CN108860340A - Wheel-track combined omni-directional mobile robots - Google Patents
Wheel-track combined omni-directional mobile robots Download PDFInfo
- Publication number
- CN108860340A CN108860340A CN201710324381.2A CN201710324381A CN108860340A CN 108860340 A CN108860340 A CN 108860340A CN 201710324381 A CN201710324381 A CN 201710324381A CN 108860340 A CN108860340 A CN 108860340A
- Authority
- CN
- China
- Prior art keywords
- wheel
- sole
- chassis
- crawler
- track
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of wheel-track combined omni-directional mobile robots, including sole, chassis crawler attachment and chassis wheeled devices, chassis crawler attachment and chassis wheeled devices are installed on sole.Chassis wheeled devices include four traveling wheels, and longitudinal front end of sole is arranged in two traveling wheels, and is symmetrically arranged at the both lateral sides of sole；The longitudinally aft end of sole is arranged in other two traveling wheel, is symmetrically arranged at the both lateral sides of sole；Chassis crawler attachment has endless track, and endless track is arranged between the traveling wheel of two sides and surround along longitudinal direction；Endless track front end reaches in front of the traveling wheel of front end, and endless track rear end reaches the traveling wheel rear of rear end；The bottom of endless track is higher than the bottom of traveling wheel.Terrain adaptability and obstacle performance of the present invention are strong, and structure is simple, and mobile flexibility is high, realize Omni-mobile.
Description
Technical field
The present invention relates to a kind of obstacle detouring reconnaissance robot more particularly to a kind of wheel-track combined omni-directional mobile robots.
Background technique
Wheel-track combined omni-directional mobile robots are the combined type chassis that wheel undercarriage and caterpillar chassis combine.It is detecing
It examines, make an inspection tour the fields such as warning, obstacle detouring, explosive extensive utilization.Its working environment is complicated, unknown and changeable, to mobile robot
Travelling performance and obstacle climbing ability have high requirements.Common wheeled robot chassis structure design is simple, strong flexibility, mobile effect
Rate highest, but adaptation to the ground is relatively simple.Caterpillar type robot chassis structure is relative complex, adapts to complicated landform, mobile efficiency
It is moderate, but flexibility is low.
Document CN102849132A,《Wheel carries out composite deformation caterpillar robot》Disclose a kind of wheel shoe composite deformation tracked machine
Device people, including rack and a main shaft being installed in rack, the main shaft both ends are installed with one can be in round and triangle
The deformed caterpillar wheel of power device is converted and had between shape.
Document CN102490802A,《A kind of wheel-crawler composite type walking platform》It is flat to disclose a kind of wheel-track combined walking
Platform, including Athey wheel, crawler belt and rack, the travelling platform are additionally provided with traveling wheel, support frame and two-way hydraulic cylinder, and traveling wheel is at least
There are three if, and the both ends of rack are distributed in, one end of support frame and the wheel axis connection of traveling wheel, the other end and rack are with hinge
Connection is equipped with two-way hydraulic cylinder between rack and support frame.
Document CN101954934A,《A kind of wheel-track combined offroad vehicle》A kind of wheel-track combined offroad vehicle is disclosed, is wrapped
It includes by engine, transmission system, steering system, driving system, wheel can travel on the road surface of level land, and belt crawler belt is again
Vehicle can be made to travel on stepped road surface.
Document CN103373402A,《Wheel-track composite modules mobile robot mobile devices》A kind of wheel-is disclosed
Track combined Modularized mobile robot mobile devices, including vehicle frame, caterpillar drive and crawler belt swing arm structure three parts,
Middle caterpillar drive is fixed on vehicle frame by big horizontal axis on vehicle frame and small horizontal axis, crawler belt swing arm structure by ring flange with
Caterpillar drive is connected, and four sets of caterpillar drives and four crawler belt swing arm structures are symmetrically set to four of vehicle frame
Angle, pair of wheels is arranged in vehicle frame middle part, to make device while be provided with the compound traveling mode of wheel-track.
