CN205271993U - Width adjustable moving platform and have its robot - Google Patents
Width adjustable moving platform and have its robot Download PDFInfo
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- CN205271993U CN205271993U CN201620060806.4U CN201620060806U CN205271993U CN 205271993 U CN205271993 U CN 205271993U CN 201620060806 U CN201620060806 U CN 201620060806U CN 205271993 U CN205271993 U CN 205271993U
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- connecting rod
- pivotal axis
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Abstract
The utility model provides a width adjustable moving platform which includes main automobile body, walking portion and width adjusting device, width adjusting device includes two link assembly through first pivotal axis and second pivotal axis looks hinge, link assembly includes two connecting rods that are equipped with the end tooth wheel, two but the connecting rod does not all link to each other with the seat pivot ground that inclines, and two end tooth wheel intermeshing, the lead screw respectively with first pivotal axis with the second pivotal axis constitutes the revolute pair and the screw thread is vice, the drive unit drive the lead screw rotates, the connecting seat includes that screw connection spare links to each other with fixed connector and both, the sinus borehole jack dress of deciding of screw connection spare is in on the lead screw, fixed connector with side seat constitute remove vicely and with main automobile body links to each other, the side seat links to each other with two walking portions respectively. Drive unit drive lead screw can make two walking portions to be close to or to keep away from the width regulation that moving platform was realized to main automobile body, the robot that has adopted above -mentioned moving platform has the width regulation function equally.
Description
Technical field
The utility model relates to robot technology field, particularly relates to a kind of broad-adjustable mobile platform and has the robot of this mobile platform.
Background technology
The stability of mobile platform is had important effect by the width of mobile platform, and the stability of the mobile platform with wide chassis is better. The mobile platform on narrow chassis is by comparatively narrow passage, but easily occurs roll to topple in rugged topography, and stability is not good. Therefore, if the width on the chassis of mobile platform can according to landform need regulate, the landform adaptability of mobile platform can be improved. And it is at present that the report of the adjustable robot moving platform of wide cut is little.
At state natural sciences fund youth fund, (approval number: under support 51205391), the present inventor team is studied further, for overcoming above-mentioned problem, explores a kind of broad-adjustable mobile platform and has the robot of this mobile platform.
Practical novel content
An object of the present utility model is intended to solve in prior art the technical problem existed, propose a kind of to utilize broad-adjustable mobile platform and there is the robot of this mobile platform, the width of this mobile platform and robot can regulate according to the needs of landform, it is to increase the landform adaptability of mobile platform and robot.
Broad-adjustable mobile platform according to the utility model embodiment, comprising: main car body, travel unit, width adjusting device; Described travel unit is two, and the both sides being located at described main car body respectively are connected with described main car body, and described travel unit comprises travel unit frame. Described width adjusting device is connected with described travel unit with described main car body, and described width adjusting device comprises: two connecting rod assemblies, the first pivotal axis, the 2nd pivotal axis, leading screw, driving unit and Connection Block; Two described connecting rod assemblies are designated as first connecting rod assembly and second connecting rod assembly respectively, and described connecting rod assembly comprises: side seat, connecting rod, and described side seat is connected with the travel unit frame of travel unit described in one of them; Described connecting rod is two, is designated as first connecting rod and second connecting rod respectively, and one end of two described connecting rods is provided with end tooth wheel, and two described connecting rods are connected by axis of described end tooth wheel axis pivotly with described side seat, and two described end tooth wheels engage each other; It is provided with pivoting hole, by described first pivotal axis by the described first connecting rod company of hinge mutually of the described first connecting rod of described first connecting rod assembly with described second connecting rod assembly in the middle part of described first pivotal axis; It is provided with threaded hole, by described 2nd pivotal axis by the described second connecting rod company of hinge mutually of connecting rod described in the 2nd of described first connecting rod assembly the with described second connecting rod assembly in the middle part of described 2nd pivotal axis; One end of described leading screw is located in the described pivoting hole of described first pivotal axis, described leading screw is connected pivotly with described first pivotal axis, described leading screw coordinates with the described threaded hole of described 2nd pivotal axis, and described leading screw is connected with screw thread pair with described 2nd pivotal axis; Described driving unit is connected with described first pivotal axis with described leading screw, and drives described screw mandrel to rotate; Described Connection Block comprises: leading screw web member, fixed connecting piece; Described leading screw web member is provided with determines middle slot hole, and described leading screw is installed on described to be determined in middle slot hole; Described fixed connecting piece is connected with described leading screw web member, and described fixed connecting piece and described side seat form moving sets, and described fixed connecting piece is connected with described main car body.
