CN112590990B - Reconfigurable modular robot system - Google Patents
Reconfigurable modular robot system Download PDFInfo
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- CN112590990B CN112590990B CN202011483638.7A CN202011483638A CN112590990B CN 112590990 B CN112590990 B CN 112590990B CN 202011483638 A CN202011483638 A CN 202011483638A CN 112590990 B CN112590990 B CN 112590990B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
Abstract
The present disclosure provides a reconfigurable modular robotic system comprising a module assembly and a connection assembly, the connection assembly being fixedly connected with the module assembly, a plurality of the module assemblies being connected in series by the connection assembly; the module assembly comprises a driving assembly, a base, an active suspension assembly, a passive suspension assembly and a control system, wherein the driving assembly is fixedly connected with the base through the active suspension assembly and the passive suspension assembly, the control system is arranged in the base, and the control system is electrically connected with the driving assembly and the active suspension assembly; through setting up a plurality of module components to realize the connection of multimode through coupling assembling, realize than single module component higher bearing capacity, duration and throughput, adopt the combination of initiative suspension and passive suspension, increase the open-air basis trafficability characteristic and the mobility of single module, and increase bearing capacity.
Description
Technical Field
The present disclosure relates to the field of robots, and more particularly, to a reconfigurable modular robot system.
Background
The existing robots used for individual soldiers mainly adopt a one-way guarantee mode, namely, the robots are guaranteed by human soldiers before and after the tasks are executed, and the robots perform tasks such as detection, striking, support and the like; the transportation before and after action is completed by human fighters, resulting in increased carrying load of the fighters.
The balance car can be driven by a single person to realize rapid spatial transfer, but the trafficability of the balance car under the field terrain condition is poor, the load capacity of a single platform is poor, and the balance car cannot adapt to rapid accompanying support and guarantee tasks under the field condition.
Disclosure of Invention
To address at least one of the above technical problems, the present disclosure provides a reconfigurable modular robotic system.
The reconfigurable modular robotic system comprises module components and a connecting component, wherein the connecting component is fixedly connected with the module components, and a plurality of module components are connected in series through the connecting component;
the module assembly comprises a driving assembly, a base, an active suspension assembly, a passive suspension assembly and a control system, wherein the driving assembly is fixedly connected with the base through the active suspension assembly and the passive suspension assembly, the control system is arranged in the base, and the control system is electrically connected with the driving assembly and the active suspension assembly;
the connecting assembly comprises an electrical connecting assembly and a fixed connecting assembly, the connecting assembly is electrically connected with the control system, the electrical connecting assembly is arranged on the front side surface and the rear side surface of the base, and the fixed connecting assembly is fixedly arranged on the front side surface and the rear side surface of the base;
two adjacent module components pass through electrical connection subassembly electricity is connected, two adjacent module components pass through fixed connection subassembly fixed connection.
Specifically, the driving assembly comprises a first electric wheel and a second electric wheel, and the first electric wheel and the second electric wheel are respectively arranged at two ends of the base;
the first/second electric wheel includes a reduction-type hub motor, a rim, and a tire.
Specifically, initiative suspension subassembly includes first actuator and second actuator, first actuator with the equal vertical setting of second actuator, just the fixed jar of first actuator with the fixed jar of second actuator respectively with the both ends fixed connection of base, the telescopic link of first actuator with the axis fixed connection of first electronic round, the telescopic link of second actuator with the axis fixed connection of the electronic round of second.
Furthermore, the active suspension assembly further comprises a support guide rail, two vertical mounting holes are formed in two ends of the base respectively, the support guide rail is vertically arranged in the mounting holes, and the fixed cylinder of the first actuator and the fixed cylinder of the second actuator are slidably connected with the two support guide rails respectively.
Preferably, the first actuator and the second actuator are arranged in parallel, the first electric wheel and the second electric wheel are arranged coaxially, and the first actuator and the second actuator are electrically connected with the control system.
Specifically, passive suspension subassembly includes the leaf spring, two the leaf spring sets up respectively the both ends of base, the both ends of leaf spring respectively through the screw with the downside fixed connection of base, the lower extreme of the fixed cylinder of first actuator with the middle-end fixed connection of leaf spring, the lower extreme of the fixed cylinder of second actuator and another the middle-end fixed connection of leaf spring.
Specifically, the electrical connection assembly comprises a first electrical column, a second electrical column and interface holes, the first electrical column and the second electrical column are vertically and fixedly arranged on the front side face of the base, the two interface holes are fixedly arranged on the rear side face of the base and correspond to the first electrical column and the second electrical column, and the first electrical column, the second electrical column and the interface holes are electrically connected with the control system.