Document CN103612678A,《Amphibious wheel-track combined robot moving platform》It is compound to disclose a kind of amphibious wheel shoe
Formula robot moving platform crosses row for water surface floating including 4 compound traveling mechanisms of wheel shoe for being used for land powered travel, 1
The combined box with seal cavity, the 2 groups of gear reduction units for driving the compound traveling mechanism of the wheel shoe to move sailed
Structure；The gear reduction is located in combined-type box body, and every group of gear reduction respectively includes two power outputs
End；The wheel is carried out compound traveling mechanism and is located on four external angles of combined-type box, and the wheel carries out compound traveling mechanism
It is connected by way of being engaged respectively with the power output end of the gear reduction gear.
The structure that above-mentioned wheel shoe composite machine people has is more complicated, and what is had can only adapt to specific landform, and some involves great expense,
And Omni-mobile flexibility is poor.
The present inventor based on years of experience and practice in relevant industries, proposes a kind of wheel-track combined omnidirectional as a result,
Mobile robot, to overcome the deficiencies of existing technologies.
Summary of the invention
The purpose of the present invention is to provide a kind of wheel-track combined omni-directional mobile robots, terrain adaptability and obstacle performance
By force, structure is simple.
Another object of the present invention is to provide a kind of wheel-track combined omni-directional mobile robots, mobile flexibility is high, real
Existing Omni-mobile.
The object of the present invention is achieved like this, a kind of wheel-track combined omni-directional mobile robots, including sole, chassis
Crawler attachment and chassis wheeled devices, the chassis crawler attachment and the chassis wheeled devices are installed in the sole
On；It is longitudinal direction with line direction before robot, the horizontal direction being transversely to the machine direction is laterally；The chassis wheeled devices include four
Longitudinal front end of the sole is arranged in traveling wheel, two traveling wheels, and is symmetrically arranged at lateral the two of the sole
Side；The longitudinally aft end of the sole is arranged in other two traveling wheel, is symmetrically arranged at the both lateral sides of the sole；
The chassis crawler attachment has endless track, and the endless track is arranged between the traveling wheel of two sides and ring along longitudinal direction
Around；The endless track front end reaches in front of the traveling wheel of front end, and the endless track rear end reaches the institute of rear end
State traveling wheel rear；The bottom of the endless track is higher than the bottom of the traveling wheel.
In a preferred embodiment of the present invention, the chassis crawler attachment further includes track drive motor, crawler belt drive
Driving wheel, support wheel and inducer；The crawler driving whell, the support wheel and the inducer are rotatably installed in the chassis
On frame, the crawler driving whell and the inducer are respectively provided at the rear and front end of the sole, and the support wheel is located at institute
It states the middle part of sole and is located at the lower section of the support wheel and the inducer；The crawler driving whell and the inducer it
Between wheelspan be greater than wheelspan between front end traveling wheel and rear end traveling wheel；The track drive motor is fixedly connected on the bottom
It is sequentially connected on plate rail and by shaft coupling and the crawler driving whell；The endless track is covered in the crawler driving whell, institute
It states outside support wheel and the inducer and is at least engaged with the crawler driving whell, the ring as described in the track drive wheel drive
The rotation of shape crawler belt.
In a preferred embodiment of the present invention, the crawler driving whell, the support wheel and inducer difference
It is fixed on wheel shaft, the wheel shaft is rotatably installed on the sole by bearing；The track drive motor passes through described
The wheel axis connection of shaft coupling and the crawler driving whell.
In a preferred embodiment of the present invention, being arranged side by side in the transverse direction of the sole has two sets of chassis
The structure of crawler attachment, two sets of chassis crawler attachments is identical.
In a preferred embodiment of the present invention, the chassis wheeled devices further include traction drive motor, described
Traction drive motor is fixedly connected on the sole and is connect by shaft coupling with the traction drive.
In a preferred embodiment of the present invention, the traveling wheel uses Mecanum wheel；Each Mecanum
Wheel is equipped with the traction drive motor and is driven.
In a preferred embodiment of the present invention, flange wheel shaft, institute are rotatably equipped with by bearing on the sole
The one end for stating flange wheel shaft is flange；The traction drive motor passes through the shaft coupling and the flange wheel axis connection, institute
Mecanum wheel is stated to be connected on the flange of the flange wheel shaft other end.
In a preferred embodiment of the present invention, the upper end of the sole is fixedly connected with equipment mounting frame, described
Steering engine is fixed on equipment mounting frame；The steering engine connects moving camera, for driving the moving camera to turn in the horizontal plane
It is dynamic；The moving camera is for acquiring image data.
