CN108528562B - Robot climbing chassis device - Google Patents
Robot climbing chassis device Download PDFInfo
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- CN108528562B CN108528562B CN201810582614.3A CN201810582614A CN108528562B CN 108528562 B CN108528562 B CN 108528562B CN 201810582614 A CN201810582614 A CN 201810582614A CN 108528562 B CN108528562 B CN 108528562B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/02—Details of balancing machines or devices
- G01M1/04—Adaptation of bearing support assemblies for receiving the body to be tested
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Abstract
The invention relates to the technical field of automation, in particular to a robot climbing chassis device, which comprises: the lower part of the bottom plate is connected with the self-balancing frame module; the self-balancing frame module is used for realizing balance when the robot climbs the chassis device; two climbing support modules, namely a front climbing support module and a rear climbing support module, are symmetrically arranged above the bottom plate and are used for realizing the support of climbing the ladder of the chassis device by the robot; four same variable-diameter composite wheels are symmetrically arranged below the self-balancing frame module; wherein, the diameter of the diameter-variable composite wheel is adjustable. The front climbing support module and the rear climbing support module are symmetrically arranged on the bottom plate, so that when the robot climbing chassis device is used for climbing stairs, the climbing support module and the ground are effectively supported, and the robot climbing chassis device can effectively climb the stairs; in addition, through self-balancing frame module, realize climbing the focus adjustment of in-process, can avoid appearing empting.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a robot climbing chassis device.
Background
In recent years, a high value-added industrial service robot as a rapid development has been rapidly developed. At present, the existing service robot mainly walks on a flat ground, but obstacles such as steps and the like often exist in the actual environment, so that a chassis device with a step climbing function is urgently needed by the service robot.
Wheel, crawler and legged structures are three common moving mechanisms for mobile robots. The wheel type structure is simple, the moving speed is high, the operation is convenient, but the wheel type structure is only suitable for the flat ground and can not realize obstacle crossing. Crawler-type stable in structure can walk on unevenness to can cross the great slope of barrier and climbing and ladder, nevertheless this structure can appear sliding, the resistance is great when turning to, turn to radius and central accuracy subalternation problem. The leg type mobile robot is characterized in that the leg type mobile robot can walk on the uneven ground of the land leveler only by discrete landing points, can cross barriers such as gullies, caves and the like and go up and down stairs, and has higher mobility, but the leg type mobile robot has weaker bearing capacity, has high requirement on gravity control, and is not mature in related control technology.
For example, patent document No. ZL200820123938.2 discloses a variable diameter wheel including a wheel outer contour and a telescopic mechanism for driving the wheel outer contour to deform. Although the variable-diameter wheel can adapt to partial road surface obstacles through expansion and contraction of the outer contour, the variable-diameter wheel has a small contact area, is only suitable for hard and flat road surfaces and can only adapt to partial small obstacles, and does not have a step obstacle crossing function, so that the application range of the variable-diameter wheel is small.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defect of small application range of the robot climbing chassis device in the prior art.
In view of this, the present invention provides a robot climbing chassis apparatus, comprising: the lower part of the bottom plate (1) is connected with a self-balancing frame module (6); the self-balancing frame module (6) is used for realizing balance when the robot climbs the chassis device;
two climbing support modules, namely a front climbing support module (4) and a rear climbing support module (5), are symmetrically arranged above the bottom plate (1) and are used for realizing the support of the robot for climbing the ladder of the chassis device;
four same diameter-variable composite wheels (7) are symmetrically arranged below the self-balancing frame module (6); wherein the diameter of the variable diameter composite wheel is adjustable.
Optionally, the front climbing support module (4) and the rear climbing support module (5) have the same structure and are symmetrically arranged in front and rear.