Broad-adjustable mobile platform according to other embodiments of the utility model, also comprises liner, and described liner comprises: lead part surely, and the described part that surely leads is connected with described main car body; Lower moving guide, described lower moving guide has two pieces, described lower moving guide and described determine guide part pair and close guiding, and two described lower moving guide are connected with the travel unit frame of two described travel units respectively.
Optionally, according to other embodiments of the present utility model, the described end tooth wheel of described connecting rod is imperfect gear.
Optionally, according to embodiment of the present utility model, described fixed connecting piece is provided with guide groove, and described side seat is provided with the orienting lug coordinated with it, and described guide groove and described orienting lug cooperatively interact formation moving sets.
Another is optional, and according to other embodiments of the present utility model, described fixed connecting piece is provided with guide rail, and described side seat is provided with the guide path coordinated with it, and described guide rail and described guide path cooperatively interact formation moving sets.
Optionally, it is cylindrical hole that described leading screw web member described determines middle slot hole.
Optionally, it is elongated groove opening that described leading screw web member described determines middle slot hole, and this elongated groove opening is for closing elongated groove opening or opening elongated groove opening.
As further optional, according to concrete enforcement, described driving unit is motor or the motor through slowing down.
According to other embodiments of the present utility model, described travel unit is running on wheels portion or crawler-type traveling portion.
In addition, the utility model also proposed a kind of robot, and it comprises above-mentioned broad-adjustable mobile platform.
Pass through technique scheme, the described Connection Block of described width adjusting device is connected with described main car body, two described side seats of described width adjusting device are connected with the described travel unit frame of two described travel units, and described like this main car body, two described travel units and described width adjusting device link together. Two described connecting rod assemblies of described width adjusting device are connected with described 2nd pivotal axis by described first pivotal axis, described leading screw rotates under the drive of described driving unit, thus control described first pivotal axis and the spacing of described 2nd pivotal axis, make the end tooth wheel of two described connecting rods of described connecting rod assembly carry out engagement rotation, can drive two described side seats simultaneously away from or near institute's leading screw. The described middle slot hole of the described leading screw web member of described Connection Block is installed on described leading screw, which limit described Connection Block in the movement being perpendicular to leading screw axis; Described fixed connecting piece and described side seat form moving sets, limit the axial motion of described Connection Block relatively described side seat at described leading screw; Adopt this technical scheme, ensure that described Connection Block is in the mid-way of two described side seats all the time, and the mid-way of described first pivotal axis and described 2nd pivotal axis. Because the described fixed connecting piece of described Connection Block is connected with described main car body, and two described side seats are connected with described travel unit, when described driving unit drives described screw turns, can drive two described travel units simultaneously near or away from described main car body, it is achieved that the function of the width adjusting of mobile platform. Due to mobile platform chassis width can according to landform need regulate, the landform adaptability of mobile platform can be improved.
Specifically, technical scheme according to embodiment of the present utility model, described fixed connecting piece is provided with guide groove, and described side seat is provided with the orienting lug coordinated with it, described orienting lug is located in guide groove, limits the motion of described fixed connecting piece phase offside seat in described leading screw axis direction.
Another is optional, technical scheme according to other embodiments of the present utility model, described fixed connecting piece is provided with guide rail, described side seat is provided with the guide path coordinated with it, described guide rail is located in described guide path, plays the motion of the described fixed connecting piece phase offside seat of restriction in described leading screw axis direction equally.
Broad-adjustable mobile platform according to other embodiments of the utility model, also comprises liner, adopts the guidance quality that this approach increases strength of joint and movement between described travel unit and main car body.
Optionally, according to other embodiments of the present utility model, the described end tooth wheel of described connecting rod is imperfect gear, and because the rotation scope of described connecting rod is less, therefore described end tooth wheel adopts imperfect gear can meet the requirement of engaged transmission.
According to embodiments more of the present utility model, it is cylindrical hole that described leading screw web member described determines middle slot hole, and described leading screw web member has been carried out spacing in the radial direction of described leading screw after being installed in described cylindrical hole by described leading screw.