In a preferred embodiment of the present invention, it is also equipped with power supply and control device on the equipment mounting frame, institute
It states control device and controls the chassis crawler attachment, the chassis wheeled devices and steering engine movement.
From the above mentioned, wheel-track combined omni-directional mobile robots of the invention, the mikey in the wheeled devices of chassis receive nurse
For wheel with ground face contact, the crawler belt bottom in the crawler attachment of chassis is slightly above ground.In the longitudinal direction, the length of crawler belt ring is greater than front and back
The wheelspan of traveling wheel is held, is conducive to utilize crawler belt across ground such as trench, step and protrusions.Crawler belt and mikey receive nurse wheel movement mutually not
It influences.When robot is when gentle road surface moves, mikey can be played and receive the function of nurse wheel, realize omnidirectional moving, speed and flexibly
Property is improved.By the combination on two kinds of chassis, robot is passing through the different rings such as trench, step, protrusion and gentle ground
It moves in border and has great advantage.
Detailed description of the invention
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein：
Fig. 1：For the overall structure diagram of the wheel-track combined omni-directional mobile robots of the present invention.
Fig. 2：For the internal framework figure of the wheel-track combined omni-directional mobile robots of the present invention.
Fig. 3：For the chassis wheeled devices schematic diagram of the wheel-track combined omni-directional mobile robots of the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, this hair of Detailed description of the invention is now compareed
Bright specific embodiment.Both include being connected directly between two components in the present invention described " connection ", also includes two portions
It is connected between part by least one intermediate member.The noun of locality employed in the present invention is (such as upper and lower, forward and backward) to be only
In conjunction with the clearer statement technology contents of attached drawing, not to the specific restriction of technical solution of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of wheel-track combined omni-directional mobile robots 100, including sole
10, chassis crawler attachment 20 and chassis wheeled devices 30.The chassis crawler attachment 20 and the chassis wheeled devices 30 are pacified
On the sole 10.It is longitudinal direction with line direction before robot, the horizontal direction being transversely to the machine direction is laterally.Sole 10
For a horizontal positioned frame structure, the chassis wheeled devices 30 include four traveling wheels 31, two of them traveling wheel 31
Longitudinal front end of the sole 10 is set, i.e. right end in Fig. 1 forms two front-wheels, and two front-wheels are symmetrically arranged at described
The both lateral sides of sole 10.The longitudinally aft end of the sole 10, i.e. a left side in Fig. 1 is arranged in other two traveling wheel 31
End, forms two rear-wheels, two rear-wheels are symmetrically arranged at the both lateral sides of the sole 10.Preferably, the front-wheel of every side and
Rear-wheel is located at same straight line in the longitudinal direction.The chassis crawler attachment 20 has endless track 21, and the endless track 21 is arranged
It surrounding between the traveling wheel 31 of both lateral sides and along longitudinal direction, i.e., endless track 21 is located at the lateral middle section of sole 10,
From the front end ring of sole 10 around the rear end of sole 10.The front end of the endless track 21 reaches front end traveling wheel 31
Front, the rear end of the endless track 21 reach 31 rear of rear end traveling wheel；I.e. in the longitudinal direction, after 21 front end of endless track is arrived
The distance at end is greater than the distance between front wheels and rear wheels.The bottom of the endless track 21 is higher than the bottom of the traveling wheel 31
Portion, i.e., in the height direction, the bottom of four traveling wheels 31 are supported on level ground, and the bottom surface of endless track 21 is slightly above water
Have between plane earth, with ground at regular intervals.
Using the chassis crawler attachment 20 and chassis wheeled devices 30, terrain adaptability and obstacle performance of above-mentioned arrangement form
By force, structure is simple, and the movement between four traveling wheels 31 and endless track 21 is independent of each other.Robot by trench, step,
Movement in the varying environments such as protrusion and gentle ground has great advantage.When robot encounters male-type obstacle, if
Raised obstacle height is not enough to the bottom surface of contact track, and robot can be normal through barrier.If raised barrier
Height is greater than the height of traveling wheel 31 and touches endless track 21, can be cleared the jumps by the movement of crawler belt.Work as machine
When people encounters the trench slightly larger than 31 diameter of traveling wheel, since crawler belt reaches the front-end and back-end of traveling wheel 31 in the longitudinal direction,
In traveling wheel 31 by before trench, the front end of crawler belt across above trench and with ground face contact, traveling wheel 31 vacantly arrives
When in trench, trench can be continued through by the movement of crawler belt.When robot encounters the step lower than crawler belt floor height,
Crawler belt contacts upper level or next stage step prior to traveling wheel 31, and crawler belt provides power and drives bobbin movement, when traveling wheel 31
Also it can provide part thrust when touching step and cross step.When robot is when gentle road surface moves, crawler belt does not connect with road surface
Touching, can play the function of traveling wheel 31, so terrain adaptability and obstacle performance are strong.
