CN106627823A - Omni-directional motion robot transmission track - Google Patents
Omni-directional motion robot transmission track Download PDFInfo
- Publication number
- CN106627823A CN106627823A CN201611110146.7A CN201611110146A CN106627823A CN 106627823 A CN106627823 A CN 106627823A CN 201611110146 A CN201611110146 A CN 201611110146A CN 106627823 A CN106627823 A CN 106627823A
- Authority
- CN
- China
- Prior art keywords
- roller
- plate
- inner plate
- crawler belt
- sleeve
- 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
- 230000005540 biological transmission Effects 0.000 title claims abstract description 26
- 230000033001 locomotion Effects 0.000 title abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 abstract description 8
- 238000000429 assembly Methods 0.000 abstract description 8
- 230000001154 acute effect Effects 0.000 abstract description 2
- 238000013016 damping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an omni-directional motion robot transmission track which comprises a plurality of outer link assemblies (1) and a plurality of roller assemblies (3), wherein each outer link assembly (1) comprises two outer link plates (102) and two pin shafts (101); each roller assembly (3) comprises a roller (303), and the roller (303) is arranged on a roller shaft (304) and can rotate around the roller shaft (304); the roller shaft (304) is fixedly arranged on a roller fixing rack (305); the roller fixing rack (305) is fixedly arranged on an inner link plate (309); two pin shafts (101) of any one outer link assembly (1) are respectively connected with the inner link plate (309) of two adjacent roller assemblies (3); and an acute angle between the roller shaft (304) and the pin shafts (101) is 40-50 degrees. A mobile robot equipped with the transmission track disclosed by the invention can realize the omni-directional motion; and moreover, the transmission track can travel on an uneven pavement, cross obstacles and adapt to different topographic conditions.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of driven pedrail of the omnidirectional moving applied in robot.
Background technology
Existing mobile robot is in order to improve obstacle climbing ability so as to can adapt to different landform and is flexibly turned
Curved, many mobile robots all carry out walking transmission using crawler belt, but the speed of this caterpillar mobile robot cannot be improved,
Noise in running is larger.And, the radius of turn of existing caterpillar mobile robot is very big, underaction, it is impossible to
Disposably by where narrow, therefore many times can only walk along crawler haulage direction during walking；Due to
Crawler belt cannot carry out omni-directional movement, make existing caterpillar mobile robot to realize the motion of multiple directions, Zhi Nengjin
The unidirectional motion of row.
In addition, the crawler haulage speed of existing caterpillar mobile robot can not be too fast, therefore the speed of travel is received
Limit.And utilize the ecad of the mobile robot road pavement of common omni-directional wheel making poor, can only be on smooth clean road surface
Upper walking, it is impossible to carry out obstacle detouring, this is limited by very large the range of application of robot.
The content of the invention
The invention aims to solve the deficiencies in the prior art, there is provided a kind of driven pedrail of omnidirectional moving.
The purpose of the present invention is achieved through the following technical solutions：
A kind of robot transmission crawler belt of omnidirectional moving, including multiple outer link components and multiple roll wheel assemblies；
The outer link component includes that two outer plates, two ends are separately fixed at two bearing pins on two outer plates；
The roll wheel assembly includes a roller, and the roller is arranged on a roller shaft, and the roller can be around the roller
Axle itself rotates；The two ends of the roller shaft are separately fixed on a roller fixed mount；Each described roller fixed mount is fixed on
On one inner plate；
Two bearing pins of arbitrary outer link component are connected respectively with the inner plate of two neighboring roll wheel assembly；The rolling
Sharp angle between wheel shaft and the bearing pin is 40～50 °.
Further, the roller fixed mount includes integrally formed upper mounted plate and bottom plate, fixed plate and
Bottom plate is mutually perpendicular to, and one first installing hole is provided with fixed plate.
Further, the roller for inner hollow cylindrical, the acute angle angle between the roller shaft and the bearing pin
Spend for 45 °.
Further, one bearing is respectively installed at the two ends of each roller, each roller shaft is through inside roller, roller two ends
Bearing and two roller fixed mounts on the first installing hole, the two ends of the roller shaft are fixed on by the roller by nut
On fixed mount.
Further, the inner plate includes upper inner plate and lower inner plate, the upper inner plate and lower inner plate one into
Type and it is mutually perpendicular to；The lower inner plate is " ∞ " type, and two the second installing holes are provided with the lower inner plate.
Further, the bottom plate of each roller fixed mount is fixed on the upper interior chain of an inner plate by conical head rivet
On plate.