Optionally, the front climbing support module (4) comprises:
the front supporting wheels (41), the front supporting wheels (41) are clamped by a left front climbing supporting frame and a right front climbing supporting frame (42) which are parallel;
the front climbing support frame (42) is fixed with the U-shaped bracket (44) through a first corner connector (43);
the U-shaped bracket (44) is fixed with a shaft of a double-shaft motor (46) through a flange coupler (45);
the double-shaft motor (46) is fixed on the bottom plate (1) through a motor support (47).
Optionally, the self-balancing frame module (6) comprises: the four parallel four-bar linkage mechanisms which are symmetrical in front and back and left and right and have the same structure are a front left parallel four-bar linkage mechanism (61), a front right parallel four-bar linkage mechanism (62), a rear left parallel four-bar linkage mechanism (63) and a rear right parallel four-bar linkage mechanism (64).
Optionally, the front left parallel four-bar linkage (61) comprises:
a first vertical support bar (611), the first vertical support bar (611) being hinged to a short transverse connecting bar (612);
the short transverse connecting rod (612) is hinged with the lower end of a second vertical supporting rod (613), and the upper end of the second vertical supporting rod (613) is fixed with the bottom plate (1) through a second corner connector (614); the middle part of the short transverse connecting rod (612) is hinged with the upper end of the second corner brace connecting piece (614); the lower end of the second corner brace connecting piece (614) is hinged with a front transverse connecting rod (616) and a rear transverse connecting rod (616); the front end of the front transverse connecting rod (616) and the front end of the rear transverse connecting rod (616) are hinged with the middle part of the first vertical supporting rod (611); the rear ends of the front and rear transverse connecting rods (616) are symmetrically hinged in the rear left parallel four-bar linkage (63).
Optionally, the front left parallel four-bar linkage (61) and the front right parallel four-bar linkage (62) are hinged through a left and right transverse connecting rod (65); the middle part of the left transverse connecting rod (65) and the right transverse connecting rod (65) is provided with a bearing (66), the bearing (66) is fixed with an electric telescopic rod (68) through a three-way fastener (67), and the electric telescopic rod (68) is fixed with the bottom plate (1) through a lifting lug (69).
Optionally, a controller (2) and a triaxial accelerometer-gyroscope module (3) are further arranged on the bottom plate (1); the controller (2) controls the electric telescopic rod (68) to move according to the data collected by the triaxial accelerometer gyroscope module (3) so as to adjust the gravity center of the robot for climbing the chassis device.
Optionally, the variable diameter composite wheel (7) comprises: a sizing wheel (71) and a diameter-changing wheel (72); the diameter-changing wheel (72) is composed of six symmetrically-installed climbing claws (721).
Optionally, the sizing wheel (71) comprises: a sun gear (711), six large planetary gears (712) and one small planetary gear (713) being uniformly engaged around the sun gear (711);
the sun gear (711), the six large planetary gears (712), and the small planetary gears (713) are supported at both ends of the central axis between an inner plate (73) and an outer plate (74) by small bearings.
Optionally, one ends of six large planetary gears (712) are respectively fixed with six climbing claws (721);
the inner side plate (73) and the outer side plate (74) are also fixed on the edge of a hub (75) of the sizing wheel (71) at the same time;
a first stepping motor (76) is fixed on the outer side plate (74), and the shaft of the first stepping motor (76) is fixed with the pinion gear (713);
the second stepping motor (77) is fixed on the first vertical support rod (611) and is fixed with a flange (78) fixed on the outer side plate (74).
The technical scheme of the invention has the following advantages:
1. according to the robot climbing chassis device, the front climbing support module and the rear climbing support module are symmetrically arranged on the bottom plate, so that when the robot climbing chassis device is used for climbing stairs, effective climbing of the robot climbing chassis device is realized through effective support of the climbing support modules and the ground; in addition, through self-balancing frame module, realize climbing the focus adjustment of in-process, can avoid appearing empting.
