CN106275114A - The combined type drive system of mobile robot - Google Patents
The combined type drive system of mobile robot Download PDFInfo
- Publication number
- CN106275114A CN106275114A CN201610801347.5A CN201610801347A CN106275114A CN 106275114 A CN106275114 A CN 106275114A CN 201610801347 A CN201610801347 A CN 201610801347A CN 106275114 A CN106275114 A CN 106275114A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- drive system
- wheel
- combined type
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mobile robot technology, provide the combined type drive system of a kind of mobile robot, specifically in the drive mechanism of the caterpillar mobile robot of a ripe application, add one rely on mobile robot movable pendulum give its job position, there is eccentric structure, the wheel type motion mechanism of secondary track motion；Its supporting construction is arranged in the movable pendulum of mobile robot；With crawler driving whell, there is certain eccentric throw；Rely on the power of crawler driving whell；By the motion of crawler driving whell, arranged by a speedup structure, send wheel type motion mechanism to；Rely on the attitude of mobile robot movable pendulum, it is achieved the tread on the moving wheel contact ground of wheel type motion mechanism, effect has precedence over the tread on crawler belt contact ground；Realize the moving wheel in same driving source, on the premise of not changing driving parameter, reach moving wheel to be better than track-type pattern, the purpose of quickly walking.
Description
Technical field
The present invention relates to mobile robot technology, the combined type drive system of a kind of mobile robot is specifically provided.
Background technology
The main application mode of moveable robot movement mechanism is embodied in the compound of wheeled, crawler type, lower limb formula and three thereof
Form, the motion of wheeled mobile robot, simple in construction, easy to control, motion flexibly, speed fast, but it is fitted in landform
Should be able to ability in terms of power and obstacle detouring, limit the range of application of wheeled mobile robot；The motion of caterpillar type robot,
Relative to wheeled mobile robot, with the ability in terms of the adaptation of its preferable landform and obstacle detouring, become moveable robot movement machine
The Main way of structure application, but its relative complex structure and relatively low movement velocity limit its motor reaction speed；
The motion of leg type mobile robot, has bionic feature, and lower limb formula motion can meet the walking of special occasions to be wanted
Asking, accommodative ability of environment relatively by force, but there is also the weakness such as mechanism is various, it is complicated to control, motion is slow, manufacture difficulty.
The complex form of the various motion of mobile robot, is the research of current moveable robot movement mechanism and application
Main way, wherein, the complex form of crawler type motion and wheel type motion mechanism be preferred application direction, crawler type is moved
The application prospect that mobile robot substitutes mankind's operation in the limit and complex environment is accommodating doubtful, for wheel, the shoe of complex road condition
The research of band structure and application, need to solve: existing take turns, the mobile robot of caterpillar belt structure is passing through complex road surface
Time, wheel, track contacting surface easily embed the solid impurities such as rubble earth, causes crawler belt to skid and wheel shaft distortion etc. is a series of asks
Topic.
Summary of the invention
The present invention had both been intended to for above-mentioned problem, it is provided that the crawler belt of a kind of novelty and wheel combined mobile robot
Drive mechanism, makes mobile robot have wheeled, the advantage of caterpillar mobile robot, at movement velocity, obstacle climbing ability simultaneously
With aspects such as motilities, there is bigger improvement, to be applicable to the job requirements of multiple occasion.
The technical problem to be solved in the present invention
Realize the purpose of the present invention, be i.e. intended to solve: in the drive mechanism of the caterpillar mobile robot of a ripe application
On the basis of, increase a dependence robot movable pendulum give job position, there is eccentric structure, secondary track motion wheeled
Mechanism, in the case of not changing track drive parameter so that mobile robot has higher movement velocity.
The technical solution adopted for the present invention to solve the technical problems is
In the caterpillar mobile robot drive mechanism of a ripe application, add a dependence robot movable pendulum and give it
Job position, there is eccentric structure, secondary track motion ratcheting mechanism；Its supporting construction is arranged on the movable pendulum of robot
On；With crawler driving whell, there is certain eccentric throw；Rely on the power of crawler driving whell；By the motion of crawler driving whell, pass through
One speedup is arranged, and sends wheel type motion mechanism to；Rely on the attitude of robot movable pendulum, it is achieved the moving wheel of wheel type motion mechanism
The tread on contact ground, effect has precedence over the tread on crawler belt contact ground；Realize the moving wheel in same driving source, with higher than crawler belt
Speed motion.
