CN112550499B - Four-foot type complex pavement adaptive robot - Google Patents
Four-foot type complex pavement adaptive robot Download PDFInfo
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- CN112550499B CN112550499B CN202011393823.7A CN202011393823A CN112550499B CN 112550499 B CN112550499 B CN 112550499B CN 202011393823 A CN202011393823 A CN 202011393823A CN 112550499 B CN112550499 B CN 112550499B
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- 230000003044 adaptive effect Effects 0.000 title claims description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 239000006096 absorbing agent Substances 0.000 claims abstract description 11
- 230000035939 shock Effects 0.000 claims abstract description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
-
- 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
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a four-foot type robot adapting to complex pavement, which comprises an outer shell and a gear ring, wherein four motors are arranged at the bottom of the outer shell, an output shaft of the outer shell is connected with a bevel gear, the bevel gear is connected with a transmission shaft, a driving shell is sleeved on the outer wall of the transmission shaft, the driving shell is connected with a plurality of brakes, the gear ring is connected with a plurality of clutches, the plurality of clutches are in clearance fit with the plurality of brakes, the gear ring is connected with a damper, the end part of the damper is inserted into a driven wheel shaft, a driven wheel is arranged on the outer wall of the driven wheel shaft, three planet wheels are meshed with the inner wall of the gear ring, a first driving wheel is sleeved on the outer wall of the driving shell, the first driving wheel is connected with a second driving wheel, and the transmission shaft sequentially penetrates through the driving shell, the plurality of brakes, the plurality of clutches and the second driving wheel; the driven wheel, the first driving wheel and the second driving wheel are meshed with the crawler. As the pedrail can be controlled independently, the trafficability geometric parameter of the robot can be changed, and the obstacle crossing capability is greatly improved. Meanwhile, the smoothness of the robot is improved by the shock absorber, and damage to parts caused by overlarge vibration is avoided.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to a four-foot type complex pavement adaptive robot.
Background
With the development of social technology, people are freeing from many of the tedious manual labor and dangerous work posts and replacing them with robots to accomplish these tasks. The robot is helpful to eliminate the interference of a plurality of unknown human factors during working, so that the working precision and efficiency are greatly improved. In a sense, the battlefield is the most dangerous, the work task is the most heavy, the work position with the highest work precision requirement, therefore, the robot used in the military position has great significance for saving the vitality of the army, effectively killing the enemy and setting up in future war without fail. It can replace people to fight, reduce physical consumption and casualties of fighters and save fighting cost. Meanwhile, geological disasters and safety accidents are inevitable in daily life, and after the accidents occur, traffic is seriously blocked, rescue vehicles and general robots cannot pass through the accidents, and people's property safety cannot be rescued in time. Therefore, a four-foot robot capable of coping with complex terrains is needed in the fields of military affairs and rescue.
The existing tracked robots have many disadvantages: firstly, the four crawler belts cannot be self-adaptive independently, and when the crawler belts meet a certain complex road surface, the crawler belts cannot be automatically adjusted to cross obstacles, so that the operation difficulty and the workload are increased, and the advancing and rescue speed is influenced; secondly, the track is not provided with a shock absorber, when the track passes through a complex road surface, the machine body is easy to generate violent vibration, the service life of parts is shortened, the reliability of the robot is even influenced when a task is executed, and meanwhile, the maintenance cost is also increased; the two sides of current tank all use single track, can't adjust the best gesture of marcing when meetting comparatively complicated topography, and trafficability characteristic is relatively poor.
Disclosure of Invention
The invention aims to provide a four-foot type complex pavement adaptive robot, and solves the problems that the existing robot is poor in adaptability to complex pavement terrain and poor in smoothness.
The invention adopts the technical scheme that the four-foot type robot suitable for complex pavement comprises an outer shell, wherein the outer shell is in transmission connection with a foot, the foot comprises four motors arranged at the bottom of the outer shell, output shafts of the four motors are all connected with bevel gears, the bevel gears are horizontally connected with one end of a transmission shaft, the outer wall of the transmission shaft is sleeved with a driving shell, the end part of the driving shell is connected with a plurality of brakes, the four-foot type robot further comprises a gear ring, one side of the gear ring is connected with a plurality of clutches, the plurality of clutches are in clearance fit with the plurality of brakes, the other side of the gear ring is connected with a circular ring, the outer wall of the circular ring is connected with one end of a damper, the other end of the damper is provided with a through hole, a driven wheel shaft is inserted into the through hole, the outer wall of the driven wheel shaft is sleeved with a first driven wheel and a second driven wheel, the inner wall of the gear ring is meshed with three planet wheels along the circumferential direction, the three planet wheels are jointly meshed with a sun wheel, the outer wall of the driving shell is sleeved with a first driving wheel, the first driving wheel is connected with a second driving wheel through three planet rods, the second driving wheel is sleeved on the outer wall of the transmission shaft, the three planet rods respectively penetrate through the three planet wheels, and the transmission shaft sequentially penetrates through the driving shell, the multi-disc brake, the multi-disc clutch, the sun wheel and the second driving wheel; the first driven wheel, the second driven wheel, the first driving wheel and the second driving wheel are all meshed with the crawler belt.