Further, the roll wheel assembly also includes two rollers and two sleeves, and the roller and sleeve are inner hollow
Cylindrical；Each described sleeve is arranged on inside roller described in, and the roller and the sleeve gap coordinate.
Further, the outer plate is " ∞ " type, and two the 3rd installing holes are provided with each described outer plate, described
The two ends of bearing pin are separately mounted in the 3rd installing hole of an outer plate, the bearing pin and the 3rd installing hole interference fit；It is described
Two bearing pins in outer link component be arranged in parallel.
Further, the roller and sleeve are located in the middle of the lower inner plate of two inner plates；The one of the outer link component
Bearing pin is located at second installation of the same side through on the sleeve inner of the side of a roll wheel assembly, two inner plates with above-mentioned sleeve
Hole；Another bearing pin of the outer link component through on the sleeve inner of side of adjacent roller assemblies, two inner plates with it is upper
State second installing hole of the sleeve positioned at the same side；The bearing pin and sleeve gap coordinate.
Further, also including drive sprocket, conical tooth, the conical tooth and outer link group are provided with the drive sprocket
Space between part, roll wheel assembly cooperates.
A kind of robot transmission crawler belt of omnidirectional moving that the present invention is provided may be mounted on the chassis of mobile robot,
Roller of the present invention in roll wheel assembly can be rotated around the axle of its own, by the outer link component, the roll wheel assembly that are connected with each other
Driven pedrail is formed, driven pedrail integrally can be displaced sideways.Multiple present invention can be installed on the chassis of mobile robot to carry
For driven pedrail, driven pedrail could be arranged to different directions, forms the combination of various different driven pedrails.
In sum, the combination for being formed by multiple driven pedrails, installs the driven pedrail of the omnidirectional moving of the present invention
Mobile robot is capable of achieving the multi-motion modes such as forward, traversing, diagonal, rotation and combinations thereof, you can carry out omnidirectional moving.Peace
The mobile robot of the driven pedrail of the omnidirectional moving of the dress present invention can carry out obstacle detouring to walk on irregular road surface,
Can adapt to different orographic conditions.Due to present invention employs crawler haulage, therefore without the concern for damping performance, than existing
Omnidirectional's wheel mobile robot good damping effect.
Description of the drawings
Fig. 1 is a kind of structural representation of the robot transmission crawler belt of omnidirectional moving of the invention；
Fig. 2 is a kind of front view of the robot transmission crawler belt of omnidirectional moving of the invention；
Fig. 3 is a kind of roll wheel assembly explosive view of the robot transmission crawler belt of omnidirectional moving of the invention；
Fig. 4 is a kind of structural representation of the outer link component of the robot transmission crawler belt of omnidirectional moving of the invention；
Fig. 5 is a kind of structural representation of the roller fixed mount of the robot transmission crawler belt of omnidirectional moving of the invention；
Fig. 6 is a kind of structural representation of the inner plate of the robot transmission crawler belt of omnidirectional moving of the invention.
Specific embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
The invention provides a kind of robot transmission crawler belt of omnidirectional moving, refers to Fig. 1, Fig. 2, including multiple outer links
Component 1, multiple roll wheel assemblies 3 and drive sprocket 2.
Fig. 3 is referred to, the roll wheel assembly 3 includes a roller 303, roller fixed mount 305, inner plate 309, the roller
303 is the cylindrical of inner hollow.The roller 303 is arranged on a roller shaft 304, and the roller 303 can be around the rolling
Wheel shaft 304 itself rotates；The two ends of the roller shaft 304 are separately fixed on a roller fixed mount 305；Each described roller is consolidated
Determine frame 305 to be fixed on an inner plate 309.
Fig. 5 is referred to, the roller fixed mount 305 includes integrally formed upper mounted plate 401 and bottom plate 402, institute
State upper mounted plate 401 and bottom plate 402 is mutually perpendicular to, one first installing hole is provided with fixed plate 401.
A bearing 302 is respectively installed at the two ends of each roller 303, each roller shaft 304 is through inside roller 303, rolling
The first installing hole on the bearing 302 and two roller fixed mounts 305 at 303 two ends is taken turns, by nut 301 by the roller shaft
304 two ends are separately fixed on a roller fixed mount 305.
Fig. 6 is referred to, the inner plate 309 includes upper inner plate 403 and lower inner plate 404, the He of upper inner plate 403
Lower inner plate 404 is integrally formed and is mutually perpendicular to；Two the second installing holes 405 are provided with the lower inner plate 404.It is described
Lower inner plate 404 is preferably shaped to " ∞ " type, it is also possible to which lower inner plate 404 is designed to into the other shapes beyond " ∞ " type.
