CN205801284U - Novel crawler belt transformable robot mobile platform based on four-bar mechanism - Google Patents
Novel crawler belt transformable robot mobile platform based on four-bar mechanism Download PDFInfo
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- CN205801284U CN205801284U CN201620770792.5U CN201620770792U CN205801284U CN 205801284 U CN205801284 U CN 205801284U CN 201620770792 U CN201620770792 U CN 201620770792U CN 205801284 U CN205801284 U CN 205801284U
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Abstract
This utility model patent relates to a kind of novel crawler belt transformable robot mobile platform based on four-bar mechanism, and its technical characteristics is: robot body includes casing, initiative drive shaft, slave drive axle, drives motor mechanism；Wheel is carried out compound walking module and is included crawler belt support link mechanism and pedrail mechanism, and crawler belt support link mechanism includes front support rod, middle brace rod, deformation position-limit mechanism, the first pull bar, the first back support rod, deformation resetting-mechanism, the second back support rod and the second pull bar；Described pedrail mechanism includes the biggest Athey wheel, the least Athey wheel, the first driven big Athey wheel, the second driven little Athey wheel, the first driven little Athey wheel, driven pedrail and transmission traveling crawler.This utility model can change the profile of crawler belt passively according to the size of barrier, and can independently realize wheel, the switching of two kinds of motor patterns of shoe while deformation, has the strongest autonomous landform and adapts to ability, improves the speed of wheel type movement, and save energy.
Description
Technical field
This utility model belongs to robot moving platform technical field, a kind of novel crawler belt based on four-bar mechanism
Transformable robot mobile platform.
Background technology
In current robot moving mechanism, wheeled robot moves flexibly, it is possible to by complex ground environment,
But its inefficiency, control algolithm is complicated.The applied research of caterpillar type robot is extensive, has had efficiency and the barrier property passed through concurrently
Can, common caterpillar robot is mostly joint swing arm structure, by regulating the angle of joint swing arm, adapts to environment on one's own initiative
Change, this kind of robot is largely dependent upon environmental information and the control and regulation actively that sensor is fed back.And quilt
Restraining forces in environment can effectively be exported by dynamic self adaptation caterpillar robot as one, makes crawler belt appearance profile send out passively
Raw change, thus better adapt to environment, thus decrease robot to sensor-based system and the dependency of control system, and improve
Wheel efficiency, becomes an important research direction of caterpillar robot.
The research of existing passive self adaptation caterpillar robot has: the Chinese patent of Patent No. ZL2013101764130 is public
Having opened a kind of passive self adaptation crawler belt transformable mobile robot platform, this robot platform uses the planar six-rod machine of drive lacking
Structure, can be by the obstacle higher than crawler belt as supporting the mechanism of crawler belt, but its deformation is little, and smooth-riding surface speed is relatively low, and auxiliary
Swing arm module is helped not reach the biggest effect in actual applications.The Chinese patent of Patent No. ZL2010102195152 discloses
A kind of wheel-track composite deformation with adaptive ability moves robot, and this robot has two kinds of motor patterns of wheel-track, but
It is when wheel type movement, and crawler belt still contacts ground as virtual wheel, and to keep the linear velocity identical with drivewheel, easily produces
Crawler belt and the friction on ground, the mode of its front-wheel drive makes its obstacle climbing ability under wheel type movement pattern not enough, and needs main
Dynamic dead ahead of avoiding is less than the little obstacle of width of the carbody.
Summary of the invention
In place of the purpose of this utility model is to make up the deficiencies in the prior art, it is provided that a kind of novel based on four-bar mechanism
Crawler belt transformable robot mobile platform, solves obstacle climbing ability under the wheel type movement pattern that front-wheel drive mode causes and is not enough to
And smooth-riding surface pass through efficiency.