Specifically, fixed connection subassembly includes electromagnetic interface and permanent magnet, the permanent magnet is fixed to be set up the leading flank of base, the electromagnetic interface is fixed to be set up the trailing flank of base and with the permanent magnet corresponds the setting, the electromagnetic interface with the control system electricity is connected.
Preferably, two adjacent module assemblies are electrically connected through the first electric column, the second electric column and the interface hole, and are butted through the electromagnetic interface and the permanent magnet.
Specifically, control system includes attitude sensor, power, control chip and connects the electric hole, attitude sensor the power with connect the electric hole all with the control chip electricity is connected, coupling assembling with module component with the control chip electricity is connected.
According to at least one embodiment of this disclosure, through setting up a plurality of module components to realize the connection of multimode through coupling assembling, realize than single module component higher bearing capacity, duration and throughput, adopt the combination of initiative suspension and passive suspension, increase single module's open-air basis trafficability characteristic and mobility, and increase bearing capacity.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of a reconfigurable modular robotic system according to the present disclosure.
Fig. 2 is a side view of a reconfigurable modular robotic system according to the present disclosure.
Figure 3 is a schematic diagram of a reconfigurable modular robotic system according to the present disclosure spanning a single obstacle.
Fig. 4 is a schematic diagram of a tandem of reconfigurable modular robotic systems according to the present disclosure.
Fig. 5 is a step-over schematic of a reconfigurable modular robotic system according to the present disclosure.
Reference numerals: 1-a first electric wheel, 2-a plate spring, 3-a base, 4-an interface hole, 5-an electric connection hole, 6-an electromagnetic interface, 7-a second electric wheel, 8-a second actuator, 9-a first electric column, 10-a permanent magnet, 11-a first actuator, 12-a second electric column, 14-an obstacle.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example one
As shown in fig. 1, 4 and 5, there is provided a reconfigurable modular robotic system according to the present disclosure, including a module assembly and a connecting assembly, the connecting assembly being fixedly connected with the module assembly, a plurality of module assemblies being connected in series by the connecting assembly;
the plurality of module assemblies realize the connection among the modules through standardized interfaces, so that the number of the modules connected in series can be selected as required, and the bearing capacity and the cruising ability can be effectively increased.
The connecting assembly comprises an electrical connecting assembly and a fixed connecting assembly, the connecting assembly is electrically connected with the control system, the electrical connecting assembly is arranged on the front side surface and the rear side surface of the base 3, and the fixed connecting assembly is fixedly arranged on the front side surface and the rear side surface of the base 3;
two adjacent module components are electrically connected through an electrical connection component, and two adjacent module components are fixedly connected through a fixed connection component.
The electrical connection assembly comprises a first electrical column 9, a second electrical column 12 and an interface hole 4, the first electrical column 9 and the second electrical column 12 are vertically and fixedly arranged on the front side surface of the base 3, the two interface holes 4 are fixedly arranged on the rear side surface of the base 3 and correspond to the first electrical column 9 and the second electrical column 12, and the first electrical column 9, the second electrical column 12 and the interface hole 4 are electrically connected with the control system.
The fixed connection assembly comprises an electromagnetic interface 6 and a permanent magnet 10, the permanent magnet 10 is fixedly arranged on the front side face of the base 3, the electromagnetic interface 6 is fixedly arranged on the rear side face of the base 3 and corresponds to the permanent magnet 10, and the electromagnetic interface 6 is electrically connected with the control system.
The first electric column 9, the second electric column 12 and the interface hole 4 realize power supply and data interaction between two adjacent module assemblies, as shown in fig. 4, when a plurality of module assemblies are connected in series, the electric column of the module assembly at the rear side is inserted into the interface hole 4 of the module assembly at the front side, and simultaneously bears corresponding torsion moment, so that the connection stability is ensured.
The internal force between adjacent module components realizes butt joint and connection through the electromagnetic interface 6 and the permanent magnet 10, realizes the adsorption of the electromagnetic interface 6 and the permanent magnet 10 by supplying power to the electromagnetic interface 6, and realizes the separation of the electromagnetic interface 6 and the permanent magnet 10 by powering off the electromagnetic interface 6.
As shown in fig. 5, after a plurality of robots are connected, the ability of passing stairs and high vertical obstacles can be realized through the adjustment of the active suspension.
The control system comprises an attitude sensor, a power supply, a control chip and a power connection hole 5, wherein the attitude sensor, the power supply and the power connection hole 5 are electrically connected with the control chip, and the connecting component is electrically connected with the module component and the control chip. The control system is arranged in the base 3.
The work of the module components and the cooperative work among the module components are realized through the control chip, and the charging operation of the power supply is realized through the power connection hole 5.