Beneficial effect
Owing to have employed the attitude relying on robot movable pendulum, it is achieved the eccentric knot on the moving wheel contact ground of wheel type motion mechanism
Structure, improves the movement velocity of moving wheel simultaneously so that the combined type drive system of the mobile robot of the present invention, with simply
Structure, obtain considerable effect.
Accompanying drawing explanation
Drawings below is the accompanying drawing of one embodiment of the present of invention
Fig. 1 be with road wheel land walking state diagram
The comparison diagram that Fig. 2 is crawler belt and road wheel lands simultaneously
Fig. 3 is the left view of Fig. 2
Fig. 4 is the integrative-structure figure of hoofing part unit and movable pendulum driver element
Fig. 5 is hoofing part cellular construction figure
Fig. 6 is movable pendulum structure of driving unit figure.
In Fig. 1, Fig. 2, Fig. 3
1, crawler belt front jocket wheel 2, movable pendulum I 3, track guide 4, crawler belt
5, crawler driving whell 6, movable pendulum angle of oscillation 7, road wheel 8, road wheel eccentric throw L
9, road wheel eccentric angle 10, big sprocket wheel I 101, driving-chain 11, minor sprocket
12, ground 13, body 14, road wheel bracing frame I15, crawler belt pinch roller.
In Fig. 4, Fig. 5, Fig. 6
2, movable pendulum I 7, road wheel 14, road wheel bracing frame I 141, road wheel axle
16, axle head catch 17, road wheel driving pinion 171, bolt II1 72, packing ring II
173, bearing I 174, bolt III 175, packing ring III 18, road wheel drive gear wheel
181, bolt IV 182, packing ring IV 19, road wheel tread 20, bearing shell
21, liner 22, track drive wheel seat I 221, shaft retaining ring I 222, bolt V
223, packing ring V 224, bearing I I 23, harmonic speed reducer I gear ring 24, end ring I
25, big sprocket wheel II 251, bolt VI 252, packing ring VI 26, frame plate I
27, potentiometer wheel 271, potentiometer 272, cog belt 273, jackscrew I
274, screw IV 28, frame plate bearing I 29, combine cylinder 291, bolt VII
292, packing ring VII 30, coupling band 301, flat key I 302, flat key II
31, movable pendulum II 32, frame plate bearing I I 33, crawler belt servo-actuated wheel seat II
331, crawler belt supporting roller support shaft 332, bolt XIV 333, packing ring XIV
34, frame plate II 341, screw V 342, bolt VIII 343, packing ring VIII
35, crawler belt supporting roller 351, bearing I II 352, shaft retaining ring II 353, jackscrew II
354, bolt IX 355, packing ring IX 36, road wheel bracing frame II 37, end ring II
38, harmonic speed reducer II gear ring 381, bolt X 382, packing ring X
39, harmonic speed reducer II wave producer 391, harmonic speed reducer II flexible gear 40, planetary reduction gear
401, bolt XI 402, packing ring XI 41, movable pendulum drive motor 411, bolt XII
412, packing ring XII 42, track drive motor 421, bolt XIII 422, packing ring XIII
423, flat key III 424, harmonic speed reducer I wave producer 425, harmonic speed reducer I flexible gear
501, bolt I 502, packing ring I 503, screw I.
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 shows one embodiment of the invention, and the state diagram of the walking that lands with road wheel, is when robot movable pendulum I
(2) and movable pendulum II(31), when upwards receiving extreme position, because of road wheel (7) and crawler driving whell (5) and crawler belt supporting roller (35) institute
Road wheel eccentric throw L(8 formed) so that the road wheel tread (19) of the wheel rim of road wheel (7), protrude from crawler driving whell (5) and carry out
Crawler belt on band supporting roller (35), preferentially contacts with ground, is therefore formed in the way of road wheel (7) lands walking.
Fig. 2, Fig. 3 auxiliary view 1, it is shown that the difference in height formed with crawler belt when road wheel lands, demonstrates the structure of bias
Appearance formula, it is achieved that road wheel (7) has precedence over the purpose of crawler belt touchdown point.