According to other embodiments of the present utility model, it is elongated groove opening that described leading screw web member described determines middle slot hole. When described leading screw web member and described fixed connecting piece are for removably connecting, if described elongated groove opening is opening elongated groove opening, described elongated groove opening can be inserted in from the radial direction of described leading screw; After described fixed connecting piece coordinates with described side seat, then being connected with described leading screw web member, this structure is easily assembled.
As further optional, according to concrete enforcement, described driving unit is motor or the motor through slowing down.
According to other embodiments of the present utility model, described travel unit is running on wheels portion or crawler-type traveling portion, can form broad-adjustable wheel type mobile platform and broad-adjustable crawler belt move platform like this.
In addition, the utility model also proposed a kind of robot, and it comprises above-mentioned broad-adjustable mobile platform; Owing to using the cause of above-mentioned broad-adjustable mobile platform, can there is the adjustment of the chassis width realizing robot.
Adopt the technical solution of the utility model will obtain following useful effect: (1) achieves two travel units of mobile platform simultaneously synchronously to regulating outward or inwardly, reaches the adjustment object of mobile platform width; (2) this technical scheme is adopted can to design broad-adjustable mobile apparatus people and other mobile equipments.
Accompanying drawing explanation
Fig. 1 is the stereographic map of the mobile platform according to the utility model embodiment
Fig. 2 is the stereographic map of width adjusting device in Fig. 1;
Fig. 3 is another stereographic map of width adjusting device shown in Fig. 2;
Fig. 4 be the width of mobile platform shown in Fig. 1 bigger time state graph;
Fig. 5 be the width of mobile platform shown in Fig. 1 less time state graph;
Fig. 6 is the stereographic map of the mobile platform according to another embodiment of the utility model;
Fig. 7 is the stereographic map of the width adjusting device according to another embodiment of the utility model;
Fig. 8 is another stereographic map of the stereographic map of width adjusting device shown in Fig. 7;
Fig. 9 is the partial enlargement figure at I place in Fig. 7;
Stereographic map when Figure 10 utilizes the mobile platform width of width adjusting device shown in Fig. 7 bigger;
Figure 11 be the width of mobile platform shown in Figure 10 less time stereographic map;
Figure 12 is robot architecture's schematic diagram with the design of mobile platform shown in Figure 10;
Reference numeral:
1 main car body;
2 travel units;
201 travel unit framves;
21 crawler-type traveling portions;
211 crawler-type traveling portion framves;
22 running on wheels portions;
221 running on wheels portion framves;
3 width adjusting devices;
30 connecting rod assemblies;
301 first connecting rods;
The 3011 first connecting rod bodies of rod; 3012 first end gears;
302 second connecting rods;
The 3021 second connecting rod bodies of rod; 3022 the 2nd end tooth wheels;
303 side seats;
3031 orienting lugs; 3032 guide paths;
31 first connecting rod assemblies;
32 second connecting rod assemblies;
33 first pivotal axis;
34 the 2nd pivotal axis;
341 threaded holes;
35 leading screws;
36 Connection Blocks;
361 leading screw web members;
3610 middle slot holes; 3611 cylindrical holes; 3612 elongated groove openings;
362 fixed connecting pieces;
3621 guide grooves; 3622 guide rails;
37 driving unit;
4 liners;
41 lead part surely; 42 lower moving guide;
100 crawler-type mobile platforms;
200 wheel type mobile platforms;
Embodiment
Being described below in detail embodiment of the present utility model, and the utility model is described further, the embodiment described by reference to accompanying drawing is exemplary, only for explaining the utility model, and can not be interpreted as restriction of the present utility model.
Describing the wide cut adjustable moving platform according to the utility model embodiment in detail below in conjunction with Fig. 1 to Figure 12, this mobile platform can be used for mobile apparatus people, but is not limited to this.
As shown in Figures 1 to 5, according to the broad-adjustable mobile platform of the utility model embodiment, comprising: main car body 1, travel unit 2, width adjusting device 3. As shown in Figure 1, travel unit 2 is two, and in the present embodiment, travel unit 2 adopts crawler-type traveling portion 21, and described crawler-type traveling portion 21 comprises crawler-type traveling portion frame 211; The both sides that described crawler-type traveling portion 21 is located at main car body 1 respectively are connected with main car body 1, and width adjusting device 3 is connected with travel unit 2 with main car body 1.