The bottom plate 402 of each roller fixed mount 305 is fixed on an inner plate 309 by conical head rivet 306
On upper inner plate 403.
Further, Fig. 3 is referred to, the roll wheel assembly 3 also includes two rollers 307 and two sleeves 308, the roller
307 and sleeve 308 for inner hollow cylindrical；Each described sleeve 308 is arranged on inside roller 307 described in, described
Roller 307 and the gap of the sleeve 308 coordinate.The roller 307 and sleeve 308 are located at the lower inner plate of two inner plates 309
In the middle of 404.
Fig. 4 is referred to, the outer link component 1 is separately fixed at two outer plates including two outer plates 102, two ends
Two bearing pins 101 on 102.It is provided with two the 3rd installing holes on each described outer plate 102, the two of the bearing pin 101
End is separately mounted in the 3rd installing hole of an outer plate 102, the installing hole interference fit of the bearing pin 101 and the 3rd；It is described outer
Two bearing pins 101 in link assemblies 1 be arranged in parallel.The outer plate 102 is preferably shaped to " ∞ " type, also can be by outer plate
102 are designed to the other shapes beyond " ∞ " type.
Two bearing pins 101 of arbitrary outer link component 1 respectively with the phase of inner plate 309 of two neighboring roll wheel assembly 3
Connection, forms driven pedrail.Specifically connected mode is：One of bearing pin 101 of the outer link component 1 passes through a roller group
Second installing hole 405 of the same side is located inside the sleeve 308 of the side of part 3, on two inner plates 309 with above-mentioned sleeve 308,
The two ends of the bearing pin 101 are separately fixed on the same side of two outer plates 102；Another bearing pin 101 of the outer link component 1
The same side is located at through inside the sleeve 308 of the side of adjacent roller assemblies 3, on two inner plates 309 with above-mentioned sleeve 308
Second installing hole 405, the two ends of the bearing pin 101 are separately fixed on the opposite side of two outer plates 102.
Above-mentioned connected mode, wherein, the bearing pin 101 and the gap of sleeve 308 coordinate.
Fig. 1 is referred to, it is non-parallel between the roller shaft 304 and bearing pin 101, between the roller shaft 304 and bearing pin 101
Sharp angle be preferably 40～50 °, most preferably 45 °.
The outer link component 1 and the respective quantity of roll wheel assembly 3 can be changed according to actual conditions, form different
The driven pedrail of length.
Fig. 1 is referred to, conical tooth, the conical tooth and outer link component 1, roller group are provided with the drive sprocket 2
Space between part 3 cooperates.Drive sprocket 3 is connected with motor, and the power of the motor passes through drive chain
Wheel 3 is delivered on driven pedrail, so as to drive mobile robot to walk.
The quantity of the drive sprocket 2 can be two or more, according to the length scale of driven pedrail to driving
The quantity of sprocket wheel 2 is adjusted.When the length of driven pedrail is larger, two drive sprockets 2 effectively cannot drive driven pedrail,
Then driven pedrail is driven using the drive sprocket 2 of three or more than three.
A kind of robot transmission crawler belt of omnidirectional moving that the present invention is provided may be mounted on the chassis of mobile robot,
Roller 201 of the present invention in roll wheel assembly 3 can be rotated around the axle of its own, by the outer link component 1, roller being connected with each other
Component 2 forms driven pedrail, and driven pedrail integrally can be displaced sideways.
The driven pedrail that multiple present invention are provided can be installed on the chassis of mobile robot, driven pedrail could be arranged to
Different directions, forms the combination of various different driven pedrails.The combination formed by multiple driven pedrails, installs the present invention
Omnidirectional moving driven pedrail mobile robot be capable of achieving forward, traversing, diagonal, rotate and combinations thereof etc. multi-motion side
Formula, you can carry out omnidirectional moving.The mobile robot for installing the driven pedrail of the omnidirectional moving of the present invention can be with out-of-flatness
Road surface on walk, carry out obstacle detouring, can adapt to different orographic conditions.Due to present invention employs crawler haulage, therefore not
Need to consider damping performance, than existing omnidirectional's wheel mobile robot good damping effect.
Embodiment described above is merely to illustrate the technological thought and feature of the present invention, its object is to make in the art
Technical staff will appreciate that present disclosure and implement according to this, it is impossible to only limited with the present embodiment the present invention patent model
Enclose, i.e., all equal changes made according to disclosed spirit or modification, still fall in the scope of the claims of the present invention.