Shown in Fig. 4, hoofing part unit and movable pendulum driver element, be separately mounted to combine the two ends of cylinder (29),
Constitute according to combining the version that cylinder (29) is integrally forming, a formula two pieces, be separately positioned on two ends before and after mobile robot,
Be arranged diagonal, it may be assumed that if hoofing part unit is arranged on the position of I, III quadrant, then movable pendulum driver element be arranged on I I,
The position of IV quadrant, the two is combined into one by frame plate I (26) and frame plate II (34), and is associated with mobile robot
Body (13) on.
Fig. 5 shows the structure chart of hoofing part unit, and shown in Fig. 5, track drive motor (42), with bolt
XIII (421) and packing ring XIII(422), it is connected to track drive wheel seat I(22) on；Harmonic speed reducer I gear ring (23) it
Fixed circle, with bolt V (222) and packing ring V(223) it is connected to track drive wheel seat I(22) on；Harmonic speed reducer I gear ring
(23) moving-coil, is connected on crawler driving whell (5) with screw (503)；Bearing I I(224) and end ring I(24) series connection peace
It is contained in track drive wheel seat I(22) on, and with shaft retaining ring I(221) location；Harmonic speed reducer I wave producer (424) is by flat
Key III(423) it is associated with the motor shaft of track drive motor (42)；Harmonic speed reducer I flexible gear (425) is arranged on
Between harmonic speed reducer I gear ring (23) and harmonic speed reducer I wave producer (424)；Road wheel drives gear wheel (18) with bolt
IV (181) and packing ring IV(182) it is connected on crawler driving whell (5)；Crawler driving whell (5) is sleeved on and track drive wheel seat
I(22) bearing I I(224 being associated) on；Big sprocket wheel II(25) with bolt VI(251) and packing ring VI(252) be connected to carry out
On band driving wheel (5), it is achieved that the axial limiting of crawler driving whell (5)；Road wheel bracing frame I(14) connect bearing shell (20) and lining
Sheet (21), is installed to movable pendulum I(2 with screw) on；With bolt II(171) and packing ring II(172) by road wheel driving pinion (17)
It is connected on road wheel (7)；Be installed in series road wheel bracing frame I(14 by bearing I (173) and road wheel driving pinion (17))
On road wheel axle (141)；With bolt II(171) and packing ring II(172) axle head catch (16) is connected to road wheel axle (141) the most in fact
Showed road wheel (7) to be expert at wheeling supporting frame I(14) on location, so far, define the hoofing part unit of the present invention.
Track drive wheel seat I(22 by above-mentioned hoofing part unit) series connection frame plate bearing I (28), frame plate I
(26), movable pendulum I (2), with bolt VII(291) and packing ring VII(292) be connected to combine on cylinder (29), complete hoofing part
The installation that unit and movable pendulum driver element are associated.
With jackscrew I(273) potentiometer (271) is connected on potentiometer wheel (27)；With screw IV(274) potentiometer is taken turns
(27) it is connected on frame plate I (26)；By cog belt (272) with screw and adhesive, reinforce and electricity upper in movable pendulum I (2)
On meter wheel (27) position that is associated, position, so far, complete the installation of movable pendulum motion state detection sensor.
Fig. 6 shows movable pendulum structure of driving unit figure, shown in Fig. 6, with bolt XII (411) and packing ring XI
(412) movable pendulum drive motor (41) be connected to combine on cylinder (29)；With bolt XI(401) and packing ring XI(402) will row
Star decelerator (40) is connected on harmonic speed reducer II wave producer (39)；By coupling band (30) and flat key I(301) will
Planetary reduction gear (40) and harmonic speed reducer II wave producer (39) are associated with movable pendulum and drive the output shaft of motor (41)
On；Harmonic speed reducer II flexible gear (391) is arranged on harmonic speed reducer II wave producer (39) and harmonic speed reducer II
Between gear ring (38)；With bolt X(381), packing ring X (382), series connection movable pendulum II(31) by harmonic speed reducer II gear ring (38)
Moving-coil, be connected to combine on cylinder (29)；With bolt XIV (332) and packing ring XIV (333), by harmonic speed reducer II gear ring
(38) determine circle, be connected to the crawler belt servo-actuated wheel seat I I(33 became one with big sprocket wheel I (10)) on；With screw V
(341), bolt VIII(342), packing ring VIII (343), by servo-actuated for crawler belt wheel seat I I(33) be connected to frame plate II(34)
On, and rely on frame plate bearing I I(32), it is associated with and combines on cylinder (29)；With bolt IX(354) and packing ring IX(355) by a formula
Two pieces, another part road wheel driving gear wheel (18), be connected on crawler belt supporting roller (35)；With end ring II(37) and jackscrew
II(353), bearing I II(351) and shaft retaining ring II (352) crawler belt supporting roller (35) is associated with crawler belt supporting roller (35)
In support axle (331)；Bolt IX(354 is organized with another) and packing ring IX(355) connect big sprocket wheel I (10) and crawler belt supporting roller
(35)；According in upper joint [0015] section, according to shown in Fig. 5 and the installation method that describes, by a formula two pieces, road wheel of another group
Bracing frame II(36), bearing shell (20), liner (21), road wheel driving pinion (17), axle head catch (16), road wheel (7) etc.