2. According to the robot climbing chassis device provided by the invention, the controller and the three-axis accelerometer and gyroscope module are arranged on the bottom plate, so that when the robot climbs in a ladder manner, the controller can integrate the rotational angular velocity signal output by the three-axis accelerometer and gyroscope module, the accelerometer signal is subjected to arc tangent calculation, finally, the inclination angle of the robot climbing chassis device caused by climbing is obtained by Kalman filtering, and further, the electric telescopic rod is controlled to realize the gravity center balance of the robot climbing chassis device.
3. The robot climbing chassis device provided by the invention is used for realizing that when the robot climbing chassis device moves on a flat ground, the diameter-variable wheels are in a furled state by arranging the diameter-adjustable diameter-variable composite wheels, and the second stepping motor fixed on the first vertical support rod can drive the diameter-variable composite wheels to realize plane rolling through the flange plate; when the robot climbs the chassis device and meets the ladder obstacle, the first stepping motor drives the asteroid gear, the asteroid gear drives the sun gear to rotate, the sun gear drives six big planet gears meshed with the sun gear, and then drives six climbing claws, and the expansion of the reducing wheel is realized, so that the robot is helped to climb the chassis device to realize the climbing of the ladder.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a robot climbing a chassis device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a front climbing support module according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a self-balancing frame module according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a front left and right wheel transverse connection support module according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a collapsible diameter-variable composite wheel according to an embodiment of the present invention;
FIG. 6 is a more detailed schematic structural diagram of the composite wheel with variable diameter in an open state according to an embodiment of the present invention;
FIG. 7 is a schematic combined structure diagram of a diameter-variable composite wheel according to an embodiment of the present invention;
reference numerals:
1-a bottom plate;
2-a controller;
3-a triaxial accelerometer-gyroscope module;
4-a front climbing support module; 41-front supporting wheels; 42-front climbing support; 43-a first corner connector; a 44-U shaped bracket; 45-flange coupling; 46-a two-shaft motor; 47-motor support;
5-climbing a support module;
6-self-balancing frame module; 61-front left parallel four bar linkage; 611-a first vertical support bar; 612-short transverse tie bars; 613-second vertical support bar; 614-second corner connector; 615-a third vertical support bar; 616-front and rear transverse tie rods; 62-front right parallel four bar linkage; 63-a rear left parallel four bar linkage; 64-a rear right parallel four bar linkage; 65-left and right transverse connecting rods; 66-a bearing; 67-three-way fasteners; 68-electric telescopic rod; 69-lifting lugs;
7-variable diameter composite wheel; 71-a sizing wheel; 711-sun gear; 712-big planetary gear; 713-asteroid gear; 72-a variable diameter wheel; 721-climbing claws; 73-inner decking; 74-outer panel; 75-hub 76-first stepper motor; 77-a second stepper motor; 78-flange plate.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The meaning of "front and back" in the present invention means that when the reader is facing the drawings, the left side of the reader is front, and the right side of the reader is back, and is not a specific limitation to the chassis device of the present invention.
The meaning of "left and right" in the present invention means that when a reader faces the attached drawings, the part close to the reader is left, and the part far from the reader is right, and is not a specific limitation to the chassis device of the present invention.
The meaning of "inner and outer" in the present invention means that the direction toward the inside of the composite wheel is inner and vice versa with respect to the variable diameter composite wheel itself, and is not a specific limitation of the variable diameter composite wheel of the present invention.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a robot climbing chassis device, which comprises a bottom plate 1 and a self-balancing frame module 6, wherein the bottom of the bottom plate 1 is connected with the self-balancing frame module 6; the self-balancing frame module 6 is used for balancing when the robot climbs the chassis device. The top of bottom plate 1 sets up the symmetry and is provided with two climbing support module, is preceding climbing support module 4 and back climbing support module 5 respectively for realize the robot and climb the support of chassis device ladder climbing. Four same diameter-variable composite wheels 7 are symmetrically arranged below the self-balancing frame module 6; wherein the diameter of the diameter-variable composite wheel 7 can be adjusted.