Specifically, as shown in Figures 2 and 3, width adjusting device 3 comprises: two connecting rod assembly 30, first pivotal axis 33, the 2nd pivotal axis 34, leading screw 35, drive unit 37 and Connection Block 36; Two connecting rod assemblies 30 are designated as first connecting rod assembly 31 and second connecting rod assembly 32 respectively, and connecting rod assembly 30 comprises: side seat 303, connecting rod; Side seat 303 is connected with the travel unit frame 201 of one of them travel unit 2; Described connecting rod is two, it is designated as first connecting rod 301 and second connecting rod 302 respectively, one end of two described connecting rods is equipped with end tooth wheel, and two described connecting rods are connected by axis of described end tooth wheel axis pivotly with side seat 303, and two described end tooth wheels engage each other. In the concrete structure of the present embodiment, first connecting rod 301 comprises the first connecting rod body of rod 3011 and first end gear 3012, and the first connecting rod body of rod 3011 and first end gear 3012 are linked togather admittedly; Second connecting rod 302 comprises the second connecting rod body of rod 3021 and the 2nd end tooth wheel 3022, and the second connecting rod body of rod 3021 and the 2nd end tooth wheel 3022 are linked togather admittedly. First connecting rod 301 and second connecting rod 302 are connected by axis of the axis of first end gear 3012 and the 2nd end tooth wheel 3022 pivotly with side seat 303 respectively, and first end gear 3012 and the 2nd end tooth wheel 3022 engage each other. It is provided with pivoting hole in the middle part of first pivotal axis 33, by the first pivotal axis 33, the first connecting rod 301 phase hinge of the first connecting rod 301 of first connecting rod assembly 31 with second connecting rod assembly 32 is connected; It is provided with threaded hole 341 in the middle part of 2nd pivotal axis 33, by the 2nd pivotal axis 34, the second connecting rod 302 phase hinge of the second connecting rod 302 of first connecting rod assembly 31 with second connecting rod assembly 32 is connected; One end of leading screw 35 is located in the described pivoting hole of the first pivotal axis 33, and leading screw 35 is connected pivotly with the first pivotal axis 33, and leading screw 35 coordinates with the described threaded hole 341 of the 2nd pivotal axis 34 and is connected with screw thread pair with the 2nd pivotal axis 34; Drive unit 37 to be connected with the first pivotal axis 33 with leading screw 35, and drive described screw mandrel to rotate. In the present embodiment, unit 37 is driven to have employed motor, it is possible to adopt the motor through slowing down. Connection Block 36 comprises: leading screw web member 361, fixed connecting piece 362; Leading screw web member 361 is provided with determines middle slot hole 3610, and leading screw 35 is installed on described to be determined in middle slot hole 3610; Fixed connecting piece 362 is connected with leading screw web member 361, and fixed connecting piece 362 forms moving sets with side seat 303, and fixed connecting piece 362 is connected with main car body 1, as shown in Figure 1.
Pass through technique scheme, the Connection Block 36 of width adjusting device 3 is connected with described main car body 1, two side seats 303 of width adjusting device 3 are connected with the travel unit frame 201 of two travel units 2, and such main car body 1, two travel units 2 and width adjusting device 3 link together. Two connecting rod assemblies 30 of width adjusting device 3 are connected with the 2nd pivotal axis 34 by the first pivotal axis 33, leading screw 35 rotates under the drive driving unit 37, thus control the first pivotal axis 33 and the spacing of the 2nd pivotal axis 34, make the end tooth wheel of two described connecting rods of connecting rod assembly 30 carry out engagement rotation, can drive two side seats 303 simultaneously away from or near leading screw 35. The described middle slot hole 3610 of the leading screw web member 361 of Connection Block 36 is installed on leading screw 35, which limit Connection Block 36 in the movement being perpendicular to leading screw 35 axis; Fixed connecting piece 362 and side seat 303 form moving sets, limit the axial motion of Connection Block 36 phase offside seat 303 at leading screw 35; Adopt this technical scheme, ensure that Connection Block 36 is in the mid-way of two side seats 303 all the time, and the mid-way of the first pivotal axis 33 and the 2nd pivotal axis 34. Because the fixed connecting piece 362 of Connection Block 36 is connected with main car body 1, and two side seats 303 are connected with travel unit, when driving unit 37 to drive leading screw 35 to rotate, can drive two travel units simultaneously near or away from main car body 1, it is achieved that the function of the width adjusting of mobile platform. As Fig. 4 be mobile platform width bigger time state graph, Fig. 5 be described mobile platform width less time state graph.