Claims (10)
1. the robot transmission crawler belt of a kind of omnidirectional moving, it is characterised in that including multiple outer link components (1) and multiple rollers
Component (3)；
The outer link component (1) is separately fixed at two on two outer plates (102) including two outer plates (102), two ends
Individual bearing pin (101)；
The roll wheel assembly (3) includes a roller (303), the roller (303) on a roller shaft (304), the rolling
Wheel (303) can rotate around the roller shaft (304) itself；The two ends of the roller shaft (304) are separately fixed at a roller and fix
On frame (305)；Each described roller fixed mount (305) is fixed on an inner plate (309)；
Two bearing pins (101) of arbitrary outer link component (1) respectively with the inner plate of two neighboring roll wheel assembly (3)
(309) connect；Sharp angle between the roller shaft (304) and the bearing pin (101) is 40～50 °.
2. the robot transmission crawler belt of a kind of omnidirectional moving according to claim 1, it is characterised in that the roller is fixed
Frame (305) includes integrally formed upper mounted plate (401) and bottom plate (402), fixed plate (401) and bottom plate
(402) it is mutually perpendicular to, one first installing hole is provided with fixed plate (401).
3. a kind of robot transmission crawler belt of omnidirectional moving according to claim 2, it is characterised in that the roller
(303) it is the cylindrical of inner hollow, the sharp angle between the roller shaft (304) and the bearing pin (101) is 45 °.
4. the robot transmission crawler belt of a kind of omnidirectional moving according to claim 3, it is characterised in that in each roller
(303) bearing (302) is respectively installed at two ends, and each roller shaft (304) is through roller (303) inside, roller (303) two ends
Bearing (302) and two roller fixed mounts (305) on the first installing hole, by nut (301) by the roller shaft (304)
Two ends be fixed on the roller fixed mount (305).
5. a kind of robot transmission crawler belt of omnidirectional moving according to claim 2, it is characterised in that the inner plate
(309) including upper inner plate (403) and lower inner plate (404), the upper inner plate (403) and lower inner plate (404) integrally into
Type and it is mutually perpendicular to；The lower inner plate (404) is " ∞ " type, and on the lower inner plate (404) two second peaces are provided with
Dress hole (405).
6. a kind of robot transmission crawler belt of omnidirectional moving according to claim 5, it is characterised in that each described roller
The bottom plate (402) of fixed mount (305) is fixed on the upper inner plate (403) of an inner plate (309) by conical head rivet (306)
On.
7. a kind of robot transmission crawler belt of omnidirectional moving according to claim 5, it is characterised in that the roll wheel assembly
(3) also include two rollers (307) and two sleeves (308), the roller (307) and sleeve (308) for inner hollow circle
Cylinder shape；Each described sleeve (308) is arranged on roller described in (307) inside, the roller (307) and the sleeve
(308) gap coordinates.
8. a kind of robot transmission crawler belt of omnidirectional moving according to claim 7, it is characterised in that the outer plate
(102) it is " ∞ " type, two the 3rd installing holes, the two ends of the bearing pin (101) is provided with each described outer plate (102)
In being separately mounted to the 3rd installing hole of an outer plate (102), the bearing pin (101) and the 3rd installing hole interference fit；It is described
Two bearing pins (101) in outer link component (1) be arranged in parallel.
9. a kind of robot transmission crawler belt of omnidirectional moving according to claim 8, it is characterised in that the roller
And sleeve (308) is in the middle of the lower inner plate (404) of two inner plates (309) (307)；The one of the outer link component (1)
Bearing pin (101) through the side of a roll wheel assembly (3) sleeve (308) is internal, on two inner plates (309) with above-mentioned sleeve
(308) positioned at second installing hole (405) of the same side；Another bearing pin (101) of the outer link component (1) is through adjacent rollers
With above-mentioned sleeve (308) positioned at the second of the same side inside the sleeve (308) of the side of component (3), on two inner plates (309)
Installing hole (405)；The bearing pin (101) and sleeve (308) gap coordinate.