According to the robot climbing chassis device, the front climbing support module 4 and the rear climbing support module 5 are symmetrically arranged on the bottom plate 1, so that when the robot climbing chassis device is used for climbing a ladder, the effective ladder climbing of the robot climbing chassis device is realized through the effective support of the climbing support modules and the ground; in addition, through self-balancing frame module 6, realize climbing the focus adjustment of in-process, can avoid appearing empting.
As shown in figure 1, front climbing support module 4 and rear climbing support module 5 are identical in structure and are symmetrically mounted in front and rear. As shown in fig. 2, the front climbing support module 4 comprises a front support wheel 41, the front support wheel 41 being held by two parallel front climbing supports 42 on the left and right; wherein, the front climbing support frame 42 is fixed with the U-shaped bracket 44 through a first corner connector 43; the U-shaped bracket 44 is fixed with a shaft of a double-shaft motor 46 through a flange coupling 45; the two-shaft motor 46 is fixed to the base plate 1 by a motor mount 47.
The advantage of preceding climbing support module 4 and the design of back climbing support module 5 in this embodiment lies in: can help the robot to climb chassis device and effectively support through ground when the ladder climbing and realize the effective promotion of robot climbing chassis device and avoid appearing empting.
As shown in fig. 3, the self-balancing frame module 6 is composed of four parallel four-bar linkages having the same structure, namely a front left parallel four-bar linkage 61, a front right parallel four-bar linkage 62, a rear left parallel four-bar linkage 63, and a rear right parallel four-bar linkage 64.
Specifically, the front left parallel four-bar linkage 61 is taken as an example for detailed description, as shown in fig. 3, the front left parallel four-bar linkage 61 includes a first vertical support bar 611, and the first vertical support bar 611 is hinged to a short transverse connecting bar 612; the short transverse connecting rod 612 is hinged with the lower end of the second vertical supporting rod 613; the upper end of the second vertical support rod 613 is fixed to the bottom plate 1 through a second corner connector 614; the middle part of the short transverse connecting rod 612 is hinged with the upper end of the third vertical supporting rod 615; the lower end of the third vertical support bar 615 is hinged with a front and rear transverse connecting bar 616; the front end of the front and rear transverse connecting rod 616 is hinged with the middle part of the first vertical supporting rod 611; the rear ends of the front and rear transverse connecting rods 616 are symmetrically hinged in the rear left parallel four-bar linkage 63.
Further, the front left parallel four-bar linkage 61 and the front right parallel four-bar linkage 62 are hinged by a left-right transverse connecting rod 65; the middle part of the left and right transverse connecting rods 65 is provided with a bearing 66, and the bearing 66 is fixed with an electric telescopic rod 68 through a three-way fastener 67; the electric telescopic rod 68 is fixed with the bottom plate 1 through a lifting lug 69.
Meanwhile, referring to fig. 1, a controller 2 and a triaxial accelerometer-gyroscope module 3 are mounted on a base plate 1. When the robot climbing chassis device works, the controller (2) controls the electric telescopic rod (68) to move according to data collected by the triaxial accelerometer gyroscope module (3) so as to adjust the gravity center of the robot climbing chassis device.
In this embodiment, the advantage of self-balancing frame module 6 design lies in: when the robot climbing chassis device is climbing in a ladder mode, the controller 2 can integrate the rotational angular velocity signals output by the triaxial accelerometer gyroscope module 3 to perform arc tangent calculation on the accelerometer signals, and finally, Kalman filtering is utilized to obtain the inclination angle of the robot climbing chassis device caused by climbing, so that the gravity center balance of the robot climbing chassis device is realized by controlling the electric telescopic rod.
As shown in fig. 5, the variable diameter compound wheel 7 includes a sizing wheel 71 and a diameter-changing wheel 72. As shown in fig. 6, the diameter-changing wheel 72 includes six symmetrically-mounted climbing claws 721. Wherein, the sizing wheel 71 is used for high-speed plane motion, and the reducing wheel 72 is used for ladder climbing. The robot climbing chassis device provided in this embodiment can not only realize the high-speed planar movement of the robot climbing chassis device, but also realize the climbing of ladder obstacles, enlarge the service area of the robot climbing chassis device, and improve the service capacity of the robot climbing chassis device.