Specifically, according to embodiment of the present utility model, as shown in Figure 3, fixed connecting piece 362 is provided with guide groove 3621, side seat 303 is provided with the orienting lug 3031 coordinated with it, guide groove 3621 and orienting lug 3031 cooperatively interact formation moving sets, and orienting lug 3031 is located in guide groove 3621, limits the motion of fixed connecting piece 362 phase offside seat 303 in leading screw 35 axis direction. In the present embodiment, the described of leading screw web member 361 determines middle slot hole 3610 for cylindrical hole 3611. Leading screw web member 361 has been carried out spacing in the radial direction of leading screw 35 after being installed in described cylindrical hole 3611 by leading screw 35.
Another is optional, and according to other embodiments of the present utility model, as shown in Figure 7 and Figure 8, fixed connecting piece 362 is provided with guide rail 3622, and side seat 303 is provided with the guide path 3032 coordinated with it, and guide rail 3622 and guide path 3032 cooperatively interact formation moving sets; In the present embodiment, guide rail 3622 is located in guide path 3032, plays the motion of restriction fixed connecting piece 362 phase offside seat 303 in leading screw 35 axis direction equally.
According to other embodiments of the present utility model, as illustrated in figs. 7 and 8, the described of leading screw web member 361 determines middle slot hole 3610 for elongated groove opening 3612. When leading screw web member 361 and fixed connecting piece 362 are for removably connecting, if described elongated groove opening is opening elongated groove opening, described elongated groove opening can be inserted in from the radial direction of leading screw 35; After fixed connecting piece 362 coordinates with side seat 303, then being connected with leading screw web member 361, this structure is easily assembled.
In the embodiment of Fig. 1 to Fig. 5, the described end tooth wheel of described connecting rod have employed full teeth gear. And according to other embodiments of the present utility model, described end tooth wheel have employed non-fully gear, as shown in Fig. 7 and Fig. 9. Because the rotation scope of described connecting rod is less, therefore described end tooth wheel adopts imperfect gear can meet the requirement of engaged transmission.
Broad-adjustable mobile platform according to other some embodiments of the utility model, embodiment as shown in Figure 6, also comprises liner 4, and liner 4 comprises: lead part 41 surely, and the part 41 that surely leads is connected with main car body 1; Lower moving guide 42, lower moving guide 42 has two pieces, and lower moving guide 42 coordinates guiding with the part 41 that surely leads, and two lower moving guide 42 are connected with the travel unit frame 201 of two travel units 2 respectively. Adopt the guidance quality that this approach increases strength of joint and movement between travel unit 2 and main car body 1.
According to embodiment of the present utility model, the travel unit 2 of mobile platform of the present utility model can be crawler-type traveling portion, forms crawler-type mobile platform 100, as in the embodiment shown in fig. 1. Also can adopting running on wheels portion 22, can form in the embodiment in wheel type mobile platform 200, Figure 10 or Figure 11, running on wheels portion 22 comprises running on wheels portion frame 221, and two side seats 303 of width adjusting device 3 are connected with two running on wheels portion framves 221 respectively. Wherein Figure 10 be this wheel type mobile platform 200 width bigger time state graph, Figure 11 be its width less time state graph.
In addition, the utility model also proposed a kind of robot, and it comprises above-mentioned broad-adjustable mobile platform; It is the mobile apparatus people that have employed the wheel type mobile platform 200 shown in Figure 10 such as Figure 12. Other for described mobile apparatus people are formed, and be prior art, and are that the those of ordinary skill of this area is known, therefore are not described in detail. Owing to using the cause of above-mentioned broad-adjustable mobile platform, can there is the adjustment of the chassis width realizing robot.
Although it has been shown and described that embodiment of the present utility model, it will be understood by those skilled in the art that: these embodiments can be carried out multiple change, amendment, replacement and modification when not departing from principle of the present utility model and objective, scope of the present utility model by claim and etc. jljl limit.
