CN2673583Y - High power passive obstacle crossing robot - Google Patents
High power passive obstacle crossing robot Download PDFInfo
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- CN2673583Y CN2673583Y CN 200420024715 CN200420024715U CN2673583Y CN 2673583 Y CN2673583 Y CN 2673583Y CN 200420024715 CN200420024715 CN 200420024715 CN 200420024715 U CN200420024715 U CN 200420024715U CN 2673583 Y CN2673583 Y CN 2673583Y
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Abstract
The utility model relates to a high power passive obstacle surmounting robot. A double-crank obstacle surmounting mechanism is adopted by the front part of the robot to drive a front guiding wheel to be served as a front part guide mechanism, parallelogram overhead linkage obstacle surmounting mechanisms are adopted by the two sides of the robot to drive front and rear side drive wheels to be served as lateral part driving mechanisms, and a supporting bar is adopted by the rear part of the robot to drive a rear supporting wheel to be served as a rear part supporting mechanism. The double-crank mechanism of the front part of a vehicle body can provide wider range of movement on the vertical direction to the front guiding wheel, and accumulating and damping functions are provided. The overhead linkage parallelogram mechanisms of the side faces of the vehicle body can assure the front and rear two wheels of the side faces to contact well with the ground always. When the robot surmounts a small obstacle, each wheel can respectively surmount, and thus the integral mechanism is assured to stably surmount the obstacle. Meanwhile, the gradient of the vehicle body of the robot is only half as large as a common vehicle type. The utility model enhances the integrative obstacle performance of the robot, and the obstacle surmounting height on the vertical direction at least can obtain 1.5 times of the diameter of the wheels.
Description
Technical field
The utility model relates to similar structures such as robot, especially fighter toy (comprising multi-foot robot and wheeled, caterpillar type robot etc.).
Background technology
Because robot can replace people's work in many industries or environment, reducing the human heavy work of being born or directly in the face of dangerous chance, so Robotics has obtained greatly developing.In recent years, along with going deep into of research work, the application of Robotics is also constantly expanded, and for example celestial body detecting, explosive investigation, mining etc. make the research of barrier-surpassing robot more and more obtain paying attention to.An important goal of research barrier-surpassing robot is exactly to improve the deformability of robot, and it is mobile that it can be climbed up and in being full of the destructuring environment of barrier.The present barrier-surpassing robot (referring to CN1338357A, CN1397409A, CN1410230A) of existing report or obstacle climbing ability is not strong in the document, or structure is too complicated lacks a kind of simple in structure and possess the mechanism of strong obstacle climbing ability.
Summary of the invention
The purpose of this utility model is to provide a kind of high motor-driven passive type barrier-surpassing robot, utilizes simple mechanism to reach the purpose that improves the robot obstacle performance, thereby strengthens the ability that robot adapts to wild environment.
The utility model is achieved in that
Robot integral body is made up of vehicle body, anterior guiding mechanism, sidepiece driving mechanism and back support mechanism.Wherein: anterior guiding mechanism comprises double-crank barrier getting over mechanism, steering mechanism and front jockey wheel; The double-crank barrier getting over mechanism is made up of crank assemblies and spring assembly, and crank assemblies comprises front rod, goes up lower crank and bracing frame, and spring assembly is a helical spring; Bracing frame is fixed in the robot automobile body front portion; One end of last lower crank is connected with the bracing frame two ends respectively, the other end is connected with contact in front rod upper end and the bar thereof respectively; The front rod lower end is connected with front driving wheel by steering mechanism; The two ends of spring are connected with contact in the bar of upper and lower crank respectively.The sidepiece driving mechanism comprises overhead connecting rod barrier getting over mechanism of parallelogram and front and back side drive wheel; The overhead connecting rod barrier getting over mechanism of parallelogram is made up of front and back fork and upper and lower strut, two forks, two connecting rods are distinguished parallel, the upper end of front and back fork is connected with last connecting rod two ends respectively, contact is connected with the lower link two ends respectively in the bar of fork, and the lower end of fork is connected with the wheel shaft of front and back side drive wheel respectively; The mid point of upper and lower strut is connected with the robot automobile body sidepiece respectively.Back support mechanism comprises support bar, steering mechanism and back support wheel, and post upper is fixed in the robot automobile body rear portion, and the lower end is connected with the back support wheel by steering mechanism.