This utility model solves existing technical problem is that and takes techniques below scheme to realize:
A kind of novel crawler belt transformable robot mobile platform based on four-bar mechanism, including robot body and two wheels
Carry out compound walking module,
Described robot body includes casing, initiative drive shaft, slave drive axle, drives motor mechanism；Described active passes
Front end that moving axis is arranged in casing also connects the first wheel of casing both sides, after described slave drive axle is arranged in casing
Hold and connect the second wheel of casing both sides；Described driving motor mechanism is arranged in casing, and this driving motor mechanism includes driving
Galvanic electricity machine, the first gear, the second gear, the 3rd gear, the 4th gear, the 5th gear, drive motor to connect the first gear, and first
Gear and the second gear engage each other, and the second gear and initiative drive shaft coordinate and synchronous axial system, the 3rd gear and the second gear
Coaxial synchronous, the 3rd gear and initiative drive shaft coordinate and coaxial synchronous, and the 3rd gear and the 4th gear engage each other, the 4th tooth
Wheel and the 5th gear engage each other, and the 5th gear and the first wheel coaxial synchronous, the 4th gear is packed on the base plate in bottom；
The described compound walking module of shoe of taking turns includes crawler belt support link mechanism and pedrail mechanism, described crawler belt support link machine
Structure include front support rod, middle brace rod, deformation position-limit mechanism, the first pull bar, the first back support rod, deformation resetting-mechanism, the
Two back support rods and the second pull bar；Front support rod, middle brace rod, the second back support rod composition parallel-crank mechanism, second
Back support rod, the first back support rod, the first pull bar, the second pull bar, deformation position-limit mechanism collectively constitute umbrella rib structure, and this deformation limits
Position mechanism is arranged on the linkage track that robot body both sides are fixedly mounted with；Described pedrail mechanism include actively big Athey wheel,
The least Athey wheel, the first driven big Athey wheel, the second driven little Athey wheel, the first driven little Athey wheel, driven pedrail and biography
Dynamic traveling crawler；The two ends of front support rod axle respectively is connected on the biggest Athey wheel and the first driven little Athey wheel, and centre connects
Extension bar two ends axle respectively is connected on the first driven little Athey wheel and the second driven little Athey wheel, the first back support rod, after second
Support bar one end axle respectively is connected on the first driven big Athey wheel, the second driven little Athey wheel, the first back support rod, after second
The support bar other end connects deformation position-limit mechanism and is installed together with the first pull bar and the second pull bar；The little Athey wheel of described active
Be arranged on initiative drive shaft and with the second gear coaxial synchronous, it transfers power to actively big crawler belt by driven pedrail
On wheel, the big Athey wheel of described active, the least Athey wheel, the first driven big Athey wheel, the second driven little Athey wheel and first from
Dynamic little Athey wheel meshes together with transmission traveling crawler.
Described initiative drive shaft is arranged in casing by initiative drive shaft support, and this initiative drive shaft support is arranged on case
On internal base plate, this drive axle support and 61900 deep groove ball bearings coordinate；Described slave drive axle passes through slave drive bracing strut
Being arranged in casing, this slave drive bracing strut is arranged on casing inner bottom plating, this drive axle support and 61900 deep groove ball bearings
Coordinate；Described driving motor is by driving electric machine support to be arranged in casing, and this driving electric machine support is arranged on initiative drive shaft
On the casing inner bottom plating of inner side.
Described deformation resetting-mechanism is back-moving spring.
Advantage of the present utility model and good effect be:
1, this utility model uses modularized design, has a passive adaptive ability: in wheel carries out compound walking module with
Constituting the architecture basics of passive adaptive mechanism based on parallelogram and slider-crank mechanism, this structure can be according to specifically
The size of barrier is deformed, so that the alteration of form of crawler belt outline, and the change of track length can be controlled in necessarily
Small scope in, it is possible to realize the steadily efficiently walking of the complex environments such as stair, slope, groove, and can cross over and be higher than self
Barrier.
2, this utility model has two kinds of motor patterns of wheel-track, the conversion realizing both of which that can be passive, has very
Strong autonomous landform adapts to ability, and the control algolithm that need not complexity just can realize；In smooth-riding surface, adhesion wheel and driving
Dynamic trailing wheel directly contact face, mobile platform does wheel type movement, is avoided that occur that crawler belt still contacts ground as virtual wheel, with ground
Face produces the problem of friction, and the drive systems of wheel, the motion of two kinds of shoe are separate, improves the speed of wheel type movement, and joint
About energy.
