, so that the problem that the bevel gears occupy more space horizontally side by side and the minimum distance requirement of the synchronous belt on the center distance is avoided.
4. The driving main shaft is sleeved on the swing arm shaft, and extends from the first bearing seat at the inner side to the swing arm crawler wheel at the outer side, so that synchronous movement of the swing arm crawler is realized when the driving motor rotates.
5. The main crawler wheels and the guide wheels are tensioned through the supporting plates, the guide wheels on the single main crawler are coaxially arranged on two sides of the main crawler respectively in groups, and the design of separating the guide wheels is adopted, so that the weight is conveniently reduced, the replacement and the maintenance are convenient, and the cost is reduced. And the gaps between the guide wheels enable the main crawler to have better stability during movement.
6. Because the transmission part is concentrated in the axle center position of the driving main shaft and the swing arm shaft, the gravity center of the whole device can be designed to fall on the driving axle center line, and the concentrically designed moving platform can be smaller and more stable, thereby being convenient for bearing and moving in complex ground conditions.
7. The swing arm outer side supporting plate is provided with the boss near the outer side, the boss is arranged at the axial lead of the swing arm shaft, the boss is designed to be a round table, the swing arm crawler wheel is covered, and equipment is more stable when the crawler wheel is driven to rotate.
8. The invention adopts a mode of separating the transmission area from the extension area, is convenient for equipment maintenance and quick loading and unloading, has strong universality, longer service life of equipment and lower maintenance cost.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a left-hand schematic view of fig. 1.
Fig. 3 is a schematic top view of fig. 1.
FIG. 4 is a schematic cross-sectional view of the internal structure of the present invention.
Fig. 5 is a partially enlarged schematic view of fig. 4 at a.
Fig. 6 is a schematic perspective view of a transmission assembly according to the present invention.
Fig. 7 is a schematic view in the direction C in fig. 6.
Fig. 8 is a schematic diagram in direction B in fig. 6.
The text labels in the figures are expressed as: 1. a platform stand; 11. a transmission region; 12. an extension region; 13. a frame;
2. a main track wheel; 21. a main track; 22. a guide wheel; 23. a small round nut;
3. swing arm crawler wheel; 31. swing arm caterpillar; 32. swing arm front wheel; 33. a towing wheel; 34. the swing arm end seals; 35. a swing arm outer side support plate; 351. a boss; 36. a swing arm inner side support plate;
4. a driving motor; 41. a drive gear;
5. a swing arm motor; 51. swing arm gears;
6. swing arm shaft; 61. a swing arm pinion;
7. driving a main shaft; 71. a drive pinion; 72. a sleeve bearing;
8. a first bearing seat; 81. a first bearing; 9. a second bearing seat; 91. a second bearing; 92. and a shaft sleeve.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present invention, the following detailed description of the present invention with reference to the accompanying drawings is provided for exemplary and explanatory purposes only and should not be construed as limiting the scope of the present invention.
As shown in fig. 1 to 5, the specific structure of the present invention is: the utility model provides a two-drive both arms, concentric four-axis small-size mining robot crawler-type moving platform, it includes platform frame 1 and sets up the walking track subassembly in its left and right sides, sets up the swing arm track subassembly in the front end, and wherein, the walking track subassembly includes: the swing arm shaft 6 with a solid structure and a hollow driving main shaft 7 sleeved on the swing arm shaft 7 are positioned on the inner layer, the driving main shaft 7 is fixedly and rotatably arranged between the first bearing seat 8 and the second bearing seat 9, and a driving pinion 71 is sleeved on the driving main shaft 7 between the first bearing seat 8 and the second bearing seat 9 and meshed with a driving gear 41 at the tail end of the driving motor 4; the main track wheel 2 and the main track 21 mounted thereon are provided at the position where the drive spindle 7 extends out of the platform frame 1, and the other end of the main track 21 is mounted on the guide wheel 22.
Swing arm track assembly includes: the swing arm shaft 6 and the tail end of the inner side of the swing arm shaft 6 are provided with a swing arm auxiliary gear 61 which is meshed with a swing arm gear 51 on the swing arm motor 5; a swing arm crawler belt 31 is arranged on the outer side of the swing arm shaft 6 through a fixed swing arm crawler wheel 3; the swing arm crawler wheel 3 is sleeved on the outer end of the driving main shaft 7, the two sides of the swing arm crawler wheel 3 are respectively fixed with a swing arm inner side supporting plate 36 and a swing arm outer side supporting plate 35, and the front ends of the two supporting plates are combined and fixed with a swing arm front wheel 32; the swing arm crawler 31 is installed between the swing arm crawler wheel 3 and the swing arm front wheel 32.