Part, association becomes, according to the servo-actuated road wheel (7) of crawler belt supporting roller (35) motion, support structure be set.
So far, define the movable pendulum driver element of the present invention, and complete according to combining cylinder (29) and hoofing part unit phase
The connection of association, defines hoofing part unit and the integrative-structure of movable pendulum driver element.
By shown in Fig. 4 and according to its method described by the hoofing part unit of a formula two pieces and movable pendulum driver element
Integrative-structure, is separately positioned on two ends before and after mobile robot, is arranged diagonal, be associated with the body (13) of mobile robot
On, i.e. constitute whole compositions of a mobile robot body.
The combined type drive system of the mobile robot of the present invention, it is achieved the principle of work and power driving mobile robot is as follows:
Track drive motor (42) depends on and combines the driving wheel seat I(22 that cylinder (29) becames one) for supporting, drive harmonic reduction
Device I wave producer (424) does gyration and then by harmonic speed reducer I flexible gear (425), is applied to harmonic speed reducer
On I gear ring (23), according to track drive wheel seat I(22) fixing harmonic speed reducer I gear ring (23) supported determine circle, the company of imparting
Receive on crawler driving whell (5), the moving-coil of harmonic speed reducer I gear ring (23), under the driving of track drive motor (42),
Realize driving the gyration of crawler driving whell (5)；The gyration of crawler driving whell (5), drives road wheel to drive gear wheel
(18) motion, and then be transferred on road wheel driving pinion (17), drives according to road wheel bracing frame I(14) road wheel (7) that supports
Motion；On robot body, it is in I quadrant position, the gyration of crawler driving whell (5), by big sprocket wheel II
(25), minor sprocket (11), driving-chain (101), big sprocket wheel I(10) driving-chain that formed, drive robot body homonymy, place
In iv quadrant position, according to movable pendulum II(31) do the motion of the crawler belt supporting roller (35) supported and according to its drive connection, band
The dynamic road wheel (7) being associated with crawler belt supporting roller (35) does gyration.
Be arranged on movable pendulum I(2) on crawler driving whell (5) and crawler belt front jocket wheel (1), crawler belt pinch roller (15), track guide
(3) setting of the active drive function realizing crawler belt (4) is formed.
Be arranged on movable pendulum II(31) on crawler belt supporting roller (35), according to big sprocket wheel I(10) transmission, with another organize crawler belt
Front jocket wheel (1), crawler belt pinch roller (15), track guide (3) form the setting of the follow-up motion function realizing another group crawler belt (4).
Movable pendulum drives motor (41) to be to support according to combining cylinder (29), is associated with harmonic speed reducer by planetary reduction gear (40)
II wave producer (39) is upper and drives harmonic speed reducer II wave producer (39) do gyration and then pass through harmonic reduction
Device II flexible gear (391), is applied on harmonic speed reducer II gear ring (38), depends on and robot frame plate II(34)
Wheel seat I I(33 servo-actuated with crawler belt) fixing that connect, harmonic speed reducer II gear ring (38) determine circle, give and be connected to knot
Close on cylinder (29), the moving-coil of harmonic speed reducer II gear ring (38), under movable pendulum drives the driving of motor (41), realize band
Dynamic with combine movable pendulum II(31 that cylinder (29) becames one), according to frame plate II(34) and frame plate bearing I I(32) do support time
Switch is moved.