In said structure, the length of described each parts satisfies following relation: upper and lower crank length is all greater than 2 times of length between bracing frame two tie points, lower crank length is greater than last crank length, segment length is greater than the length between bracing frame two tie points on the front rod, in the bar of front rod contact to the distance of wheel shaft greater than segment length on the front rod and greater than the front jockey wheel diameter; Length between spring and supreme crank of last crank tie point and the bracing frame tie point is greater than 1/2 of last crank length, and spring and lower crank tie point to the length between lower crank and the bracing frame tie point greater than 3/5 of lower crank length; Before and after the following segment length of fork greater than 1/2 of side drive wheel diameter, the last segment length of front and back fork is greater than 1/4 of side drive wheel diameter, the length of upper and lower strut is greater than the side drive wheel diameter and more than or equal to the terrain clearance of lower link; The length of support bar is greater than back support wheel diameter.
Described spring assembly is made up of spring anchorage bracket, spring adjusting bracket, telescopic spring axle and helical spring, an end, spring anchorage bracket that its medi-spring adjusting bracket adopts helical structure to be installed in the telescopic spring axle adopt slide construction to be installed in the other end of telescopic spring axle, helical spring is sleeved on outside the telescopic spring axle, its two ends are installed in respectively on spring adjusting bracket and the spring anchorage bracket, spring anchorage bracket is connected in the bar of a crank on the contact, and the end of the telescopic spring axle at spring adjusting bracket place is connected in the bar of another crank on the contact.
Described front jockey wheel, side drive wheel, back support wheel all adopt embedded drive unit, and brushless electric machine and reducing gear thereof directly are installed on the wheel shaft of inside wheel.
The utility model is simple in structure, designs ingenious.In the passive obstacle detouring process of robot, the crank assemblies in the double-crank barrier getting over mechanism can provide range of movement bigger on the vertical direction to front jockey wheel, and spring assembly has the effect that keeps front-wheel drive power and accumulation of energy damping simultaneously; The overhead connecting rod barrier getting over mechanism of parallelogram can make the independent respectively climbing barrier of front and back side drive wheel and remain excellent contact with ground, and the lifting height of vehicle body center of gravity is less; Back support wheel then provides support, makes as far as possible vehicle body to keep balance to vehicle body.This structure obstacle clearing capability in vertical direction can reach 1.5 times of wheel diameter at least, has improved the obstacle performance and the stability of robot largely, thereby makes robot can adapt to the ground environment of various complexity better.
Description of drawings
Accompanying drawing 1 is the utility model overall structure schematic diagram.
The schematic diagram that accompanying drawing 2 is remained valid and contacted for the utility model each wheel and working face under recessed circle or dome different situations.
Accompanying drawing 3 is the structural representation of the anterior guiding mechanism of the utility model.
Accompanying drawing 4 is the structural representation of the utility model sidepiece driving mechanism.
Accompanying drawing 5 is the structural representation of the utility model back support mechanism.
Accompanying drawing 6 is the schematic diagram of a certain instantaneous centre of gyration in the utility model double-crank barrier getting over mechanism motion process.
Accompanying drawing 7 is each the parts relationship figure (left figure) and the mechanical model schematic diagram (right figure) of double-crank barrier getting over mechanism in the anterior guiding mechanism of the utility model.
Accompanying drawing 8 is spring (preload adjustable) schematic diagram of the anterior guiding mechanism of the utility model.
Accompanying drawing 9 is the structural representation of the embedded drive unit of wheel of the present utility model.
Accompanying drawing 10 is climbed up and over the process schematic diagram of step class obstacle for the utility model.
The specific embodiment
Below in conjunction with example the utility model is described in detail:
Overall structure of the present utility model is six to take turns barrier-exceeding vehicle as shown in Figure 1, before and after the vehicle body wheel is arranged respectively, and respectively there are two wheels both sides.Design philosophy requires under the different situations of recessed circle and dome, and six wheels can both guarantee effectively to contact (referring to accompanying drawing 2) with working face.The utility model adopts double-crank barrier getting over mechanism, steering mechanism and front jockey wheel as anterior guiding mechanism in the front portion of robot, adopt overhead connecting rod barrier getting over mechanism of parallelogram and front and back side drive wheel as the sidepiece driving mechanism in the both sides of robot, adopt support bar, steering mechanism and back support wheel at the rear portion of robot as back support mechanism.