The driving motor 4 of the single-side crawler belt assembly is arranged on a space plane below the swing arm motor 5 and drives two sides of the main shaft 7 at the projection part; the driving motors 4 and the swing arm motors 5 on the left side and the right side are respectively and correspondingly distributed in an axisymmetric mode. The upper and lower motor staggered superposition mode is adopted, so that the problem that the bevel gears occupy more space horizontally side by side and the minimum distance requirement of the synchronous belt on the center distance is avoided.
Preferably, the driving main shaft 7 is sleeved on the swing arm shaft 6, and extends from the first bearing seat 8 on the inner side to the swing arm crawler wheel 3 on the outer side.
Preferably, the main track wheel 2 and the guide wheel 22 are tensioned by a supporting plate, and the guide wheels 22 on the single main track 21 are coaxially arranged on both sides of the main track 21 in groups respectively.
Preferably, the swing arm outer support plate 35 is provided with a boss 351 on the outer side, and the boss 351 is arranged at the axial line of the swing arm shaft 6. The boss adopts circular platform design, covers swing arm athey wheel, and equipment is more stable when driving the band pulley and rotating.
As shown in fig. 4 and 5, preferably, the driving main shaft 7 is sleeved with sleeve bearings 72 at both ends of the swing arm shaft 6, and the swing arm end seal 34 is sleeved on the swing arm shaft 6 at the outer sleeve bearing 72, and the swing arm end seal 34 is fastened on the swing arm track wheel 3.
Preferably, at the second bearing seat 9 outside the platform 1, a shaft sleeve 92 is provided, which is fastened to the second bearing seat 9.
Preferably, a towing wheel 33 is fixedly arranged at the inner edge of the swing arm crawler 31 between the swing arm inner support plate 36 and the swing arm outer support plate 35.
Preferably, the outer driving spindle 7 of the main crawler wheel 2 is fixed by a small round nut 23.
Preferably, the motor ends of the driving motor 4 and the swing arm motor 5 face to the inner side of the platform frame 1. By the design, the vehicle platform can move stably more conveniently.
Fig. 6-8 show a schematic diagram of the transmission assembly of the present invention, in which the driving motor 4 and the swing arm motor 5 are both fixed on the frame 13. Is fixed to the platform frame 1 throughout the frame 13.
Preferably, the platform carrier 1 is divided into a drive zone 11 at the front end for the installation of drive components and an expansion zone 12 at the end for the carrying of functional devices. The invention adopts a mode of separating the transmission area from the extension area, is convenient for equipment maintenance and quick loading and unloading, has strong universality, longer service life of equipment and lower maintenance cost.
The present invention has been omitted for simplicity of description with respect to the drive motor 4, swing arm motor 5, and power control and supply system, which is not the focus of the present invention, and the prior art may implement separate or common operation of the respective drives, so that the understanding and technical point protection of the present invention are not affected.
When the vehicle is particularly used, as shown in fig. 1, 4 and 5, the swing arm track assembly is retracted to the rear of the vehicle body and normally moves forward under normal road conditions; but when the driver goes forward and encounters general ravines with different sizes, the swing arm motor 5 is started, the swing arm shaft 6 is driven to rotate through the swing arm pinion 51, so that the swing arm crawler assembly is driven to open and extend forwards, the swing arm crawler assembly can rotate in the vertical direction by 360 degrees, and the action of the swing arm motor 5 is mutually isolated from the walking crawler assembly. The turning and the in-situ 360 rotation of the crawler-type mobile platform of the small mining robot realize steering through the differential rotation of the left and right driving motors 4. The platform frame 1 is divided into a transmission area 11 at the front end for installing transmission components and an extension area 12 at the tail end for bearing functional equipment, so that various types of equipment can be conveniently installed on the platform frame 1 according to requirements, the universality is stronger, the transmission components are not easy to damage, and the transmission influence is small.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this invention, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the invention, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present invention.