Further, as shown in Fig. 2, the chassis crawler attachment 20 further include track drive motor 22, crawler driving whell 23,
Support wheel 24 and inducer 25.The crawler driving whell 23, the support wheel 24 and the inducer 25 are rotatably installed in institute
It states on sole 10.The circumference of crawler driving whell 23 is with teeth, and effect is engaged with crawler belt 21, provides power to crawler belt and drives shoe
Band circulatory motion, the crawler driving whell 23 can be located at the front end or rear end of the sole 10.The effect of inducer 25 is
Support and guiding endless track 21, make the front of endless track 21 form an acclivitous guiding face, improve the logical of crawler belt
Ability is crossed, so, the other end of the sole 10 opposite with crawler driving whell 23 is arranged in inducer 25, can be with track drive
Wheel 23 is in sustained height, can also be located at different height.Tooth can be set outside inducer 25 to engage with crawler belt, it can also be with
It is not provided with tooth, diameter is usually less than the diameter of crawler driving whell 23.The effect of support wheel 24 is to the part for touching ground
Crawler belt provides support, to bear the weight of robot, so, the support wheel 24 is located at the middle part of the sole 10, that is, exists
On longitudinal direction between crawler driving whell 23 and inducer 25, it is located at the support wheel 24 and the inducer 25 in height
Lower section；The outside of support wheel 24 can be set tooth and engage with crawler belt, can also be not provided with tooth.In the present embodiment, crawler belt drives
The exterior circumference of driving wheel 23, support wheel 24 and inducer 25 is provided with the tooth engaged with crawler belt, and 21 sets of endless track described
Crawler driving whell 23, the support wheel 24 and 25 outside of the inducer are simultaneously engaged.Preferably, the crawler driving whell 23 and institute
State the wheelspan that the wheelspan between inducer 25 is greater than between front end traveling wheel 31 and rear end traveling wheel 31, it is ensured that endless track
21 are located at front end and rearmost end in the longitudinal direction；Setting traveling wheel 31, crawler driving whell 23 and inducer 25 can also be passed through
Diameter reaches above-mentioned purpose.The track drive motor 22 is fixedly connected on the sole 10 and by shaft coupling and institute
The transmission connection of crawler driving whell 23 is stated, crawler driving whell 23 is driven to rotate, then by the crawler driving whell 23 driving crawler belt annular
Movement.
Preferably, the crawler driving whell 23, the support wheel 24 and the inducer 25 are separately fixed at corresponding wheel
On axis 26, the wheel shaft 26 is rotatably installed on the sole 10 by bearing, and bearing is mounted in bearing block 27, no longer superfluous
It states.Four crawler driving whells 23 are horizontally arranged side by side, are each attached on same root wheel shaft 26；Setting three is disbursed from the cost and expenses in the longitudinal direction
Support wheel 24, three support wheels 24 are horizontally arranged side by side in each column support wheel 24, and three support wheels 24 of each column are each attached to
On same root wheel shaft 26；Two column inducers 25 are arranged in the front end of sole 10, and each column inducer 25 is horizontally equipped with side by side
Two inducers 25, two inducers 25 of each column can be fixed on same root wheel shaft 26, can also be separately fixed at respectively
Wheel shaft 26 on.The track drive motor 22 is connect by the shaft coupling 28 with the wheel shaft 26 of the crawler driving whell 23.
Track drive motor 22 uses MAXON RE50 motor, is bolted on sole 10 by matched motor cabinet.