By accompanying drawing 3,4,5 as can be known, the double-crank barrier getting over mechanism is to be made of front rod 1, last crank 4, lower crank 2, bracing frame 5 and spring assembly 3.The two ends of last crank 4 and lower crank 2 link to each other with bracing frame 5 with front rod 1 respectively and constitute irregular quadrilateral, the two ends of spring assembly 3 are connected with lower crank 2 with last crank 4 respectively, the two ends of bracing frame 5 be fixed in the robot automobile body front portion the position, axis, make vehicle body left and right sides balance, bracing frame random device people vehicle body together moves, and steering mechanism 6 and front jockey wheel 7 are installed in the lower end of front rod 1.When wheel was in the initial position of horizontal movement, bracing frame was in vertical position.The overhead connecting rod barrier getting over mechanism of parallelogram is made up of front roll bar 9, back fork 14 and last connecting rod 12, lower link 13, the two ends of upper and lower strut link to each other with the front and back fork respectively and constitute parallelogram, mid point 11 places of the mid point 10 of lower link and last connecting rod are connected with robot automobile body, the lower end of fork before and after preceding side drive wheel 8 and back side drive wheel 15 are installed in respectively.When current back side drive wheel was in the initial position of horizontal movement state, upper and lower strut was that horizontal direction, front and back fork are vertical direction.The upper end of the support bar in the back support mechanism is fixed in the robot automobile body rear portion, also should be positioned at the position, axis, and steering mechanism and back support wheel are installed in the lower end of support bar.
Described front rod, the connection of going up between lower crank, bracing frame and upper and lower strut, the front and back fork should be articulated manner, described hinged be meant by connectors such as hinge, bearing pins required parts are interconnected after, each parts all can rotate along pin joint, the parallelogram of the irregular quadrilateral of double-crank mechanism, overhead linkage all can be rotated on the quadrangular plan of the vertical direction that itself constituted, thereby drive wheel freely at this plane top offset.This will help improving the obstacle climbing ability of robot greatly.Being connected between spring anchorage bracket and spring adjusting bracket and the last lower crank also is articulated manner.
As shown in Figure 6, double-crank barrier getting over mechanism and wheel are done as a whole the analysis, discovery is in the climbing barrier process, the instantaneous centre of gyration of double-crank barrier getting over mechanism is positioned at the wheel axis below all the time, when running into obstacle, obstacle makes wheel produce motion component Npy upwards automatically to the external force that wheel produced, thereby forms effective passive obstacle detouring function (the obstacle detouring action that is moving wheel does not need to carry out artificially ACTIVE CONTROL, but forms automatically when running into obstacle).
By accompanying drawing 7 as can be known, crank assemblies is irregular quadrangular mechanism, and the length of therefore forming tetragonal each parts has determined can get following parameter by geometrical analysis by the deformation extent of quadrangular mechanism:
α(A)
2＝b
2+c
2-2×b×c×cosα
ψ(A)＝δ+β
ξ(A)＝ψ-A
Wherein, b is the length that connects on the bracing frame 5 between two tie points of crank 4 and lower crank 2, c is the length of lower crank 2, it is the distance between two tie points on the lower crank 2, e is the length of last crank 4, promptly go up the distance between two tie points on the crank 4, d is the distance that connects on the front rod 1 between two tie points of crank 4 and lower crank 2, be the length of last tip node contact to the bar of front rod 1, that is the last segment length of front rod 1, h is the distance that connects on the front rod 1 between two tie points of lower crank 2 and wheel hub, be the length of following tip node contact to the bar of front rod 1, that is the following segment length of front rod 1.
Wheel hub center (being P point among Fig. 7) movement locus on ground relatively is:
Wherein, H
0For double-crank mechanism is installed in height on the robot automobile body (i.e. the terrain clearance of lower crank 2 and the tie point of bracing frame 5 among the figure).This height should be greater than the required maximum height of surmountable obstacle that reaches.A is lower crank and horizontal angle (being the A angle among Fig. 7).