The position detection of the rotary oscillation attitude of movable pendulum I (2), is to be arranged by the structure being associated with potentiometer (271),
Give potentiometer (271) detection movable pendulum I (2) with frame plate I(26) relative motion and realize.
, II quadrant or III, IV quadrant, be that driving sets by the integrative-structure of one group of driver element and movable pendulum driver element
Put that constituted, according to the frame plate I(26 combined with robot body (13)) and frame plate II(34) common support, mobile machine
The setting of the front or rear driving of people, defines the motion mode that mobile robot walks with the composite construction of crawler belt and wheel.
The application present invention moves the mobile robot of the combined type drive system of robot, by simple road conditions area
Time, forward and backward movable pendulum is packed up fully up, i.e. realizes landing with road wheel (7), on the premise of not changing driving parameter, reach
To road wheel to be better than crawler travel pattern, the purpose of quickly walking.
The present invention moves being mainly characterized by of the mobile robot of the combined type drive system of robot, hoofing part unit
It is integral structure with movable pendulum driver element；Mobile robot ambulation drives motor to be by the code-disc carried, it is achieved closed loop control
's；The conversion of crawler belt and wheel walking mode is an eccentric structure；Crawler belt and wheel walking mode rely on same drive system, real
Existing different movement velocity；Driving-chain applies large speed ratio, efficient, the harmonic wave accelerator of small size and planetary reduction gear；Pass
In dynamic chain, the kinematic mount of low speed heavy load, the structure that have employed sliding bearing is arranged；Mobile robot movable pendulum kinestate
Detection sensor, is to rely on a cogged belt construction to have arranged work.
The present invention moves the application purpose of the combined type drive system of robot, be not limited to that embodiment is stated, become
Main application vector moves the drive system of robot, is equally applicable and forms fortune at special vehicle, mobile platform etc. with crawler belt
On the main application vector of dynamic model formula.
The present invention moves the combined type drive system of robot, is not limited to version and the combination stated in embodiment
Form, is equally the functional part of applications similar, similar compound mode, the another kind of combined type drive system being combined into
The device of form.
Claims (10)
1. move a combined type drive system for robot, be the caterpillar mobile robot driving machine a ripe application
On the basis of structure, add a dependence robot movable pendulum give its job position, there is eccentric structure, secondary track fortune
Dynamic wheel type traveling mechanism；Its supporting construction is arranged in the movable pendulum of robot；Have certain with the axle center of crawler driving whell
Eccentric throw；Rely on the power of crawler driving whell；By the motion of crawler driving whell, arranged by a speedup, send wheeled fortune to
Motivation structure；Rely on the attitude of robot movable pendulum, it is achieved the tread on the moving wheel contact ground of wheel type motion mechanism, effect has precedence over
The tread on crawler belt contact ground；Realize same driving source moving wheel, do not change driving parameter on the premise of, reach moving wheel
To be better than track-type pattern, the purpose of quickly walking.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: hoofing part unit is with dynamic
Pendulum driver element is integrated, coaxial, opposing structure.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: crawler belt and wheel walking mode
Conversion be an eccentric structure；Crawler belt and wheel walking mode depend on same driving chain, export different movement velocitys.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: by the position shape of movable pendulum
State, the eccentric structure giving crawler belt and wheel walking mode conversion realizes its function, and movable pendulum is packed up fully up, i.e. realizes with walking
Wheel lands, and on the premise of not changing driving parameter, reaches road wheel to be better than crawler travel pattern, the mesh of quickly walking
's.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: apply big in driving-chain
Speed ratio, efficient, the harmonic wave accelerator of small size and planetary reduction gear.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: in driving-chain, low speed weight
The kinematic mount of load, the structure that have employed sliding bearing is arranged.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: the inspection of movable pendulum athletic posture
Survey sensor, be to rely on a structure relevant to cog belt to arrange and realize its function.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: combined type of the present invention drives
System one formula two pieces, applies when to move on the artificial main application vector of machine, forward and backward diagonal angle arrange, i.e. I, III quadrant or
The functions of the equipments of II, IV quadrant are identical, mobile robot homonymy, II, III quadrant or I, IV quadrant, difference in functionality
Between driving equipment, be by another, plug-in drive system realizes.