The present invention is also characterized in that,
the driving shell comprises a hollow cylindrical rod, the cylindrical rod is sleeved on the outer wall of the transmission shaft, a first driving wheel is sleeved on the outer wall of the cylindrical rod, one end of the cylindrical rod is connected with a small disc, the other end of the cylindrical rod is connected with a large disc, the small disc is close to the bevel gear, and the end part of the large disc is connected with a plurality of brakes.
The multiple brakes comprise convex blocks, grooves are formed in the end faces of the large circular discs, the convex blocks are embedded into the grooves, the end portions of the convex blocks are connected with first friction plates, the first friction plates are connected with second friction plates through connecting rods, the second friction plates are connected with third friction plates through connecting rods, and gaps are formed among the first friction plates, the large circular discs, the first friction plates, the second friction plates and the third friction plates; the transmission shaft sequentially passes through the small disc, the cylindrical rod, the large disc, the first friction plate, the second friction plate and the third friction plate.
The multi-plate clutch comprises a supporting rod arranged on the gear ring, the end part of the supporting rod is connected with a first clutch plate, the first clutch plate is connected with a second clutch plate through a connecting rod, the second clutch plate is connected with a third clutch plate through a connecting rod, and gaps are arranged among the first clutch plate, the gear ring, the first clutch plate, the second clutch plate and the third clutch plate; the third clutch plate is inserted into the gap between the first friction plate and the large disc, the second clutch plate is inserted into the gap between the first friction plate and the second friction plate, and the first clutch plate is inserted into the gap between the second friction plate and the third friction plate; the transmission shaft sequentially passes through the third clutch plate, the second clutch plate, the first clutch plate and the gear ring.
The transmission shaft is connected with the sun gear through a key.
The three planetary rods are in interference fit with the first driving wheel and the second driving wheel.
The invention has the beneficial effects that the contact with the ground can be greatly increased by using the independently controlled track, so that the adhesion of the robot is increased by fully utilizing the gravity, and the climbing and obstacle crossing capability of the robot is increased. Meanwhile, as the pedrail can be controlled independently, the passing geometric parameters of the robot can be changed, thereby greatly increasing the obstacle crossing capability. Meanwhile, the smoothness of the robot is improved by the shock absorber, and damage to parts caused by overlarge vibration is avoided.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a four-foot complex pavement adaptive robot of the invention;
FIG. 2 is a layout diagram of motors in a four-foot complex pavement adaptive robot according to the invention;
FIG. 3 is an internal cross-sectional view of a four-legged complex pavement-adapting robot of the present invention;
FIG. 4 is a driving structure diagram of a track in the four-track complex pavement adaptive robot of the present invention;
FIG. 5 is a structural diagram of a shock absorber in a four-foot complex pavement adaptive robot according to the present invention;
FIG. 6 is a driving structure diagram of a driving shell in a four-foot complex pavement adaptive robot according to the present invention;
fig. 7 is a structural view of a multi-plate clutch in a four-pedrail type complex road surface adaptive robot according to the present invention.