Further, in a preferred embodiment, being arranged side by side in the transverse direction of the sole 10 has two sets of chassis to carry out
Band device 20, the structure of two sets of chassis crawler attachments 20 are identical.In two sets of chassis crawler attachments 20, crawler driving whell 23 can
The same end of sole 10 is arranged in, opposite both ends can also be separately positioned on.It is of course also possible to be arranged side by side three sets or
The chassis crawler attachment 20 more covered, structure can be analogized to obtain, repeat no more.
Further, as shown in figure 3, the chassis wheeled devices 30 further include traction drive motor 32, the traveling wheel
Driving motor 32 is fixedly connected on the sole 10 and is sequentially connected by shaft coupling 33 and the traveling wheel 31.It is preferred that
, the traveling wheel 31 uses Mecanum wheel, and traction drive motor 32 uses MAXON RE35 motor, and motor passes through mating
Motor cabinet 34 and fixed plate 35 be bolted on sole 10.Wherein each Mecanum wheel be equipped with one it is right
The traction drive motor 32 answered is driven.
Further, flange wheel shaft 36 is rotatably equipped with by bearing on the sole 10, the one of the flange wheel shaft 36
End is flange 361, and the other end is shaft end；The traction drive motor 32 passes through the shaft coupling 33 and the flange wheel shaft 36
Shaft end connection, the Mecanum wheel is bolted on the flange 361 of 36 other end of flange wheel shaft.The shaft coupling
Device 33 can use 10mm shaft coupling.
Further, as shown in Figure 1, the upper end of the sole 10 is fixedly connected with equipment mounting frame 40, the equipment peace
It shelves and is bolted fixed plate 41 on 40, steering engine 42 has been bolted in fixed plate 41.The steering engine 42 connects moving camera 43,
For driving the moving camera 43 to rotate in the horizontal plane.The moving camera 43 is for acquiring image data.Pass through carrying
Moving camera 43 is robot collection site data and provides motion visual field.In the small environment of field range, the robot
Moving camera 43 can be driven to rotate 360 ° scanning to expand field range by steering engine 42, reduce blind area.Equipment mounting frame
It is bolted support connecting plate 44 on 40, power supply and control device, the control device control are installed on support connecting plate 44
The chassis crawler attachment 20, the chassis wheeled devices 30 and the steering engine 42 is made to move.The outer map interlinking of moving camera 43 passes mould
Image data teletransmission to computer can be shown by computer and be handled image data by block.Pass through control device pair
Two MAXON RE50 motors carry out SERVO CONTROL, and the movements controls such as the advance of chassis crawler attachment 20, retrogressing, rotation may be implemented
System.High to the requirement on flexibility of itself when robot is in more gentle working environment, chassis wheeled devices 30 use mikey
Na Mu wheel is used as traveling wheel 31, is controlled MAXON RE35 motor, it can be achieved that chassis wheeled devices 30 by control device
Omni-mobile.
From the above mentioned, the mikey in chassis wheeled devices 30 receives nurse wheel and ground face contact, the shoe in chassis crawler attachment 20
Band bottom is slightly above ground.In the longitudinal direction, the length of crawler belt ring be greater than front and back end traveling wheel 31 wheelspan, be conducive to using crawler belt across
Cross the ground such as trench, step and protrusion.Crawler belt and mikey receive nurse wheel movement be independent of each other.When robot moves on gentle road surface
When, mikey can be played and receive the function of nurse wheel, realize omnidirectional moving, speed and flexibility are improved.Pass through the knot on two kinds of chassis
It closes, robot moves in through varying environments such as trench, step, protrusion and gentle ground to have great advantage.
The foregoing is merely the schematical specific embodiment of the present invention, the range being not intended to limit the invention.Specifically
All combinations of feature illustrated in embodiment are not necessarily the solution that the present invention is limited, it is possible to understand that these are additional
Construction feature and operations improvement can be used alone or be combined with each other.It will therefore be appreciated that the present invention is not limited to
The combination of any specific feature or element, and any desired feature combination described herein can be carried out without departing from
Protection scope of the present invention, any those skilled in the art, is made under the premise of not departing from design and the principle of the present invention
Equivalent changes and modifications out, should belong to the scope of protection of the invention.