10. the robot transmission crawler belt of a kind of omnidirectional moving according to claim 1, it is characterised in that also including driving
Sprocket wheel (2), is provided with conical tooth on the drive sprocket (2), the conical tooth and outer link component (1), roll wheel assembly (3) it
Between space cooperate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611110146.7A CN106627823A (en) | 2016-12-06 | 2016-12-06 | Omni-directional motion robot transmission track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611110146.7A CN106627823A (en) | 2016-12-06 | 2016-12-06 | Omni-directional motion robot transmission track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106627823A true CN106627823A (en) | 2017-05-10 |
Family
ID=58818986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611110146.7A Pending CN106627823A (en) | 2016-12-06 | 2016-12-06 | Omni-directional motion robot transmission track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627823A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163072A (en) * | 2018-02-28 | 2018-06-15 | 刘宇菲 | A kind of combined-type omni-directional movement creeper undercarriage and its platform |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6179073B1 (en) * | 1998-05-28 | 2001-01-30 | University Of South Florida | Hybrid track for a vehicle |
| WO2013021829A1 (en) * | 2011-08-09 | 2013-02-14 | 株式会社椿本チエイン | Mobile body |
| CN103043128A (en) * | 2012-09-19 | 2013-04-17 | 张豫南 | Omnibearing moving track |
| WO2013141017A1 (en) * | 2012-03-21 | 2013-09-26 | 株式会社 椿本チエイン | Multidirectional mobile object module |
| WO2015016493A1 (en) * | 2013-07-29 | 2015-02-05 | Joo Jae Hoon | Omnidirectional continuous track wheel and omnidirectional moving vehicle using same |
| CN104386154A (en) * | 2014-11-17 | 2015-03-04 | 张豫南 | High-efficiency steering crawler belt and platform thereof |
| CN204472937U (en) * | 2015-01-14 | 2015-07-15 | 象山县农业机械化管理局 | Beach traveling gear |
| CN206327460U (en) * | 2016-12-06 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of robot transmission crawler belt of omnidirectional moving |
-
2016
- 2016-12-06 CN CN201611110146.7A patent/CN106627823A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6179073B1 (en) * | 1998-05-28 | 2001-01-30 | University Of South Florida | Hybrid track for a vehicle |
| WO2013021829A1 (en) * | 2011-08-09 | 2013-02-14 | 株式会社椿本チエイン | Mobile body |
| WO2013141017A1 (en) * | 2012-03-21 | 2013-09-26 | 株式会社 椿本チエイン | Multidirectional mobile object module |
| CN103043128A (en) * | 2012-09-19 | 2013-04-17 | 张豫南 | Omnibearing moving track |
| WO2015016493A1 (en) * | 2013-07-29 | 2015-02-05 | Joo Jae Hoon | Omnidirectional continuous track wheel and omnidirectional moving vehicle using same |
| CN104386154A (en) * | 2014-11-17 | 2015-03-04 | 张豫南 | High-efficiency steering crawler belt and platform thereof |
| CN204472937U (en) * | 2015-01-14 | 2015-07-15 | 象山县农业机械化管理局 | Beach traveling gear |
| CN206327460U (en) * | 2016-12-06 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of robot transmission crawler belt of omnidirectional moving |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163072A (en) * | 2018-02-28 | 2018-06-15 | 刘宇菲 | A kind of combined-type omni-directional movement creeper undercarriage and its platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107953937B (en) | Improved structure of walking system of walking combined type mobile robot | |
| KR102072654B1 (en) | Track-module apparatus and open drive wheel therefor | |
| JP4183701B2 (en) | Undercarriage with a coreless rubber crawler using chain drive {UNDERCARRIAGEEEQUIPPEDWITHANON-STEELTYPERUBBERCRAWLERUSINGCHAINACTION} | |
| CN206327459U (en) | A kind of driven pedrail of omnidirectional moving | |
| US10427733B2 (en) | Crawler device and traveling apparatus | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| KR20120099964A (en) | Terrain adaptive tank robot | |
| CN105197119B (en) | Star-shaped obstacle crossing wheel based on planet gear | |
| KR20150014057A (en) | Omni-directional caterpillar tracks and omni-directional moving vehicle using thereof | |
| CN106515886B (en) | A kind of driven pedrail of omnidirectional moving | |
| JPH08133141A (en) | Flexible crawler having triangularly disposed three-wheel mechanism | |
| CN202491863U (en) | Track running device of rice combine | |
| CN206327460U (en) | A kind of robot transmission crawler belt of omnidirectional moving | |
| CN106627823A (en) | Omni-directional motion robot transmission track | |
| CN105438297B (en) | Crawler type snow vehicle transmission parts frame mechanism | |
| CN108860340A (en) | Wheel-track combined omni-directional mobile robots | |
| CN106864618B (en) | Wheel leg type walking mechanism | |
| KR20120064515A (en) | Undercarriage with a structure for buffering tension of rubber crawler | |
| CN102756764A (en) | Omni-directional moving track | |
| KR20100037292A (en) | Transformable mobile system with double track and free-wheel arm mechanism | |
| KR20160059238A (en) | Driving Apparatus | |
| CN105480014A (en) | Vibration reduction omni-directional moving wheel train device capable of crossing obstacle, working method of device, and mobile platform | |
| CN206938898U (en) | A kind of crawler type dolly | |
| CN212529860U (en) | Robot moving platform | |
| CN102167100B (en) | Reverse-quadrilateral bisectional track robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for 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: 20170510 |