Example two
As shown in fig. 1, 2 and 3, the module assembly includes a driving assembly, a base 3, an active suspension assembly, a passive suspension assembly and a control system, the driving assembly is fixedly connected with the base 3 through the active suspension assembly and the passive suspension assembly, the control system is disposed in the base 3, and the control system is electrically connected with the driving assembly and the active suspension assembly;
through the cooperation of initiative suspension subassembly and passive suspension subassembly, make module assembly have higher trafficability characteristic and balancing capability, when the ground fall is less, can realize the level of base 3 through passive suspension subassembly, can reduce energy resource consumption. When the ground fall is large, the base 3 is leveled through the active suspension assembly, and the trafficability characteristic can be increased.
The driving assembly comprises a first electric wheel 1 and a second electric wheel 7, the first electric wheel 1 and the second electric wheel 7 are respectively arranged at two ends of the base 3, and the first electric wheel 1/the second electric wheel 7 comprise a speed reduction type hub motor, a rim and a tire.
The first electric wheel 1 and the second electric wheel 7 of the driving assembly are in a common two-wheel driving mode, quick excitation on the ground is achieved through the electric wheels arranged on the left side and the right side, and the function of steering or pivot steering in the process is achieved by controlling the rotating speed difference of the first electric wheel 1 and the second electric wheel 7.
The initiative suspension subassembly includes first actuator 11, second actuator 8 and support rail, the equal vertical setting of first actuator 11 and second actuator 8, the both ends of base 3 are provided with two vertical mounting holes respectively, the vertical setting of support rail is in the mounting hole, but the fixed jar of first actuator 11 and second actuator 8 with two support rail sliding connection respectively, the telescopic link of second actuator 8 and the axis fixed connection of the electronic round of 7 of second.
The first actuator 11 and the second actuator 8 are arranged in parallel, the first electric wheel 1 and the second electric wheel 7 are coaxially arranged, and the first actuator 11 and the second actuator 8 are electrically connected with the control system.
As shown in fig. 3, when the electric wheel on one side crosses over the obstacle 14, the attitude sensor arranged in the base 3 senses the pitching and yawing angles of the base 3 relative to the horizontal position, when the detected angle is too large, the base cannot be kept horizontal through the passive suspension assembly, and then the control chip sends a control signal to the corresponding actuator to be measured, so that the elongation of the actuator is adjusted in real time, and the base 3 is ensured to be in the horizontal position.
The first actuator 11 and the second actuator 8 are miniature electro-hydrostatic actuators.
The passive suspension subassembly includes leaf spring 2, and two leaf springs 2 set up respectively at the both ends of base 3, and the both ends of leaf spring 2 are respectively through the downside fixed connection of screw with base 3, the lower extreme of the fixed cylinder of first actuator 11 and the middle-end fixed connection of leaf spring 2, the lower extreme of the fixed cylinder of second actuator 8 and the middle-end fixed connection of another leaf spring 2.
Under the normal road conditions condition, the inclination of base 3 is in normal controllable within range (the human perception is not strong), and the actuator does not move, and first actuator 11 and the 8 extensions of second actuator keep unanimous, and passive suspension plays the effect with the axle load of adjusting the gesture this moment, and first actuator 11 and second actuator 8 slide from top to bottom in the support rail according to the motion of leaf spring 2.
As shown in fig. 3, when the inclination angle of the base 3 exceeds the normal range due to the vertical height difference between the ground lines of the left and right sides, the attitude sensor detects the inclination angle and controls the actuator of the corresponding side to adjust to compensate the corresponding vertical height difference. The base 3 is kept horizontal.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (8)
1. A reconfigurable modular robotic system comprising a module assembly and a connection assembly, the connection assembly being fixedly connected to the module assembly, a plurality of the module assemblies being connected in series by the connection assembly;
the module assembly comprises a driving assembly, a base, an active suspension assembly, a passive suspension assembly and a control system, wherein the driving assembly is fixedly connected with the base through the active suspension assembly and the passive suspension assembly, the control system is arranged in the base, and the control system is electrically connected with the driving assembly and the active suspension assembly;
the connecting assembly comprises an electrical connecting assembly and a fixed connecting assembly, the connecting assembly is electrically connected with the control system, the electrical connecting assembly is arranged on the front side surface and the rear side surface of the base, and the fixed connecting assembly is fixedly arranged on the front side surface and the rear side surface of the base;
two adjacent module assemblies are electrically connected through the electrical connection assembly, and the two adjacent module assemblies are fixedly connected through the fixed connection assembly;
the driving assembly comprises a first electric wheel and a second electric wheel;
the active suspension assembly comprises a first actuator and a second actuator, the first actuator and the second actuator are both vertically arranged, a fixed cylinder of the first actuator and a fixed cylinder of the second actuator are respectively and fixedly connected with two ends of the base, a telescopic rod of the first actuator is fixedly connected with a middle shaft of the first electric wheel, and a telescopic rod of the second actuator is fixedly connected with a middle shaft of the second electric wheel;
the active suspension assembly further comprises a support guide rail, two vertical mounting holes are respectively formed in two ends of the base, the support guide rail is vertically arranged in the mounting holes, and the fixed cylinder of the first actuator and the fixed cylinder of the second actuator are respectively connected with the two support guide rails in a sliding manner;
the passive suspension assembly comprises plate springs, and the two plate springs are respectively arranged at two ends of the base;
the lower end of the fixed cylinder of the first actuator is fixedly connected with the middle end of the plate spring, and the lower end of the fixed cylinder of the second actuator is fixedly connected with the middle end of the other plate spring;
when the inclination angle of the base is smaller than a threshold value, the passive suspension assembly adjusts the posture of the base, and the first actuator and the second actuator of the active suspension assembly slide up and down in the supporting guide rail;
the first actuator or the second actuator of the active suspension assembly is actuated to maintain the base level when the tilt angle of the base is greater than or equal to a threshold value.