As shown in fig. 7, the sizing wheel 71 includes a sun gear 711, six large planetary gears 712, and one small planetary gear 713 are meshed uniformly around the sun gear 711. The sun gear 711, the six large planetary gears 712, and the small planetary gears 713 are supported at both ends of the central axis between the inner plate 73 and the outer plate 74 via small bearings. One ends of the six large planetary gears 712 are also fixed with six climbing claws 721, respectively. The inner and outer plates 73, 74 are also simultaneously fixed to the rim of the hub 75 of the sizing wheel 71. The first stepping motor 76 is fixed to the outer plate 74, and the shaft of the first stepping motor 76 is fixed to the pinion 713. The second stepping motor 77 is fixed to the first vertical support bar 611 and is fixed to the flange 78 fixed to the outer panel 74.
In this embodiment, the advantage of the design of the variable-diameter composite wheel 7 lies in that: when the robot climbs the chassis device and moves on a flat ground, the reducing wheels 72 are in a folded state, and the second stepping motor 77 fixed on the first vertical support rod 611 can drive the reducing composite wheels 7 to realize plane rolling through the flange plate 78. When the robot climbs the chassis device and meets a step obstacle, the first stepping motor 76 drives the minor planet gear 713, the minor planet gear 713 drives the sun gear 711 to rotate, the sun gear 711 drives the six major planet gears 712 meshed with the sun gear 711, and then drives the six climbing claws 721 to realize the expansion of the reducing wheels 72, so that the robot is helped to climb the chassis device to realize the climbing of the step.
The robot climbing chassis device has the advantages that the support and the force-aid of ladder climbing are realized through the front climbing support module and the rear climbing support module; the balance of the robot when climbing the chassis device is realized without toppling through the self-balancing frame module; the robot climbing chassis device has the advantages that different dealing during flat road surface movement and ladder climbing is achieved through the variable-diameter composite wheels, and the application range of the robot climbing chassis device is widened.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (5)
1. A robot climbing chassis device, characterized in that includes:
the lower part of the bottom plate (1) is connected with a self-balancing frame module (6); the self-balancing frame module (6) is used for realizing balance when the robot climbs the chassis device;
two climbing support modules, namely a front climbing support module (4) and a rear climbing support module (5), are symmetrically arranged above the bottom plate (1) and are used for realizing the support of the robot for climbing the ladder of the chassis device;
four same diameter-variable composite wheels (7) are symmetrically arranged below the self-balancing frame module (6); the diameter of the variable diameter composite wheel is adjustable;
the variable diameter composite wheel (7) comprises: a sizing wheel (71) and a diameter-changing wheel (72); the diameter-changing wheel (72) consists of six symmetrically-arranged climbing claws (721);
the sizing wheel (71) comprises: a sun gear (711), six large planetary gears (712) and one small planetary gear (713) being uniformly engaged around the sun gear (711); the central shaft of the sun gear (711), the six large planetary gears (712) and the small planetary gear (713) is supported at both ends between an inner plate (73) and an outer plate (74) through small bearings;
one ends of the six large planetary gears (712) are respectively fixed with six climbing claws (721);
the inner side plate (73) and the outer side plate (74) are also fixed on the edge of a hub (75) of the sizing wheel (71) at the same time;
a first stepping motor (76) is fixed on the outer side plate (74), and the shaft of the first stepping motor (76) is fixed with the pinion gear (713);
the second stepping motor (77) is fixed on the first vertical supporting rod (611) and is fixed with a flange plate (78) fixed on the outer side plate (74);
the self-balancing frame module (6) comprises: four parallel four-bar linkages which are symmetrical in front and back and left and right and have the same structure are respectively a front left parallel four-bar linkage (61), a front right parallel four-bar linkage (62), a rear left parallel four-bar linkage (63) and a rear right parallel four-bar linkage (64);
the front left parallel four-bar linkage (61) includes:
a first vertical support bar (611), the first vertical support bar (611) being hinged to a short transverse connecting bar (612);
the short transverse connecting rod (612) is hinged with the lower end of a second vertical supporting rod (613), and the upper end of the second vertical supporting rod (613) is fixed with the bottom plate (1) through a second corner connector (614); the middle part of the short transverse connecting rod (612) is hinged with the upper end of a third vertical supporting rod (615); the lower end of the third vertical supporting rod (615) is hinged with a front transverse connecting rod (616) and a rear transverse connecting rod (616); the front end of the front transverse connecting rod (616) and the front end of the rear transverse connecting rod (616) are hinged with the middle part of the first vertical supporting rod (611); the rear ends of the front and rear transverse connecting rods (616) are symmetrically hinged in the rear left parallel four-bar linkage (63).