Claims (7)
1. The crawler-type moving platform of the double-drive double-arm concentric four-axis small mining robot comprises a platform frame (1) and walking crawler assemblies arranged at the left side and the right side of the platform frame, a swing arm crawler assembly arranged at the front end of the platform frame, and is characterized in that,
the walking track assembly includes: the driving main shaft (7) is fixedly and rotatably arranged between a first bearing seat (8) and a second bearing seat (9), and a driving pinion (71) is sleeved on the driving main shaft (7) between the first bearing seat (8) and the second bearing seat (9) and is meshed with a driving gear (41) at the tail end of the driving motor (4); a main crawler wheel (2) and a main crawler belt (21) arranged on the main crawler wheel are arranged at the position of the driving main shaft (7) extending out of the platform frame (1), and the other end of the main crawler belt (21) is arranged on a guide wheel (22);
swing arm track assembly includes: the swing arm shaft (6) and the tail end of the inner side of the swing arm shaft (6) are provided with a swing arm auxiliary gear (61) which is meshed with a swing arm gear (51) on the swing arm motor (5); a swing arm crawler belt (31) is arranged on the outer side of the swing arm shaft (6) through a fixed swing arm crawler wheel (3); the swing arm crawler wheel (3) is sleeved on the outer end of the driving main shaft (7), the two sides of the swing arm crawler wheel (3) are respectively fixed with a swing arm inner side supporting plate (36) and a swing arm outer side supporting plate (35), and the front ends of the two supporting plates are combined and fixed with a swing arm front wheel (32); the swing arm crawler belt (31) is arranged between the swing arm crawler wheel (3) and the swing arm front wheel (32);
the driving motor (4) of the single-side crawler belt assembly is arranged on a space plane below the swing arm motor (5) and drives two sides of the main shaft (7) at the projection part; the driving motors (4) and the swing arm motors (5) on the left side and the right side are respectively and correspondingly distributed in an axisymmetric mode;
the driving main shaft (7) is sleeved on the swing arm shaft (6) and extends from the first bearing seat (8) at the inner side to the swing arm crawler wheel (3) at the outer side;
the main crawler wheels (2) and the guide wheels (22) are tensioned through the supporting plates, and the guide wheels (22) on the single main crawler (21) are coaxially arranged on two sides of the main crawler (21) in groups respectively;
the swing arm outside support plate (35) is provided with a boss (351) near the outside, and the boss (351) is arranged at the axial lead of the swing arm shaft (6).
2. The crawler-type moving platform of the double-drive double-arm concentric four-shaft small mining robot according to claim 1, wherein the driving main shaft (7) is sleeved at two ends of the swing arm shaft (6) and is provided with sleeve bearings (72), the swing arm end seals (34) are sleeved on the swing arm shaft (6) at the outer sleeve bearings (72), and the swing arm end seals (34) are fastened on the swing arm crawler wheel (3).
3. A double-drive double-arm concentric four-axis small mining robot crawler-type moving platform according to claim 1, characterized in that a shaft sleeve (92) is provided at the second bearing seat (9) outside the platform frame (1), which is fastened to the second bearing seat (9).
4. The crawler-type moving platform of the double-drive double-arm concentric four-axis small mining robot according to claim 1, wherein a towing wheel (33) is fixedly arranged at the inner edge of a swing arm crawler (31) between a swing arm inner support plate (36) and a swing arm outer support plate (35).
5. The crawler-type moving platform of the double-drive double-arm concentric four-axis small mining robot according to claim 1, wherein the outer side driving main shaft (7) of the main crawler wheel (2) is fixed by a small round nut (23).
6. The crawler-type mobile platform of the double-drive double-arm concentric four-axis small mining robot according to any one of claims 1 to 5, wherein motor ends of the driving motor (4) and the swing arm motor (5) face to the inner side of the platform frame (1).
7. A double-drive double-arm concentric four-axis small mining robot crawler-type mobile platform according to any of claims 1-5, characterized in that the platform frame (1) is divided into a transmission zone (11) at the front end for mounting transmission components and an expansion zone (12) at the end for carrying functional equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810198131.3A CN108202775B (en) | 2018-03-12 | 2018-03-12 | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810198131.3A CN108202775B (en) | 2018-03-12 | 2018-03-12 | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot |
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| CN108202775A CN108202775A (en) | 2018-06-26 |
| CN108202775B true CN108202775B (en) | 2024-02-13 |
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| CN111469941B (en) * | 2020-04-27 | 2021-09-03 | 张梅 | Robot-assisted swing arm system |
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| CN111874113A (en) * | 2020-07-14 | 2020-11-03 | 西南科技大学 | Crawler-type walking obstacle avoidance mechanism |
| CN112744305B (en) * | 2021-02-03 | 2021-08-17 | 深圳亿嘉和科技研发有限公司 | Overturning arm of crawler robot |
| CN114044061A (en) * | 2021-11-27 | 2022-02-15 | 江苏丞工科技有限公司 | Stair climbing robot |
| CN114261455A (en) * | 2021-11-29 | 2022-04-01 | 江苏丞工科技有限公司 | Climbing device |
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| CN201516604U (en) * | 2009-10-12 | 2010-06-30 | 唐山开诚机器人制造有限公司 | Modular track rocker-arm type colliery underground robotic explorer |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN106314577A (en) * | 2016-08-23 | 2017-01-11 | 西安科技大学 | Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot |
| CN208198618U (en) * | 2018-03-12 | 2018-12-07 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
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