By following formula as can be known, in the obstacle detouring process wheel hub central vertical direction the maximum H (A) that can reach
MaxShould be greater than the maximum height of surmountable obstacle of robot.When the length of each parts in the double-crank mechanism (be the b among Fig. 7, c, d, e, when h) changing, H (A)
MaxThe corresponding change can be taken place.Learn that in the optimal design process when the length of each parts satisfies following the relation: c＞2b, e＞2b, c＞e, d＞b, h＞d and h just can obtain more satisfactory maximum height of surmountable obstacle during greater than the moving wheel diameter.
For the overhead connecting rod barrier getting over mechanism of parallelogram, when specific design, the terrain clearance of lower link (be in the bar of fork contact to the distance on ground) should be selected the maximum height of sharp-pointed obstacle of the required leap of robot automobile body and step class obstacle, at least should be greater than wheel diameter; This moment, the length (be in the bar of fork contact to the distance of tip node down) of fork hypomere at least should be greater than radius of wheel.The terrain clearance of last connecting rod should adapt with the height of vehicle body, be generally the maximum height of vehicle body, but, distance between the upper and lower strut (being the distance of the supreme tip node of contact in the bar of fork that is the length of fork epimere) at least should be greater than 1/4 of vehicle wheel footpath, in order to avoid influence the motion of parallelogram.Motion non-interference before and after the length of upper and lower strut should guarantee between the two-wheeled, and when parallelogramming deflection, under the situation that is not subjected to other condition interference effect, the difference in height between the two-wheeled greater than needed obstacle clearing capability (referring to Figure 10-c); So the length of connecting rod should be greater than vehicle wheel footpath and more than or equal to the terrain clearance of lower link, otherwise obstacle clearing capability can be subjected to the restriction of smaller value among both.
For back support mechanism, the length of support bar should be greater than back support wheel radius, and not influence the motion of back support wheel, the distance between back support wheel and the vehicle body should be beneficial to maintenance vehicle body anterior-posterior balance, be difficult for toppling.
Mounting spring in double-crank mechanism, can in trapeziform motion process, make spring be in compressive state (relative motion occurring along with tetragonal upper and lower displacement between the upper and lower crank), robot is in the obstacle detouring process like this, because the effect of spring, the front rod lower end will produce downward component, and wheel tightly is attached on the contact-making surface, thereby increases friction, keep driving force, help improving the obstacle performance of robot.In addition, when robot when eminence is dropped because the accumulation of energy cushioning effect of spring system can make robot avoid infringement, improved the stability and the reliability of robot to a certain extent.The installation site of spring should make spring keep bigger vertical stress component in motion process as far as possible, so that wheel is enough big to the pressure of working surface (ground that is contacted when promptly moving).In the optimal design process, learn, when choosing length T e between spring and supreme crank of last crank tie point and the bracing frame tie point greater than 1/2 of last crank length e, and spring and lower crank tie point be to 3/5 o'clock greater than lower crank length c of the length T c between lower crank and the bracing frame tie point, and effect is better.
With reference to the accompanying drawings 8, when spring assembly was made up of spring anchorage bracket 19, spring adjusting bracket 16, telescopic spring axle 17 and helical spring 18, pretightning force that can regulating spring was convenient to the driving force that provides better.Helical spring is enclosed within outside the telescopic spring axle, spring one end is installed on the spring adjusting bracket, the other end is installed on the spring anchorage bracket, spring anchorage bracket is connected with a crank (going up crank or lower crank), the telescopic spring axle is inserted in the spring anchorage bracket and can be free to slide, the other end of telescopic spring axle is connected with another crank, and the spring adjusting bracket then is spun on the telescopic spring axle threadably.When relative motion occurring between the upper and lower crank, spring can stretch along with the slip of telescopic spring axle.By rotation spring adjusting bracket, can regulate the pretightning force of spring, make spring all be in compressive state at all movement positions of double-crank mechanism, and can select the proper compression amount according to the surface roughness of contact-making surface, robot is in the obstacle detouring process like this, because the effect of spring, wheel will tightly be attached on the contact-making surface, thereby increase friction, help improving the obstacle performance of robot.
The lower end of front rod, front and back fork, support bar is connected with wheel hub by drive unit.Being provided with in the front rod lower end can be along the steering mechanism 6 (as shown in Figure 3) that horizontal plane rotates, the flat bar of steering mechanism and front rod is affixed, the straight-bar of steering mechanism and drive unit is affixed and flat bar and straight-bar between be hinged, front jockey wheel can be turned to arbitrarily on the ground, play the effect of guiding.When steering mechanism is set, wheel shaft to the length between front rod and the lower crank tie point that should guarantee wheel still is h, wheel shaft can be positioned on the extended line of connecting rod, also can be positioned on the vertical line of connecting rod extended line (intersection point to the length between connecting rod and the lower crank tie point is h).Equally, between support bar lower end and the back support wheel steering mechanism is set also, the back support wheel can be turned to arbitrarily on the ground.