3, this utility model is reasonable in design, can change the profile of crawler belt passively according to the size of barrier in environment, and
Can independently realize wheel, the switching of two kinds of motor patterns of shoe while deformation, guarantee that complicated landform adapts to the premise of ability
Under, enhance smooth-riding surface passes through efficiency, it is to avoid the friction on crawler belt and ground, and length that crawler belt is in whole deformation process
Degree change, in controlled range, increases mobile platform further to the barrier property passed through.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model；
Fig. 2 is the structural representation of robot body of the present utility model；
Fig. 3 a is the structure chart taken turns and carry out compound walking module of the present utility model；
Fig. 3 b is the structure diagram taken turns and carry out compound walking module of the present utility model；
Fig. 4 is the connection diagram that robot body of the present utility model and wheel carry out compound walking module；
Fig. 5 is that shoe of taking turns of the present utility model is combined walking adaptive principle figure；
Fig. 6 is that little obstacle schematic diagram is crossed by robot of the present utility model；
Fig. 7 a is that big obstacle principle schematic (self adaptation state one) is crossed by robot of the present utility model；
Fig. 7 b is that big obstacle principle schematic (self adaptation state two) is crossed by robot of the present utility model；
In figure, 1-robot body, 2-wheel carries out compound walking module；1-1: side plate, 1-2: header board, 1-3: drive motor to prop up
Frame, 1-4: final drive shaft support, 1-5: front vehicle wheel support, 1-6: rear wheel support, 1-7: from drive axle support, 1-9: connecting rod machine
Structure track, 1-8: back plate, 1-10: base plate；2-1: front support rod, 2-2: wheel, 2-3: middle brace rod, 2-4: deformation position restrainer
Structure, the 2-5: the first pull bar, the 2-6: the first back support rod, 2-7: deformation resetting-mechanism, the 2-8: the second back support rod, 2-9: the second draws
Bar, 2-10: slave drive axle, 2-11: initiative drive shaft；3-1: the first driven big Athey wheel, the 3-2: the second driven little Athey wheel,
3-3: the second wheel, the 3-4: the first driven little Athey wheel, the 3-5: the first wheel, 3-6: the least Athey wheel, 3-7: driven pedrail,
3-8: the biggest Athey wheel, 3-9: transmission traveling crawler, the 3-10: the five gear, the 3-11: the three gear, the 3-12: the four gear,
3-13: the second gear, the 3-14: the first gear, 3-15: drive motor, 3-16: casing.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model embodiment is further described:
A kind of novel crawler belt transformable robot mobile platform based on four-bar mechanism, as it is shown in figure 1, include that robot is originally
Body 1 and two wheels carry out compound walking module 2, and two wheels are carried out compound walking module and are symmetrically mounted on body construction both sides.Such as Fig. 2 and
Shown in Fig. 4, described robot body (is not shown in figure by header board 1-2, back plate 1-8, two pieces of side plate 1-1, base plate 1-10, upper covers
Go out), drive electric machine support 1-3, final drive shaft support 1-4, front vehicle wheel support 1-5, rear wheel support 1-6, from drive axle support
1-7, linkage track 1-9 and driving motor mechanism composition.One piece of header board, one piece of back plate, two blocks of side plates, one piece of base plate, one
Block upper cover constitutes rectangular box 3-16, and the edge of each plate is shaped with installation screwed hole and is installed together by bolt.
Final drive shaft support, playing fixing from drive axle support and support initiative drive shaft and the effect of slave drive axle, this actively passes
Moving axis support and being all attached with the screwed hole base plate by bolt from drive axle support, drive axle support and 61900 deep
Ditch ball bearing coordinates.Front vehicle wheel support and rear wheel support are arranged on base plate and are positioned at initiative drive shaft support and slave drive
Bracing strut side, is respectively used to install the first wheel 3-5 and the second wheel 3-3, and initiative drive shaft, slave drive axle are respectively with
One wheel and the second wheel are installed together, and two power transmission shafts, relative to car body invariant position, play frame in linkage
Effect.Described driving electric machine support is arranged on the base plate inside initiative drive shaft for installing driving motor mechanism.Described drive
Galvanic electricity machine mechanism includes driving motor 3-15, the first gear 3-14, the second gear 3-13, the 3rd gear 3-12, the 4th gear 3-
11, the 5th gear 3-10,3-16；Described driving motor is arranged on driving electric machine support, described first gear and the second gear
Engaging each other, this driving motor transfers power on the second gear by the first gear, and the second gear and initiative drive shaft are joined
Merging synchronous axial system, described 3rd gear and the second gear coaxial synchronous, described 3rd gear and the 4th gear engage each other, the
Four gears and the 5th gear engage each other, and the 3rd gear is delivered to the 5th gear by the 4th gear after obtaining power, and the 5th
Gear and the first wheel coaxial synchronous, the 3rd gear and robot initiative drive shaft coordinate and coaxial synchronous, and the 4th gear passes through
Gear stand is fixed on the base plate of robot body.Described linkage Orbital Symmetry is arranged on the side of rear wheel stent outer
On plate, it is attached by hexagon socket head cap screw and side plate；This linkage track has two functions, on the one hand as slide block rail
Road is used for the direction of motion of limiting rod mechanism and determines track, and on the other hand linkage orbit Design becomes closed type structure, rises
The effect that front and back extreme position is spacing.