Claims (9)
1. a kind of wheel-track combined omni-directional mobile robots, including sole, chassis crawler attachment and chassis wheeled devices, described
Chassis crawler attachment and the chassis wheeled devices are installed on the sole；It is characterized in that, it is square to be moved ahead with robot
To be longitudinal, the horizontal direction being transversely to the machine direction is laterally；The chassis wheeled devices include four traveling wheels, two rows
Longitudinal front end that the sole is arranged in wheel is walked, and is symmetrically arranged at the both lateral sides of the sole；Other two described row
The longitudinally aft end that the sole is arranged in wheel is walked, the both lateral sides of the sole are symmetrically arranged at；The chassis crawler attachment
With endless track, the endless track is arranged between the traveling wheel of two sides and surround along longitudinal direction；The endless track
Front end reaches in front of the traveling wheel of front end, and the endless track rear end reaches the traveling wheel rear of rear end；Institute
The bottom for stating endless track is higher than the bottom of the traveling wheel.
2. wheel-track combined omni-directional mobile robots as described in claim 1, which is characterized in that the chassis crawler attachment is also
Including track drive motor, crawler driving whell, support wheel and inducer；It the crawler driving whell, the support wheel and described lures
Guide wheel is rotatably installed on the sole, before the crawler driving whell and the inducer are respectively provided at the sole
Both ends afterwards, the support wheel are located at the middle part of the sole and are located at the lower section of the support wheel and the inducer；It is described
Wheelspan between crawler driving whell and the inducer is greater than the wheelspan between front end traveling wheel and rear end traveling wheel；The crawler belt
Driving motor is fixedly connected on the sole and is sequentially connected by shaft coupling and the crawler driving whell；The annular is carried out
Band is covered outside the crawler driving whell, the support wheel and the inducer and is at least engaged with the crawler driving whell, by
The rotation of endless track described in the track drive wheel drive.
3. wheel-track combined omni-directional mobile robots as claimed in claim 2, which is characterized in that the crawler driving whell, institute
It states support wheel and the inducer is separately fixed on wheel shaft, the wheel shaft is rotatably installed on the sole by bearing；
The wheel axis connection that the track drive motor passes through the shaft coupling and the crawler driving whell.
4. wheel-track combined omni-directional mobile robots as claimed in claim 2, which is characterized in that in the transverse direction of the sole
Upper be arranged side by side has two sets of chassis crawler attachments, and the structure of two sets of chassis crawler attachments is identical.
5. such as the described in any item wheel-track combined omni-directional mobile robots of Claims 1-4, which is characterized in that the chassis
Wheeled devices further include traction drive motor, and the traction drive motor is fixedly connected on the sole and passes through connection
Axis device is connect with the traction drive.
6. wheel-track combined omni-directional mobile robots as claimed in claim 5, which is characterized in that the traveling wheel uses Mike
Na Mu wheel；Each Mecanum wheel is equipped with the traction drive motor and is driven.
7. wheel-track combined omni-directional mobile robots as claimed in claim 6, which is characterized in that pass through axis on the sole
It holds and is rotatably equipped with flange wheel shaft, one end of the flange wheel shaft is flange；The traction drive motor passes through the shaft coupling
Device and the flange wheel axis connection, the Mecanum wheel are connected on the flange of the flange wheel shaft other end.
8. wheel-track combined omni-directional mobile robots as described in claim 1, which is characterized in that the upper end of the sole is solid
Surely it is connected with equipment mounting frame, is fixed with steering engine on the equipment mounting frame；The steering engine connects moving camera, for driving
Moving camera is stated to rotate in the horizontal plane；The moving camera is for acquiring image data.