As accompanying drawing 9, the driving of each wheel should be adopted embedded drive unit, promptly drive unit be placed on wheel inside, be directly installed on the wheel shaft, both saved the space, avoid again drive unit to the climbing obstacle impact.The common volume of common direct current generator is bigger, and is longer because of motor shaft even be placed in inside wheel, can stretch out outside formation of wheel and hinder, and interferes easily when the wheel leaping over obstacles, influences the obstacle detouring effect.For this reason, the utility model has adopted brushless electric machine.The brushless electric machine volume is little, and motor itself and deceleration device thereof can place inside wheel simultaneously, do not need extra transmission device, have reduced the demand to the design space greatly.
Accompanying drawing 10 has shown the distortion situation of (when for example climbing step class obstacle) each several part in the actual obstacle detouring process of the utility model.Each wheel is subjected to the effect of holding power and frictional force in the process of climbing, the vertical contact-making surface of holding power also points to wheel, and the direction of frictional force is the opposite direction of wheel and ground contact point speed.
Because the instantaneous centre of gyration design of anterior double-crank barrier getting over mechanism is below the axis of front-wheel, when arriving step edge, when being subjected to the resistance of step sidewall, front jockey wheel produces motion component upwards automatically, double-crank quadrangular mechanism rotational deformation, front rod will upwards lift, front jockey wheel rises along the step sidewall gradually, and all the other five are taken turns as driving wheel driven machine people travel forward (referring to accompanying drawing 10-a, b) still.After front jockey wheel was costed the step upper surface, the front jockey wheel lower edge contacted with step surface, and then front jockey wheel is converted into driving wheel, and this moment, car body advanced under six wheel drive.
When the preceding side drive wheel of sidepiece parallel-crank mechanism contacts with the step sidewall, under the traction of driving force own, produce frictional force upwards equally, rise along the step sidewall gradually, form the effect of effective passive obstacle detouring; In this process, the parallel-crank mechanism bulk deformation guarantees that trailing wheel still has good the contact with ground.Except that preceding side drive wheel, other each driving wheels continue to promote robot integral body and travel forward.Owing to be positioned at the centre of upper and lower strut with the tie point of robot automobile body, so the lifting height of tie point only is preceding side drive wheel lifting height half, that is the lifting height of the whole center of gravity of vehicle body half when adopting stationary links mechanism only, effectively guarantee the stationarity of robot body.
After the preceding side drive wheel of parallel-crank mechanism is costed the step upper edge, promptly be converted into driving wheel, drive the close gradually step sidewall of side drive wheel thereafter, climb up step (referring to accompanying drawing 10-c, d) along the step sidewall equally.Parallelogram is out of shape along with the variation of working face, has guaranteed that the front and back side wheel of parallel-crank mechanism contacts with the effective of working face, thereby has guaranteed enough driving forces.
After the whole climbing of parallel-crank mechanism is topped bar, the two-wheel that parallel-crank mechanism connects and the pressure on ground are bigger, the distortion of parallel-crank mechanism has guaranteed that pressure reasonably distributes between the two-wheel of parallel-crank mechanism and car body front jockey wheel, guaranteed that each wheel contacts with the good of ground, support wheel is climbed top bar (referring to accompanying drawing 10-d) behind the drive car body.
The utility model specific embodiment is: design object is for climbing up and over 1.5 times of step class obstacles that wheel is high.The vehicle body of robot, barrier getting over mechanism, wheel etc. are made by the duralumin 12 of intensity height, light weight.Each vehicle wheel is directly got 110mm.Parameter in the double-crank mechanism is: b=50mm, c=120mm, d=70mm, e=110mm, h=180mm, H
0=170mm, Tc=85mm, Te=65mm.Spring wire directly is 1mm, and spring directly is 15mm, and spring free length is 45mm, and number of active coils is 7.The lower link height is 170mm in the overhead linkage, and last connecting rod height is 210mm, and promptly the length of fork hypomere is that the length of 115mm, fork epimere is 40mm, and the length of connecting rod is 180mm.Connector between each parts is the wear-resistant material turning joint of (for example 40Cr adds copper sheathing).The model of brushless electric machine is MAXON200188, and the speed reducing ratio of deceleration device is 1: 62.5.The actual obstacle clearing capability of robot integral body can reach 170mm (greater than 1.5 times of vehicle wheel footpath) at least.