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: the present invention moves robot
The application purpose of combined type drive system, be not limited to that embodiment is stated, become main application vector--mobile robot
Drive system, is equally applicable and is formed on the main application vector of motor pattern with crawler belt at special vehicle, mobile platform etc..
The combined type drive system of mobile robot the most according to claim 1, is characterized in that: the present invention moves machine
The combined type drive system of people, is not limited to version and the combining form stated in embodiment, is equally application phase
As functional part, similar compound mode, the another kind of combined type drive system being combined into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801347.5A CN106275114A (en) | 2016-09-05 | 2016-09-05 | The combined type drive system of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801347.5A CN106275114A (en) | 2016-09-05 | 2016-09-05 | The combined type drive system of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106275114A true CN106275114A (en) | 2017-01-04 |
Family
ID=57709643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610801347.5A Pending CN106275114A (en) | 2016-09-05 | 2016-09-05 | The combined type drive system of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106275114A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2186639Y (en) * | 1993-06-18 | 1995-01-04 | 中国科学院沈阳自动化研究所 | Robot motion carrier suitable for complicated topography |
| CA2226812A1 (en) * | 1997-01-09 | 1998-07-09 | Robert Shanahan | Vehicle with rear traction kit |
| CN201186680Y (en) * | 2008-04-18 | 2009-01-28 | 中国矿业大学 | Swinging rod type wheel track combined robot |
| CN202716954U (en) * | 2012-04-09 | 2013-02-06 | 西北农林科技大学 | All-terrain hybrid chassis |
| CN104875798A (en) * | 2015-05-04 | 2015-09-02 | 国家电网公司 | Wheel-tracked switchable mobile robot of transformer substation |
| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
-
2016
- 2016-09-05 CN CN201610801347.5A patent/CN106275114A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2186639Y (en) * | 1993-06-18 | 1995-01-04 | 中国科学院沈阳自动化研究所 | Robot motion carrier suitable for complicated topography |
| CA2226812A1 (en) * | 1997-01-09 | 1998-07-09 | Robert Shanahan | Vehicle with rear traction kit |
| CN201186680Y (en) * | 2008-04-18 | 2009-01-28 | 中国矿业大学 | Swinging rod type wheel track combined robot |
| CN202716954U (en) * | 2012-04-09 | 2013-02-06 | 西北农林科技大学 | All-terrain hybrid chassis |
| CN104875798A (en) * | 2015-05-04 | 2015-09-02 | 国家电网公司 | Wheel-tracked switchable mobile robot of transformer substation |
| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105383586B (en) | Crawler leg composite movable robot | |
| CN202716954U (en) | All-terrain hybrid chassis | |
| CN102107688B (en) | Dual-leg travelling mechanism with adjustable joint length | |
| CN100443351C (en) | Small-sized 6-track whole topographic form mobile robot | |
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| CN104670355A (en) | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN104527835B (en) | A kind of wheel changeable robot of leg pattern | |
| CN100354171C (en) | Dangerous operation robot with wheel-leg-crawler combined moving mechanism | |
| CN103359195A (en) | All-terrain hybrid power chassis | |
| CN105109572A (en) | Single-leg structure for wheel-legged type robot in leg-arm mixing operation | |
| CN111038612A (en) | Multi-motion-mode wheel-track-leg combined robot | |
| CN110450869B (en) | Self-adaptive underactuated tracked robot | |
| CN204472949U (en) | Novelly take turns the changeable robot of leg pattern | |
| CN204548268U (en) | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot | |
| CN206654104U (en) | It is a kind of to take turns the mobile chassis for carrying out switching | |
| CN104709369A (en) | Planetary differential obstacle-crossing type tracked robot | |
| CN104787133B (en) | A kind of upset arm mechanism suitable for wheel-track combined chassis | |
| CN201405350Y (en) | Moving searching reconnaissance robot with mini-wheel/crawler-changing structure | |
| CN107128375A (en) | It is a kind of to take turns the mobile chassis for carrying out switching | |
| CN105059412A (en) | Bionic hopping robot driven by internal combustion engine | |
| CN208646999U (en) | A kind of switchable type planetary gear crawler belt traveling mechanism | |
| CN104058014B (en) | One partly takes turns legged type robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |