CN107878589A - A kind of modularization annular rolling robot - Google Patents
A kind of modularization annular rolling robot Download PDFInfo
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- CN107878589A CN107878589A CN201711206640.8A CN201711206640A CN107878589A CN 107878589 A CN107878589 A CN 107878589A CN 201711206640 A CN201711206640 A CN 201711206640A CN 107878589 A CN107878589 A CN 107878589A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a kind of modularization annular rolling robot, several rotation modules including being sequentially connected one loop configuration of composition from beginning to end, the swing cover top of each rotation module are connected by Anti-extrusion modular interface with the Anti-extrusion modular interface of the fixed seat bottom of adjacent rotation module.Pass through said structure design, this robot can realize that robot integrally rolls advance, the defects of move mode such as not only overcoming conventional walk robot and can only climb, wriggle, walking, and also overcome existing wheeled mobile robot can only be the smooth hard road movement the defects of, various narrow uneven roads can be applied to, can be widely applied to robotic technology field.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of modularization annular rolling robot.
Background technology
With advancing by leaps and bounds for the development of modern science and technology, particularly electronic information technology, robot is as the mankind's
The new tool of production, reducing labor intensity, improving production efficiency, changing production model, people from dangerous severe heavy work
Make freed in environment etc., show great superiority.The move mode of robot on the ground it is common be
Wheeled and two kinds of walking.Walking move mode imitates the walking mechanism of the mankind or animal, is walked with legs and feet, to the adaptability of environment
Good, degree of intelligence is relatively also higher.But the structure of walking move mode and control are more complicated, and wheel type mobile mode can be high
Stable movement is imitated, and mechanism is simply and easy to control.But there is also following shortcoming for wheel type mobile mode：Road pavement requirement compared with
Height, more suitable for smooth hard road, and it is difficult to work on narrow uneven road.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of modularization annular rolling robot, can realize robot
Overall roll is advanced, and overcoming existing wheeled mobile robot can only can be applicable the smooth hard road movement the defects of
In various narrow uneven roads.
Technical scheme used by solve above-mentioned technical problem：
A kind of modularization annular rolling robot, including several rotations of one loop configuration of composition are sequentially connected from beginning to end
Module, the top of the swing cover in each rotation module pass through Anti-extrusion modular interface and the fixed seat in adjacent rotation module
Bottom Anti-extrusion modular interface connection.
Further, the Anti-extrusion modular interface includes module housing, the Anti-extrusion mechanism being arranged in module housing
With the docking buckle being arranged in module housing, a region and several through holes, the area are disposed with the module housing
Domain is disposed with least one card falcon, and the docking buckle includes two leaf parts, at least one is disposed with the two leaves part
Individual cornice structure, it is described card falcon in be disposed with a card slot area, the card slot area of the Anti-extrusion modular interface is available for
The cornice structure of another Anti-extrusion modular interface is caught in, while the clamping end slave module shell of the Anti-extrusion mechanism is logical
Hole is stretched out.
Further, the region is circumferential area, circumferential area edge two cards falcon evenly distributed in the circumferential direction,
Along along path clockwise, the side of the card falcon is disposed with the first reinforcement, and first reinforcement is connected with module housing,
The opposite side and interior side opening, the outside for blocking falcon for blocking falcon are connected with module housing, and the cavity that the card falcon is internally formed is exactly institute
State card slot area, two cornice structures evenly distributed in the circumferential direction on the two leaves part, the card falcon and cornice structure
It is sector structure, and the radian of the cornice structure is less than or equal to the radian of card falcon.
Further, the Anti-extrusion mechanism includes the spring supporting post being fixedly connected with module housing side wall and positioned at spring
The clamp button of the spring of support column upper end, the upper end of spring supporting post is first boss, and spring, the bullet are cased with the first boss
The lower end of spring is withstood by the step of the first boss, and the clamp button of the spring includes button and position outside the circumferential area
Fan-shaped bump in the circumferential area, third through-hole, the circumference area are disposed with outside the border circular areas in module housing
Domain is circumferentially disposed fan-shaped pylone, and the third through-hole and fan-shaped pylone are straight positioned at same respectively in a circumferential direction
The one end in footpath, the button stretch out from third through-hole, and the fan-shaped bump stretches out from fan-shaped pylone, and the upper end of the spring is with pressing
Key abuts, and the fan-shaped bump is exactly the clamping end of the Anti-extrusion mechanism.
Further, the edge of the circumferential area is divided into six regions in the counterclockwise direction, is followed successively by first area, second
Region, the 3rd region, the 4th region, the 5th region and the 6th region, described two card falcons are located at first area and the 4th respectively
Region, the fan-shaped pylone are located at the 3rd region, and after the two leaves part installation is fixed, described two cornice structures distinguish position
In second area and the 5th region.
Further, after the Anti-extrusion modular interface docks with another Anti-extrusion modular interface, the Anti-extrusion
3rd region of modular interface and the 6th Region Matching of another Anti-extrusion modular interface, the Anti-extrusion modularization connect
A cavity area, the Anti-extrusion are formed between 3rd region of mouth and the 6th region of another Anti-extrusion modular interface
The fan-shaped bump of modular interface is in the cavity area after fan-shaped pylone stretching.
Further, the rotation module also includes positioned at fixed seat and swings the second drive device between cover, and described the
The output end of two drive devices is with swinging cover connection.
Further, the face-piece for swinging cover and including being located at top, the left and right ends of the face-piece tilt towards same side
And the left and right ends of the face-piece are respectively disposed with first ear structure and the second ear structure, the first ear structure and
Two ear structures are perpendicular with plane where the face-piece, the first ear structure or the second ear structure and the second driving
The output end connection of device, second drive device are arranged in fixed seat.
Further, several the 3rd reinforcements are arranged with the inside of the first ear structure and the second ear structure,
It is each formed with placing the passage of power line, signal wire between each 3rd reinforcement.
Beneficial effect：The present invention is sequentially connected the annular rolling machine formed by several rotation modules head and the tail by designing
People, connected by Anti-extrusion modular interface between each rotation module.Before this robot can realize that robot integrally rolls
Enter, not only overcome the defects of conventional walk robot such as can only climb, wriggle, walking at the move mode, and also overcome existing
There is wheeled mobile robot can be applied to various narrow uneven roads the smooth hard road movement the defects of,
It can be widely applied to robotic technology field.
Brief description of the drawings
Fig. 1 is the installation diagram of the embodiment of the present invention；
Fig. 2 is the installation diagram of rotation module；
Fig. 3 is the explosive view of rotation module；
Fig. 4 is the axonometric drawing for swinging cover；
Fig. 5 is the axonometric drawing of fixed seat；
Fig. 6 is the 3rd reinforcement schematic diagram of the second ear structure；
Fig. 7 is the top view for swinging cover；
Fig. 8 is the 3rd reinforcement schematic diagram of first ear structure；
Fig. 9 is the front view of Anti-extrusion modular interface；
Figure 10 is the axonometric drawing of Anti-extrusion modular interface；
Figure 11 is the sectional view of Anti-extrusion modular interface；
Figure 12 is the front view of Anti-extrusion modular interface；
Figure 13 is the axonometric drawing of two leaf parts；
Figure 14 is the front view of Anti-extrusion modular interface.
Reference：2nd, rotation module；25th, cover is swung；26th, fixed seat；27th, the second drive device；251st, first ear
Structure；252nd, the second ear structure；411st, falcon is blocked；412nd, the first pit；413rd, the second pit；414th, first through hole；415th, fan
Shape through hole；416th, third through-hole；421st, spring supporting post；422nd, spring；423rd, button；424th, fan-shaped bump；431st, two leaf
Part；432nd, shoulder hole；433rd, the second through hole；434th, triangular depression；441st, first area；442nd, second area；443rd,
Three regions；444th, the 4th region；445th, the 5th region；446th, the 6th region.
Embodiment
With reference to Fig. 1 to Figure 14, the present invention is described further.
A kind of modularization annular rolling robot, including several rotations of one loop configuration of composition are sequentially connected from beginning to end
Module 2, the quantity of rotation module 2 is eight in the present embodiment.The rotation module 2 include fixed seat 26, swing cover 25 and
Positioned at fixed seat 26 and the second drive device 27 between cover 25 is swung, the output for swinging the drive device 27 of cover 25 and second
End connection, swing the top that cover 25 is located at fixed seat 26.The top for swinging cover 25 and the bottom of fixed seat 26 are arranged with
Anti-extrusion modular interface, the top of swing cover 25 of each rotation module 2 pass through Anti-extrusion modular interface and adjacent rotation mould
The Anti-extrusion modular interface connection of the bottom of fixed seat 26 of block.
Further, the Anti-extrusion modular interface is arranged in module housing, and one is disposed with the module housing
Region and at least one through hole, the region are a diameter of 30mm circumferential area, and the circumferential area is one and connect
Mouth base.The interface pedestal is disposed with docking buckle and two structure identical card falcons 411, and each card falcon 411 is described
The edge of interface pedestal is evenly distributed in the circumferential direction, and each card falcon 411 is arranged in the region of first area 441 and the 4th
444.The card falcon 411 is fan shape, and corresponding central angle is 60 °.Along along path clockwise, a left side for the card falcon 411
Side is disposed with the first reinforcement being connected with shell, can improve the rigidity of card falcon.Block right side and interior side opening, outside and the institute of falcon
State module housing to be connected, the card falcon 411 internally forms a card slot area.The docking buckle includes two leaves zero
Part 431, two cornice structures are disposed with the two leaves part 431.When two Anti-extrusion modular interface first, second are docked
When, the card slot area of Anti-extrusion modular interface first is available for the cornice structure of Anti-extrusion modular interface second to screw in, while described
The through hole of the clamping end slave module shell of Anti-extrusion mechanism stretches out.
Foregoing each first reinforcement is located at one end of same diameter respectively, the first reinforcement of first area 441 by
Nearly side of 6th region 446, first reinforcement in the 4th region 444 is close to the side in the 3rd region 443.
Further, there is at least one first pit 412 card falcon 411 upper surface, and actual first pit 412 is ball
Shape pit.It is two the first pits 412 in the present embodiment, the quantity of the first pit 412 can also be changed depending on being actually needed.Institute
Interface pedestal is stated along path clockwise, is disposed with the region 445 of second area 442 and the 5th is counted with the first pit 412 respectively
The second pit of identical 413 is measured, available for placement positioning pearl.In docking operation, the second of Anti-extrusion modular interface first is recessed
Hole 413 and the Corresponding matching of the first pit 412 of Anti-extrusion modular interface second.If the number of the first pit 412 and the second pit 413
Amount is two or more, then the distance between described two neighboring second pit 413 of the same area and the phase
The distance between adjacent two the first pits 412 are equal, and each second pit 413 is with each first pit 412 with one
On circumference.After the two Anti-extrusion modular interface docking of first, second coordinate, the second pit 413 of Anti-extrusion modular interface first
Positioning bead can be embedded in the first pit 412 of Anti-extrusion modular interface second just, realize two Anti-extrusion modular interfaces
Assembling is accurately positioned.
Further, described two cornice structures are evenly distributed in the circumferential direction in the edge of two leaf part 431, the cornice
Structure is sector structure, and corresponding central angle is 60 °.The one side of the cornice structure is with two leaf parts 431 backwards to mould
The one side of block shell is concordant, and the another side of cornice structure is disposed with the second reinforcement.Circumferentially clockwise, described second adds
Strengthening tendons is located at the left side of the cornice structure, and the second reinforcement can improve the rigidity of cornice structure.Each second reinforcement point
Not Wei Yu same diameter both ends, the second reinforcement of second area 442 is close to the side of first area 441, the 5th region
445 the second reinforcement is close to the side of the 4th region 442.
And the integral thickness of the cornice structure be less than or equal to the card slot area internal height half, therefore
In the docking operation of Anti-extrusion modular interface first, second, being just embedded in for the cornice structure of Anti-extrusion modular interface first is anti-
Deviate from the card slot area of modular interface second, you can realize the cooperation clamping of first, second, now Anti-extrusion modular interface first card falcon
411 the first reinforcing rib structure also acts the positioning action to Anti-extrusion modular interface second cornice structure.Two leaf
431 evenly distributed in the circumferential direction 4 shoulder holes 432 of part, two leaf parts 431 are real by shoulder hole 432 and interface pedestal
Existing mode connects for screw, the two leaves part 431 and interface pedestal are concentric shafts arrangement.Two leaf parts 431 and interface bottom
After seat is fixedly connected, two cornice structures are located at the region 445 of second area 442 and the 5th respectively, and foregoing second pit 413 is in circle
It is located at one end of same diameter in circumferential direction respectively with two cornice structures.The thickness of foregoing cornice structure includes second and strengthened
The size of muscle.The radian of foregoing cornice structure is less than or equal to the radian of card falcon 411.
Further, the interface pedestal center arrangement has first through hole 414, and the first through hole 414 is manhole.Institute
State and 3 the second through holes 433 are disposed with two leaf parts 431, shape, the size of second through hole 433 are identical, are circle
Through hole.The length of second through hole 443 is more than the thickness of two leaf parts, in two leaf parts 431 backwards to module housing
Simultaneously, the end face of the second through hole 433 and the flush of two leaf part 431, in two leaf parts 431 towards the one of module housing
Face, the end face of the second through hole 433 are higher by the surface of two leaf parts.The straight line and two leaves that second through hole 433 is arranged into
The angle of the symmetry axis of the planar graph of part 431 is more than 0 °, and each second through hole 433 can lay a spring needle.The spring
Pin welds with the power circuit through first through hole 414 and communication line, the spring needle in three the second through holes 433 successively with fire
Line, ground wire, signal wire correspond.There is a triangle backwards to the surface layout of module housing in the two leaves part 431
Pit 434, second through hole 433 close to the triangular depression 434 is to lay the spring needle with signal wire bonding, described
Mark of the triangular depression 434 as signal wire, prevents circuit setup error, ensures Anti-extrusion modular interface first, second with this
Coordinate after completing to mechanically connect, each spring needle on two interfaces can be directed at contact one by one by three the second through holes 433, real
Existing power supply and communication successful connection, ensure that communication connection and mechanical connection synchronously complete.Aforementioned signal line is exactly communication line.
Further, the Anti-extrusion modular interface also includes Anti-extrusion mechanism, and the Anti-extrusion mechanism includes spring branch
Dagger 421 and clamp button of the spring.The lower end of the spring supporting post 421 is fixedly connected with the side wall of module housing by screw, bullet
The upper end of spring support column is first boss, a spring 422 is cased with first boss, the lower end of the spring 422 is by described
The step of one boss is withstood.The clamp button of the spring includes the button 423 being located at outside the circumferential area and positioned at the circumference area
Fan-shaped bump 424 in domain, the button 423 stretch out from third through-hole 416, and the fan-shaped bump 424 is stretched from fan-shaped pylone 415
Go out, the upper end of the spring 422 abuts with button 423.The third through-hole cloth 416 is arranged in the circle in the module housing
Beyond region, the fan-shaped pylone 415 is arranged in the interface pedestal.Supported by spring 422, the slave module of button 423
Third through-hole 416 on shell stretches out, and the fan-shaped bump 424 stretches out from fan-shaped pylone 415, due to the spacing work of module housing
With the clamp button of the spring can not be deviate from from fan-shaped pylone 415 and third through-hole 416.The fan-shaped bump 424 can stop anticreep
Go out the separation of modular interface first, second, the fan-shaped bump 424 can be considered the clamping end with anti-fall function.
The specific works mode of the Anti-extrusion mechanism stops Anti-extrusion for the fan-shaped bump of Anti-extrusion modular interface first
The card falcon of modular interface second screws out counterclockwise, and accordingly, the fan-shaped bump of Anti-extrusion modular interface second stops anticreep depanning
The card falcon of block interface first screws out counterclockwise；During pressing keys 423, spring 422 compresses, and fan-shaped bump 424 comes downwards to and interface
The concordant position of base upper surface, now Anti-extrusion modular interface first is motionless, and second is along rotate counterclockwise, you can realizes connection point
From.By the analysis of above-mentioned structure and connected mode to Anti-extrusion modular interface it can be found that due to devising Anti-extrusion
Mechanism, interface can be more stably connected with.
Foregoing first area 441, second area 442, the 3rd region 443, the 4th region 444, the 5th region 445 and the 6th
Six regions that the edge that region 446 is followed successively by the circumferential area divides in the counterclockwise direction.Described two card falcons 411 are distinguished
Positioned at the region 444 of first area 441 and the 4th, the fan-shaped pylone 415 is located at the 3rd region 443, the two leaves part 431
After installation is fixed, described two cornice structures are located at the region 445 of second area 442 and the 5th respectively.
Further, after Anti-extrusion modular interface first is docked with Anti-extrusion modular interface second, Anti-extrusion modular interface
3rd region 443 of first matches with the 6th region 446 of Anti-extrusion modular interface second, and the 3rd of Anti-extrusion modular interface first the
A cavity area is formed between region 443 and the 6th region 446 of Anti-extrusion modular interface second.Anti-extrusion modular interface
The fan-shaped bump 24 of first is in the cavity area after the fan-shaped pylone 15 stretching, and the fan-shaped bump 24 has clamping
Effect.
Further, the face-piece for swinging cover 25 and including being located at top, the left and right ends of the face-piece tilt towards the same side
And the left and right ends of the face-piece are respectively disposed with the ear structure 252 of first ear structure 251 and second, the first ear knot
The ear structure 252 of structure 251 and second is perpendicular with plane where the face-piece, and the two is in symmetric position.The present embodiment
In, the output shaft protrusion of second drive device 27 passes through four screws and output in first end face, first ear structure 251
The end face of axle is fixedly connected.The center arrangement of second ear structure 252 has fourth hole, runs through four-way by a screw
Hole, second ear structure 252 are connected with the second end face of second drive device 27, the second end face and first end
Face is two relative end faces.When the second 27 output torque of drive device, the output shaft drives first ear structure 251 to put
Dynamic, the second ear structure 252 rotates by rotary shaft of the screw therewith, and then realizes the oscillating function for swinging cover 25.
Further, the inner side of the ear structure 252 of first ear structure 251 and second be arranged with several the 3rd plus
Strengthening tendons, each 3rd reinforcement not only has reinforcement effect to structure, and is each formed with putting between each 3rd reinforcement
The passage of power line, signal wire is put, can so prevent that circuit is exposed outside shell, improves the journey attractive in appearance of modular construction
Degree.
Further, the fixed seat 26 includes drain pan and the fence arranged along drain pan edge, the fence and drain pan shape
Into region can be used for accommodating the second drive device 27, the Anti-extrusion modular interface is arranged on drain pan.
The module housing of each Anti-extrusion modular interface is respectively fixed seat 26 and swings cover 25, the anticreep depanning
Block interface can be integral structure or divide with fixed seat 26, the Anti-extrusion modular interface with swinging cover 25
From formula structure, integral structure is used in the present embodiment.
Reference picture 1 further illustrates the working implementations of the robot：
1st, when the modularization annular rolling robot wants roll counter-clockwise, along up time since the rotation module of bottom
Pin swings the roll counter-clockwise for swinging cover and achieving that modularization annular rolling robot to the lateral direction of annular successively；
2nd, when the modularization annular rolling robot will roll clockwise, along the inverse time since the rotation module of bottom
Pin swings the rolling clockwise for swinging cover and achieving that modularization annular rolling robot to the interior side direction of annular successively.
From the foregoing, the robot can realize that robot integrally rolls advance as wheel, existing wheel is overcome
Formula mobile robot can only can be applied to various narrow uneven roads the smooth hard road movement the defects of.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the invention is not restricted to above-mentioned embodiment party
Formula, can also be before present inventive concept not be departed from the technical field those of ordinary skill possessed knowledge
Put that various changes can be made.
Claims (9)
- A kind of 1. modularization annular rolling robot, it is characterised in that：Including being sequentially connected one loop configuration of composition from beginning to end Several rotation modules (2), swing cover (25) top of each rotation module (2) pass through Anti-extrusion modular interface and adjacent pendulum The Anti-extrusion modular interface connection of fixed seat (26) bottom of revolving die block.
- A kind of 2. modularization annular rolling robot according to claim 1, it is characterised in that：The Anti-extrusion modularization Interface includes module housing, the Anti-extrusion mechanism being arranged in module housing and the docking buckle being arranged in module housing, institute State and a region and several through holes are disposed with module housing, the region is disposed with least one card falcon (411), described right Connecing buckle includes two leaf parts (431), and at least one cornice structure, the card are disposed with the two leaves part (431) A card slot area is disposed with falcon (411), the card slot area of the Anti-extrusion modular interface is available for another Anti-extrusion The cornice structure of modular interface is caught in, while the through hole of the clamping end slave module shell of the Anti-extrusion mechanism stretches out.
- A kind of 3. modularization annular rolling robot according to claim 2, it is characterised in that：The region is circumference area Domain, the circumferential area edge two card falcons (411) evenly distributed in the circumferential direction, along path clockwise, the card falcon (411) side is disposed with the first reinforcement, and first reinforcement is connected with module housing, card falcon (411) opposite side and Interior side opening, the outside of card falcon (411) are connected with module housing, and the cavity that the card falcon (411) is internally formed is exactly the card Groove region, the upper two cornice structures evenly distributed in the circumferential direction of two leaves part (431) are described to block falcon (411) and fly Eaves structure is sector structure, and the radian of the cornice structure is less than or equal to the radian of card falcon (411).
- A kind of 4. modularization annular rolling robot according to claim 3, it is characterised in that：Anti-extrusion mechanism bag The spring supporting post (421) being fixedly connected with module housing side wall and the clamp button of the spring positioned at spring supporting post (421) upper end are included, The upper end of spring supporting post (421) is first boss, is cased with spring (422) in the first boss, under the spring (422) End is withstood by the step of the first boss, and the clamp button of the spring includes button (423) and position outside the circumferential area Third through-hole (416) is disposed with outside in the border circular areas on the fan-shaped bump (424) in the circumferential area, module housing, The circumferential area is circumferentially disposed fan-shaped pylone (415), in a circumferential direction the third through-hole (416) and sector Through hole (415) is located at one end of same diameter respectively, and the button (423) is stretched out from third through-hole (416), and the sector is convex Block (424) stretches out from fan-shaped pylone (415), and the upper end of the spring (422) abuts with button (423), the fan-shaped bump (424) be exactly the Anti-extrusion mechanism clamping end.
- A kind of 5. modularization annular rolling robot according to claim 4, it is characterised in that：The side of the circumferential area Edge is divided into six regions in the counterclockwise direction, is followed successively by first area (441), second area (442), the 3rd region (443), Four regions (444), the 5th region (445) and the 6th region (446), described two card falcons (411) are located at first area respectively (441) and the 4th region (444), the fan-shaped pylone (415) are located at the 3rd region (443), two leaves part (431) peace After dress is fixed, described two cornice structures are located at second area (442) and the 5th region (445) respectively.
- A kind of 6. modularization annular rolling robot according to claim 5, it is characterised in that：The Anti-extrusion modularization After interface docks with another Anti-extrusion modular interface, the 3rd region (443) of the Anti-extrusion modular interface with it is another The 6th region (446) matching of individual Anti-extrusion modular interface, the 3rd region (443) of the Anti-extrusion modular interface with it is another A cavity area, the Anti-extrusion modular interface are formed between 6th region (446) of one Anti-extrusion modular interface Fan-shaped bump (24) from the fan-shaped pylone (15) stretching after be in the cavity area.
- A kind of 7. modularization annular rolling robot according to claim 6, it is characterised in that：The rotation module (2) Also include positioned at fixed seat (26) and swing the second drive device (27) between cover (25), second drive device (27) Output end is connected with swinging cover (25).
- A kind of 8. modularization annular rolling robot according to claim 7, it is characterised in that：It is described to swing cover (25) bag The face-piece positioned at top is included, the left and right ends of the face-piece are tilted towards same side and the left and right ends of the face-piece are respectively arranged There are first ear structure (251) and the second ear structure (252), the first ear structure (251) and the second ear structure (252) it is perpendicular with plane where the face-piece, the first ear structure (251) or the second ear structure (252) and the The output end connection of two drive devices (27), second drive device (27) are arranged in fixed seat (26).
- A kind of 9. modularization annular rolling robot according to claim 8, it is characterised in that：The first ear structure (251) several the 3rd reinforcements and on the inside of the second ear structure (252) are arranged with, between each 3rd reinforcement Formed with the passage that can place power line, signal wire.
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| CN2017108449154 | 2017-09-19 | ||
| CN201710844915 | 2017-09-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
| WO2023041592A1 (en) * | 2021-09-15 | 2023-03-23 | Nimble One | New architecture for a mobile robotic system |
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| CN206278170U (en) * | 2016-12-19 | 2017-06-27 | 湖北工业大学 | A kind of snakelike creepage robot for rolling |
| CN207617837U (en) * | 2017-09-19 | 2018-07-17 | 广东工业大学 | A kind of modularization annular rolling robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
| WO2023041592A1 (en) * | 2021-09-15 | 2023-03-23 | Nimble One | New architecture for a mobile robotic system |
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