As shown in Fig. 3 a, Fig. 3 b and Fig. 4, the described compound walking module of shoe of taking turns includes crawler belt support link mechanism, wheel 2-2
And pedrail mechanism.Described crawler belt support link mechanism include front support rod 2-1, middle brace rod 2-3, deformation position-limit mechanism 2-4,
First pull bar 2-5, the first back support rod 2-6, deformation resetting-mechanism 2-7, the second back support rod 2-8, the second pull bar 2-9.Second
Back support rod is connected by middle brace rod with front support rod, and front support rod, middle brace rod, the second back support rod composition are flat
Row quadrangular mechanism, the first back support rod can be followed the rotation of front support rod and be rotated and synchronous axial system.Second back support rod,
One back support rod, the first pull bar, the second pull bar, deformation position-limit mechanism collectively constitute umbrella rib structure, and this deformation position-limit mechanism is installed
On the left side plate of robot body, the mode being bolted is fixed, and this deformation position-limit mechanism is except limiting four-bar mechanism
Outside deformation position, also function as the moving sets track restriction pin joint moving direction as the first pull bar, the second pull bar pin joint.The
When two back support rods rotate, promoting the first pull bar motion, the first pull bar promotes mobile slide block to move in deformation position-limit mechanism, moves
While movable slider motion, the second pull bar, the second pull bar is pulled to pull the first back support rod.First pull bar and the second pull bar length
Equal, therefore the angle between the first back support rod and the second back support rod increases with identical angle step, along with front support
Bar and the increase of back support rod angle.Along with front support rod and the increase of back support rod angle, robot raises at center, and transports
Dynamic model formula is gradually transformed into crawler type by wheeled, completes obstacle detouring.The effect of deformation resetting-mechanism is that robot running gear is more
After crossing barrier or crossing the environment that complex environment arrival is relatively suitable for wheel type movement pattern, make walking mechanism by caterpillar drive
Pattern recovery is to wheel type movement pattern.
Described pedrail mechanism include actively big Athey wheel 3-8, the least Athey wheel 3-6, the first driven big Athey wheel 3-1,
Second driven little Athey wheel 3-2, the first driven little Athey wheel 3-4, driven pedrail 3-7 and transmission traveling crawler 3-9.Pedrail mechanism
With crawler belt support link mechanism concrete mounting means it is: the two ends of front support rod axle respectively is connected to the biggest Athey wheel and first
On driven little Athey wheel, middle brace rod two ends axle respectively is connected to the first driven little Athey wheel and the second driven little Athey wheel
On, the first back support rod, second back support rod one end axle respectively are connected to the first driven big Athey wheel, the second driven little Athey wheel
On, the first back support rod, the second back support rod other end connect deformation position-limit mechanism and install with the first pull bar and the second pull bar
Together.The little Athey wheel of described active be arranged on initiative drive shaft and with the second gear coaxial synchronous, it is carried out by transmission
Band transfers power on the biggest Athey wheel, and the big Athey wheel of described active and transmission traveling crawler are the H type Timing Belt of engagement
Wheel transmission.Athey wheel acts primarily as and supports crawler belt and and the effect of crawler belt synchro-meshing drive motion.