9. wheel-track combined omni-directional mobile robots as claimed in claim 8, which is characterized in that on the equipment mounting frame also
Power supply and control device be installed, the control device controls the chassis crawler attachment, chassis wheeled devices and described
Steering engine movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710324381.2A CN108860340A (en) | 2017-05-10 | 2017-05-10 | Wheel-track combined omni-directional mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710324381.2A CN108860340A (en) | 2017-05-10 | 2017-05-10 | Wheel-track combined omni-directional mobile robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860340A true CN108860340A (en) | 2018-11-23 |
Family
ID=64287568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710324381.2A Pending CN108860340A (en) | 2017-05-10 | 2017-05-10 | Wheel-track combined omni-directional mobile robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860340A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN112918205A (en) * | 2021-04-07 | 2021-06-08 | 青海云天无人机科技有限公司 | Self-propelled type drilling platform special for marshland with buoyancy device |
| CN113339677A (en) * | 2021-06-29 | 2021-09-03 | 河北工业大学 | Amphibious pipe network robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN201140734Y (en) * | 2007-11-19 | 2008-10-29 | 北京交通大学 | Mobile robot with combined step-wheel-footstep |
| CN201217458Y (en) * | 2008-04-24 | 2009-04-08 | 陈三利 | Caterpillar band harvester equipped with walking wheel |
| CN201664921U (en) * | 2010-04-08 | 2010-12-08 | 河北工业大学 | Crawler type panoramic visual intelligence moving robot platform |
| DE202013105667U1 (en) * | 2013-12-12 | 2014-12-15 | Frank Föckersperger GmbH | Vehicle, in particular construction or agricultural vehicle |
| CN205059775U (en) * | 2015-08-24 | 2016-03-02 | 刘刚 | Crawler frame people running gear |
| CN106114661A (en) * | 2016-07-20 | 2016-11-16 | 河北工业大学 | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism |
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
-
2017
- 2017-05-10 CN CN201710324381.2A patent/CN108860340A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN201140734Y (en) * | 2007-11-19 | 2008-10-29 | 北京交通大学 | Mobile robot with combined step-wheel-footstep |
| CN201217458Y (en) * | 2008-04-24 | 2009-04-08 | 陈三利 | Caterpillar band harvester equipped with walking wheel |
| CN201664921U (en) * | 2010-04-08 | 2010-12-08 | 河北工业大学 | Crawler type panoramic visual intelligence moving robot platform |
| DE202013105667U1 (en) * | 2013-12-12 | 2014-12-15 | Frank Föckersperger GmbH | Vehicle, in particular construction or agricultural vehicle |
| CN205059775U (en) * | 2015-08-24 | 2016-03-02 | 刘刚 | Crawler frame people running gear |
| CN106114661A (en) * | 2016-07-20 | 2016-11-16 | 河北工业大学 | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism |
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN110955249B (en) * | 2019-12-23 | 2023-11-07 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN112918205A (en) * | 2021-04-07 | 2021-06-08 | 青海云天无人机科技有限公司 | Self-propelled type drilling platform special for marshland with buoyancy device |
| CN112918205B (en) * | 2021-04-07 | 2023-01-31 | 青海云天无人机科技有限公司 | Self-propelled type drilling platform special for marshland with buoyancy device |
| CN113339677A (en) * | 2021-06-29 | 2021-09-03 | 河北工业大学 | Amphibious pipe network robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108860340A (en) | Wheel-track combined omni-directional mobile robots | |
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN108725612B (en) | Multi-freedom-degree multifunctional robot | |
| CN111976859B (en) | UPS-based parallel-connection wheel-foot mobile robot | |
| CN201380887Y (en) | Vehicle body chassis of robot | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN105667622A (en) | Six-wheel-foot type moving robot with three robot bodies | |
| CN111038612A (en) | Multi-motion-mode wheel-track-leg combined robot | |
| CN206900502U (en) | Wheel-track combined full ground anthropomorphic robot | |
| CN203078622U (en) | All-round moving track and platform thereof | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN103373404A (en) | Wheeled-tracked-legged composite type mobile robot | |
| CN104029746B (en) | Planetary gear crawler belt combined type tread systems design | |
| CN109334793B (en) | Wheel-track alternating all-terrain vehicle | |
| CN103010325A (en) | Convertible walking mechanism of robot | |
| CN107380297B (en) | Deformed multi-wheel type all-terrain robot walking mechanism | |
| CN202806930U (en) | Wheel - track - leg composite mobile robot | |
| CN211308772U (en) | Self-adaptive under-actuated tracked robot | |
| CN210083396U (en) | Unmanned obstacle crossing vehicle | |
| CN205022726U (en) | Moving platform who carries out compound suspension of wheel and have it warp | |
| CN104691642B (en) | A kind of leggy connecting rod actuation | |
| CN210101815U (en) | Variable-topology-structure crawler-type motion platform | |
| CN214729232U (en) | Wheeled all-terrain robot moving platform | |
| CN211809943U (en) | Multi-motion mode wheel-track-leg combined robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |
|
| RJ01 | Rejection of invention patent application after publication |