Claims (4)
1, a kind of high motor-driven passive type barrier-surpassing robot, it is characterized in that: robot integral body is made up of vehicle body, anterior guiding mechanism, sidepiece driving mechanism and back support mechanism; Wherein:
Anterior guiding mechanism comprises double-crank barrier getting over mechanism, steering mechanism and front jockey wheel; The double-crank barrier getting over mechanism is made up of crank assemblies and spring assembly, and crank assemblies comprises front rod, goes up lower crank and bracing frame, and spring assembly is a helical spring; Bracing frame is fixed in the robot automobile body front portion; One end of last lower crank is connected with the bracing frame two ends respectively, the other end is connected with contact in front rod upper end and the bar thereof respectively; The front rod lower end is connected with the front driving wheel wheel shaft by steering mechanism; The two ends of spring are connected with contact in the bar of upper and lower crank respectively;
The sidepiece driving mechanism comprises overhead connecting rod barrier getting over mechanism of parallelogram and front and back side drive wheel; The overhead connecting rod barrier getting over mechanism of parallelogram is made up of front and back fork and upper and lower strut, two forks, two connecting rods are distinguished parallel, the upper end of front and back fork is connected with last connecting rod two ends respectively, contact is connected with the lower link two ends respectively in the bar of fork, and the lower end of fork is connected with the wheel shaft of front and back side drive wheel respectively; The mid point of upper and lower strut is connected with the robot automobile body sidepiece respectively;
Back support mechanism comprises support bar, steering mechanism and back support wheel, and post upper is fixed in the robot automobile body rear portion, and the lower end is connected with back support wheel wheel shaft by steering mechanism.
2, the motor-driven passive type barrier-surpassing robot of height as claimed in claim 1, it is characterized in that: the length of described each parts satisfies following relation: upper and lower crank length is all greater than 2 times of length between bracing frame two tie points, lower crank length is greater than last crank length, segment length is greater than the length between bracing frame two tie points on the front rod, in the bar of front rod contact to the distance of wheel shaft greater than segment length on the front rod and greater than the front jockey wheel diameter; Length between spring and supreme crank of last crank tie point and the bracing frame tie point is greater than 1/2 of last crank length, and spring and lower crank tie point to the length between lower crank and the bracing frame tie point greater than 3/5 of lower crank length; Before and after the following segment length of fork greater than 1/2 of side drive wheel diameter, the last segment length of front and back fork is greater than 1/4 of side drive wheel diameter, the length of upper and lower strut is greater than the side drive wheel diameter and more than or equal to the terrain clearance of lower link; The length of support bar is greater than back support wheel diameter.
3, the motor-driven passive type barrier-surpassing robot of height as claimed in claim 1 or 2, it is characterized in that: described spring assembly is by spring anchorage bracket, the spring adjusting bracket, telescopic spring axle and helical spring are formed, its medi-spring adjusting bracket adopts helical structure to be installed in an end of telescopic spring axle, spring anchorage bracket adopts slide construction to be installed in the other end of telescopic spring axle, helical spring is sleeved on outside the telescopic spring axle, its two ends are installed in respectively on spring adjusting bracket and the spring anchorage bracket, spring anchorage bracket is connected in the bar of a crank on the contact, and the end of the telescopic spring axle at spring adjusting bracket place is connected in the bar of another crank on the contact.
4, the motor-driven passive type barrier-surpassing robot of height as claimed in claim 1 or 2 is characterized in that: described front jockey wheel, side drive wheel, back support wheel all adopt embedded drive unit, and brushless electric machine and reducing gear thereof directly are installed on the wheel shaft of inside wheel.
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| CN 200420024715 CN2673583Y (en) | 2004-02-16 | 2004-02-16 | High power passive obstacle crossing robot |
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| CN 200420024715 CN2673583Y (en) | 2004-02-16 | 2004-02-16 | High power passive obstacle crossing robot |
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2004
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