Motor driving principle of the present utility model is: drive motor to transfer power to the second gear by the first gear
On, the second gear and initiative drive shaft coordinate, synchronous axial system.The power of the second gear is divided into two strands: one, the second gear and master
Dynamic little Athey wheel coaxial synchronous, the least Athey wheel transfers power to the biggest Athey wheel, the least shoe by driven pedrail
Belt wheel is installed on initiative drive shaft, and and initiative drive shaft synchronous axial system, driven big Athey wheel, the first driven little Athey wheel,
Athey wheel, the second driven little Athey wheel the most greatly is installed on wheel and carries out compound walking module, common support transmission traveling crawler.Cause
This, the biggest Athey wheel is obtaining power rear drive transmission traveling crawler；Its two, the 3rd gear and the second gear coaxial synchronous,
3rd gear is delivered to the 5th gear by the 4th gear after obtaining power, the 5th gear and the first wheel 3-5 coaxial synchronous.
Second wheel is driven pulley.3rd gear and robot initiative drive shaft coordinate, and coaxial synchronous.
The passive adaptive principle of robot of this mobile platform is as it is shown in figure 5, bar ABC, bar CD, bar DF, bar BF composition is flat
Row quadrangular mechanism, bar FD, bar EH, slide block H form the first slider-crank mechanism, and slide block direction is true according to robot overall structure
Determining direction, the second slider-crank mechanism of bar FG, bar HG, slide block H composition is the most symmetrical with the first slider-crank mechanism, wherein bar
FE, bar FG are isometric.Therefore, start to rotate after bar ABC is by the effect of power F, the bar ABC drivening rod CD translation of rotation, bar CD
Pull lever FD, thus drive slider-crank mechanism 1, the rotation of bar ABC is changed into the translation of slide block H, the translation of slide block carries again
The rotation of dynamic crank FG.
As shown in Figure 6, robot is when crossing little barrier, and robot gets final product crossing over blockage under wheel type movement pattern.
When bigger barrier is crossed by robot, robot becomes crawler type motor pattern from wheel type movement patten transformation.Its transformation process
When running into relatively high obstacle thing such as robot, as shown in Figure 7 a, the wheel type movement pattern that robot is kept is not enough to cross over barrier
Hinder, under the interference of external force, the conversion of robot setting in motion pattern, wheeled it is transformed into crawler type motor pattern, to cross over
Obstacle, as shown in Figure 7b.
It is emphasized that embodiment described in the utility model is illustrative rather than determinate, therefore this reality
By the novel embodiment including and being not limited to described in detailed description of the invention, every new according to this practicality by those skilled in the art
Other embodiments that the technical scheme of type draws, also belong to the scope of this utility model protection.
Claims (3)
1. a novel crawler belt transformable robot mobile platform based on four-bar mechanism, carries out including robot body and two wheels
Compound walking module, it is characterised in that:
Described robot body includes casing, initiative drive shaft, slave drive axle, drives motor mechanism；Described initiative drive shaft
The front end being arranged in casing the first wheel connecting casing both sides, the rear end that described slave drive axle is arranged in casing is also
Connect the second wheel of casing both sides；Described driving motor mechanism is arranged in casing, and this driving motor mechanism includes driving electricity
Machine, the first gear, the second gear, the 3rd gear, the 4th gear, the 5th gear, drive motor to connect the first gear, the first gear
Engaging each other with the second gear, the second gear and initiative drive shaft coordinate and synchronous axial system, and the 3rd gear and the second gear are coaxial
Synchronizing, the 3rd gear and initiative drive shaft coordinate and coaxial synchronous, and the 3rd gear and the 4th gear engage each other, the 4th gear and
5th gear engages each other, the 5th gear and the first wheel coaxial synchronous, and the 4th gear is packed on the base plate in bottom；
The described compound walking module of shoe of taking turns includes crawler belt support link mechanism and pedrail mechanism, described crawler belt support link mechanism bag
Include front support rod, middle brace rod, deformation position-limit mechanism, the first pull bar, the first back support rod, deformation resetting-mechanism, after second
Support bar and the second pull bar；Front support rod, middle brace rod, the second back support rod composition parallel-crank mechanism, prop up after second
Strut, the first back support rod, the first pull bar, the second pull bar, deformation position-limit mechanism collectively constitute umbrella rib structure, this deformation position restrainer
Structure is arranged on the linkage track that robot body both sides are fixedly mounted with；Described pedrail mechanism includes actively big Athey wheel, actively
Little Athey wheel, the first driven big Athey wheel, the second driven little Athey wheel, the first driven little Athey wheel, driven pedrail and transmission row
Walk crawler belt；The two ends of front support rod axle respectively is connected on the biggest Athey wheel and the first driven little Athey wheel, middle brace rod
Two ends axle respectively is connected on the first driven little Athey wheel and the second driven little Athey wheel, the first back support rod, the second rear support
Bar one end axle respectively is connected on the first driven big Athey wheel, the second driven little Athey wheel, the first back support rod, the second rear support
The bar other end connects deformation position-limit mechanism and is installed together with the first pull bar and the second pull bar；The little Athey wheel of described active is installed
On initiative drive shaft and with the second gear coaxial synchronous, it transfers power to actively big Athey wheel by driven pedrail
On, the big Athey wheel of described active, the least Athey wheel, the first driven big Athey wheel, the second driven little Athey wheel and first are driven
Little Athey wheel meshes together with transmission traveling crawler.