2. Robot climbing chassis arrangement according to claim 1, characterized in that the front climbing support module (4) and the rear climbing support module (5) are identical in structure and are arranged symmetrically in front and rear.
3. Robot climbing chassis arrangement according to claim 2, characterized in that the front climbing support module (4) comprises:
the front supporting wheels (41), the front supporting wheels (41) are clamped by a left front climbing supporting frame and a right front climbing supporting frame (42) which are parallel;
the front climbing support frame (42) is fixed with the U-shaped bracket (44) through a first corner connector (43);
the U-shaped bracket (44) is fixed with a shaft of a double-shaft motor (46) through a flange coupler (45);
the double-shaft motor (46) is fixed on the bottom plate (1) through a motor support (47).
4. The robotic climbing chassis arrangement according to claim 1, wherein the front left parallel four-bar linkage (61) is articulated with a front right parallel four-bar linkage (62) by left and right transverse connecting rods (65); the middle part of the left transverse connecting rod (65) and the right transverse connecting rod (65) is provided with a bearing (66), the bearing (66) is fixed with an electric telescopic rod (68) through a three-way fastener (67), and the electric telescopic rod (68) is fixed with the bottom plate (1) through a lifting lug (69).
5. Robot climbing chassis arrangement according to claim 4, characterized in that a controller (2) and a three-axis accelerometer-gyroscope module (3) are also arranged on the chassis (1); the controller (2) controls the electric telescopic rod (68) to move according to the data collected by the triaxial accelerometer gyroscope module (3) so as to adjust the gravity center of the robot for climbing the chassis device.
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| CN201810582614.3A CN108528562B (en) | 2018-06-07 | 2018-06-07 | Robot climbing chassis device |
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| CN111038611B (en) * | 2019-11-29 | 2021-06-11 | 上海工程技术大学 | Multi-mode mobile robot |
| CN113104127A (en) * | 2021-04-24 | 2021-07-13 | 内蒙古师范大学 | Balance robot suitable for field work |
| CN114345781B (en) * | 2021-11-10 | 2022-11-04 | 秦皇岛职业技术学院 | Automatic cleaning device for organization and construction information display board |
| DE102021213550A1 (en) | 2021-11-30 | 2023-06-01 | Volkswagen Aktiengesellschaft | Rotationally decoupled coaxial dual wheel drive |
| CN115635470A (en) * | 2022-12-06 | 2023-01-24 | 北京电子科技职业学院 | Multifunctional integrated robot device for shoveling, throwing, grabbing and climbing |
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| CN207129039U (en) * | 2017-08-29 | 2018-03-23 | 歌尔科技有限公司 | A kind of mobile robot |
| CN207292192U (en) * | 2017-09-06 | 2018-05-01 | 钦州学院 | Deform the full landform robot running gear of pleiotaxy |
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| CN108528562A (en) | 2018-09-14 |
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