2. A reconfigurable modular robotic system as claimed in claim 1, wherein the first motorized wheel and the second motorized wheel are disposed at respective ends of the base;
the first/second electric wheel includes a reduction-type hub motor, a rim, and a tire.
3. A reconfigurable modular robotic system as claimed in claim 2, wherein the first actuator and the second actuator are arranged in parallel, the first motorized wheel and the second motorized wheel are coaxially arranged, and the first actuator and the second actuator are electrically connected to the control system.
4. A reconfigurable modular robotic system as claimed in claim 2, wherein the leaf springs are each fixedly attached at each end to the underside of the base by screws.
5. The reconfigurable modular robotic system of claim 1, wherein the electrical connection assembly comprises a first electrical post, a second electrical post and interface holes, the first electrical post and the second electrical post are vertically and fixedly disposed on a front side of the base, the two interface holes are fixedly disposed on a rear side of the base and correspond to the first electrical post and the second electrical post, and the first electrical post, the second electrical post and the interface holes are electrically connected to the control system.
6. The reconfigurable modular robotic system of claim 5, wherein the fixed connection assembly comprises an electromagnetic interface and a permanent magnet, the permanent magnet is fixedly disposed on a front side of the base, the electromagnetic interface is fixedly disposed on a rear side of the base and corresponds to the permanent magnet, and the electromagnetic interface is electrically connected to the control system.
7. A reconfigurable modular robotic system as claimed in claim 6, wherein two adjacent module assemblies are electrically connected via said first electrical post, said second electrical post and said interface aperture, and are interfaced via said electromagnetic interface and said permanent magnet.
8. The reconfigurable modular robotic system of claim 1, wherein the control system comprises an attitude sensor, a power source, a control chip, and a power-on aperture, the attitude sensor, the power source, and the power-on aperture being electrically connected to the control chip, the connection assembly, and the module assembly being electrically connected to the control chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011483638.7A CN112590990B (en) | 2020-12-15 | 2020-12-15 | Reconfigurable modular robot system |
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| CN202011483638.7A CN112590990B (en) | 2020-12-15 | 2020-12-15 | Reconfigurable modular robot system |
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| CN112590990A CN112590990A (en) | 2021-04-02 |
| CN112590990B true CN112590990B (en) | 2022-04-12 |
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| GB2610865B (en) * | 2021-09-20 | 2023-08-23 | Vo Vehicles Ltd | A compact ground vehicle with electric propulsion |
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| CN101844348A (en) * | 2010-06-22 | 2010-09-29 | 上海交通大学 | Master-slave modular robot |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN104085266A (en) * | 2014-06-30 | 2014-10-08 | 深圳市科松电子有限公司 | Suspension for chassis of four-wheel moving robot |
| CN109515087A (en) * | 2018-11-02 | 2019-03-26 | 吉林大学 | A kind of all-terrain moving robot with active independent suspension system |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN211969574U (en) * | 2020-03-18 | 2020-11-20 | 辽宁工业大学 | Distributed driving integrated modular structure |
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2020
- 2020-12-15 CN CN202011483638.7A patent/CN112590990B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101844348A (en) * | 2010-06-22 | 2010-09-29 | 上海交通大学 | Master-slave modular robot |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN104085266A (en) * | 2014-06-30 | 2014-10-08 | 深圳市科松电子有限公司 | Suspension for chassis of four-wheel moving robot |
| CN109515087A (en) * | 2018-11-02 | 2019-03-26 | 吉林大学 | A kind of all-terrain moving robot with active independent suspension system |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN211969574U (en) * | 2020-03-18 | 2020-11-20 | 辽宁工业大学 | Distributed driving integrated modular structure |
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