Novel crawler belt transformable robot mobile platform based on four-bar mechanism the most according to claim 1, its feature exists
In: described initiative drive shaft is arranged in casing by initiative drive shaft support, and this initiative drive shaft support is arranged in casing
On base plate, this drive axle support and 61900 deep groove ball bearings coordinate；Described slave drive axle is installed by slave drive bracing strut
In casing, this slave drive bracing strut is arranged on casing inner bottom plating, and this drive axle support and 61900 deep groove ball bearings are joined
Close；Described driving motor is by driving electric machine support to be arranged in casing, and this driving electric machine support is arranged in initiative drive shaft
On the casing inner bottom plating of side.
Novel crawler belt transformable robot mobile platform based on four-bar mechanism the most according to claim 1, its feature exists
In: described deformation resetting-mechanism is back-moving spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620770792.5U CN205801284U (en) | 2016-07-20 | 2016-07-20 | Novel crawler belt transformable robot mobile platform based on four-bar mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620770792.5U CN205801284U (en) | 2016-07-20 | 2016-07-20 | Novel crawler belt transformable robot mobile platform based on four-bar mechanism |
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| CN205801284U true CN205801284U (en) | 2016-12-14 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107554630A (en) * | 2017-08-10 | 2018-01-09 | 南京理工大学 | One kind wheel carries out the upset unmanned mobile platform of combined type |
| CN109466646A (en) * | 2018-12-18 | 2019-03-15 | 苏应林 | A kind of wheel belt combination step vehicle with walking machine |
| CN110266369A (en) * | 2019-06-25 | 2019-09-20 | 南京凯瑞得信息科技有限公司 | A kind of satellite communication robot |
| CN111591360A (en) * | 2020-05-13 | 2020-08-28 | 中国矿业大学 | Novel wheel-track conversion walking device |
| CN112223313A (en) * | 2020-10-16 | 2021-01-15 | 长沙理工大学 | Working method of crawler-type rope climbing robot |
-
2016
- 2016-07-20 CN CN201620770792.5U patent/CN205801284U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106114661B (en) * | 2016-07-20 | 2018-03-06 | 河北工业大学 | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism |
| CN107554630A (en) * | 2017-08-10 | 2018-01-09 | 南京理工大学 | One kind wheel carries out the upset unmanned mobile platform of combined type |
| CN107554630B (en) * | 2017-08-10 | 2019-07-12 | 南京理工大学 | A kind of wheel-track overturning unmanned mobile platform of combined type |
| CN109466646A (en) * | 2018-12-18 | 2019-03-15 | 苏应林 | A kind of wheel belt combination step vehicle with walking machine |
| CN110266369A (en) * | 2019-06-25 | 2019-09-20 | 南京凯瑞得信息科技有限公司 | A kind of satellite communication robot |
| CN111591360A (en) * | 2020-05-13 | 2020-08-28 | 中国矿业大学 | Novel wheel-track conversion walking device |
| CN112223313A (en) * | 2020-10-16 | 2021-01-15 | 长沙理工大学 | Working method of crawler-type rope climbing robot |
| CN112223313B (en) * | 2020-10-16 | 2021-08-31 | 长沙理工大学 | Working method of crawler-type rope climbing robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20190720 |