Claims (10)
1. a broad-adjustable mobile platform, it is characterised in that, comprising:
Main car body;
Travel unit, described travel unit is two, and the both sides being located at described main car body respectively are connected with described main car body, and described travel unit comprises travel unit frame;
Width adjusting device, described width adjusting device is connected with described travel unit with described main car body, and described width adjusting device comprises:
Two connecting rod assemblies, are designated as first connecting rod assembly and second connecting rod assembly respectively, and described connecting rod assembly comprises:
Side seat, described side seat is connected with the travel unit frame of travel unit described in one of them;
Connecting rod, described connecting rod is two, is designated as first connecting rod and second connecting rod respectively, and one end of two described connecting rods is provided with end tooth wheel, and two described connecting rods are connected by axis of described end tooth wheel axis pivotly with described side seat, and two described end tooth wheels engage each other;
First pivotal axis, is provided with pivoting hole in the middle part of described first pivotal axis, by described first pivotal axis by the described first connecting rod company of hinge mutually of the described first connecting rod of described first connecting rod assembly with described second connecting rod assembly;
2nd pivotal axis, is provided with threaded hole in the middle part of described first pivotal axis, by described 2nd pivotal axis by the described second connecting rod company of hinge mutually of connecting rod described in the 2nd of described first connecting rod assembly the with described second connecting rod assembly;
Leading screw, one end of described leading screw is located in the described pivoting hole of described first pivotal axis, described leading screw is connected pivotly with described first pivotal axis, and described leading screw coordinates with the described threaded hole of described 2nd pivotal axis, and described leading screw is connected with screw thread pair with described 2nd pivotal axis;
Driving unit, described driving unit is connected with described first pivotal axis with described leading screw, and drives described screw turns;
Connection Block, described Connection Block comprises:
Leading screw web member, described leading screw web member is provided with determines middle slot hole, and described leading screw is installed on described to be determined in middle slot hole;
Fixed connecting piece, described fixed connecting piece is connected with described leading screw web member, and described fixed connecting piece and described side seat form moving sets, and described fixed connecting piece is connected with described main car body.
2. broad-adjustable mobile platform according to claim 1, it is characterised in that, also comprise liner, described liner comprises:
Surely lead part, and the described part that surely leads is connected with described main car body;
Lower moving guide, described lower moving guide has two pieces, described lower moving guide and described determine guide part pair and close guiding, and two described lower moving guide are connected with the travel unit frame of two described travel units respectively.
3. broad-adjustable mobile platform according to claim 1, it is characterised in that, the described end tooth wheel of described connecting rod is imperfect gear.
4. broad-adjustable mobile platform according to claim 1, it is characterised in that, described fixed connecting piece is provided with guide groove, and described side seat is provided with the orienting lug coordinated with it, and described guide groove and described orienting lug cooperatively interact formation moving sets.
5. broad-adjustable mobile platform according to claim 1, it is characterised in that, described fixed connecting piece is provided with guide rail, and described side seat is provided with the guide path coordinated with it, and described guide rail and described guide path cooperatively interact formation moving sets.
6. broad-adjustable mobile platform according to claim 1, it is characterised in that, described driving unit is motor or the motor through slowing down.
7. broad-adjustable mobile platform according to claim 1, it is characterised in that, it is described that to determine middle slot hole be cylindrical hole.
8. broad-adjustable mobile platform according to claim 1, it is characterised in that, described to determine middle slot hole be elongated groove opening, and this elongated groove opening is for closing elongated groove opening or opening elongated groove opening.
9. broad-adjustable mobile platform according to claim 1, it is characterised in that: described travel unit is running on wheels portion or crawler-type traveling portion.
10. a robot, it is characterised in that, comprise the broad-adjustable mobile platform according to any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620060806.4U CN205271993U (en) | 2016-01-21 | 2016-01-21 | Width adjustable moving platform and have its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620060806.4U CN205271993U (en) | 2016-01-21 | 2016-01-21 | Width adjustable moving platform and have its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205271993U true CN205271993U (en) | 2016-06-01 |
Family
ID=56056609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620060806.4U Withdrawn - After Issue CN205271993U (en) | 2016-01-21 | 2016-01-21 | Width adjustable moving platform and have its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205271993U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522558A (en) * | 2016-01-21 | 2016-04-27 | 中国矿业大学 | Width-adjustable mobile platform and robot with same |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN114851158A (en) * | 2022-04-19 | 2022-08-05 | 常州大学 | Multi-cargo carrying robot with self-adaptive chassis size adjustment function |
-
2016
- 2016-01-21 CN CN201620060806.4U patent/CN205271993U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522558A (en) * | 2016-01-21 | 2016-04-27 | 中国矿业大学 | Width-adjustable mobile platform and robot with same |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN114851158A (en) * | 2022-04-19 | 2022-08-05 | 常州大学 | Multi-cargo carrying robot with self-adaptive chassis size adjustment function |
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