In the figure, 1, a caterpillar foot, 2, a lug, 3, an outer shell, 4, a first friction plate, 5, a second friction plate, 6, a motor, 7, a third friction plate, 8, a first driven wheel, 9, a first clutch plate, 10, a gear ring, 11, a planet wheel, 12, a sun wheel, 13, a transmission shaft, 14, a shock absorber, 15, a caterpillar track, 16, a second driven wheel, 17, a second clutch plate, 18, a driven wheel shaft, 19, a third clutch plate, 20, a driving shell, 21, a first driving wheel, 22, a second driving wheel, 23, a planet rod, 24, a bevel gear, 25, a cylindrical rod, 26, a small disc and 27 a large disc.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a four-foot type robot adapting to complex pavement, which comprises an outer shell 3, wherein the outer shell 3 is in transmission connection with a caterpillar foot 1, the caterpillar foot 1 comprises four motors 6 arranged at the bottom of the outer shell 3, as shown in figures 2 and 3, the four motors 6 are arranged in a rectangular shape, output shafts of the four motors 6 are respectively connected with a bevel gear 24, the bevel gear 24 is horizontally connected with one end of a transmission shaft 13, the outer wall of the transmission shaft 13 is sleeved with a driving shell 20, as shown in figure 6, the driving shell 20 comprises a hollow cylindrical rod 25, one end of the cylindrical rod 25 is connected with a small disc 26, the other end of the cylindrical rod 25 is connected with a large disc 27, through holes are respectively formed in the middle parts of the small disc 26 and the large disc 27, the small disc 26 is close to the bevel gear 24, the end part of the large disc 27 is connected with a plurality of brakes, the plurality of brakes comprise convex blocks 2, grooves are formed in the end surfaces of the large disc 27, and the convex blocks 2 are embedded into the grooves, the end part of the lug 2 is connected with a first friction plate 4, the first friction plate 4 is connected with a second friction plate 5 through a connecting rod, the second friction plate 5 is connected with a third friction plate 7 through a connecting rod, the cross section of the first friction plate 4 is circular, a through hole is formed in the center of the first friction plate 4, and the first friction plate 4, the second friction plate 5 and the third friction plate 7 are identical in structure and size; gaps are arranged between the first friction plate 4 and the large disc 27, between the first friction plate 4 and the second friction plate 5, and between the second friction plate 5 and the third friction plate 7; the transmission shaft 13 sequentially passes through the small disc 26, the cylindrical rod 25, the large disc 27, the first friction plate 4, the second friction plate 5 and the third friction plate 7; the lug 2 is integrally formed with the first friction plate 4, the second friction plate 5 and the third friction plate 7;
the clutch also comprises a gear ring 10, one side of the gear ring 10 is connected with a multi-plate clutch, the other side of the gear ring 10 is connected with a circular ring through a bolt, the outer wall of the circular ring is connected with one end of a shock absorber 14, the other end of the shock absorber 14 is provided with a through hole, a driven wheel shaft 18 is horizontally inserted into the through hole, as shown in fig. 5, the outer wall of the driven wheel shaft 18 is sleeved with a first driven wheel 8 and a second driven wheel 16, the first driven wheel 8 and the second driven wheel 16 are positioned at two sides of the shock absorber 14, the multi-plate clutch comprises a support rod arranged on the gear ring 10, as shown in fig. 7, the end of the strut is connected with a first clutch plate 9, the first clutch plate 9 is connected with a second clutch plate 17 through a connecting rod, the second clutch plate 17 is connected with a third clutch plate 19 through a connecting rod, through holes are arranged in the middle of the first clutch plate 9, the second clutch plate 17 and the third clutch plate 19, and gaps are arranged between the first clutch plate 9 and the gear ring 10, between the first clutch plate 9 and the second clutch plate 17, and between the second clutch plate 17 and the third clutch plate 19; the multi-plate clutch is in clearance fit with the multi-plate brake, namely the third clutch plate 19 is inserted into the clearance between the first friction plate 4 and the large disc 27, the second clutch plate 17 is inserted into the clearance between the first friction plate 4 and the second friction plate 5, and the first clutch plate 9 is inserted into the clearance between the second friction plate 5 and the third friction plate 7; the transmission shaft 13 sequentially passes through the third clutch plate 19, the second clutch plate 17, the first clutch plate 9 and the gear ring 10. The strut is integrally formed with the first clutch plate, the second clutch plate 17 and the third clutch plate 19;
the inner wall of the gear ring 10 is engaged with three planet wheels 11 along the circumferential direction, the three planet wheels 11 are engaged with the sun wheel 12 together, the outer wall of the cylindrical rod 25 is sleeved with a first driving wheel 21, the first driving wheel 21 is connected with a second driving wheel 22 through three horizontally arranged planet rods 23, as shown in fig. 4, the second driving wheel 22 is sleeved on the outer wall of the transmission shaft 13, and the planet rods 23 are in interference fit with the first driving wheel 21 and the second driving wheel 22; three planetary rods 23 respectively penetrate through the three planetary wheels 11, and the gear ring 10 is positioned between the first driving wheel 21 and the second driving wheel 22; the transmission shaft 13 sequentially passes through the sun gear 12 and the second driving wheel 22; the transmission shaft 13 is connected with the sun gear 12 through a key;
the first driven wheel 8, the second driven wheel 16, the first driving wheel 21 and the second driving wheel 22 are meshed with the crawler 15 to transmit power;
the invention relates to a four-foot type complex pavement adaptive robot, which has the specific working principle that:
the output torque of the motor 6 is transmitted to a bevel gear 24, the bevel gear 24 is transmitted to a transmission shaft 13, the transmission shaft 13 transmits power to a sun gear 12 through a key, and the sun gear 12 serves as a power input wheel in the planetary gear train. There are two schemes in planetary gear train power transmission. First, when oil is introduced into the joint between the multi-disc brake and the large disc 27, the multi-disc brake is combined with the friction surfaces of the multi-disc clutch, positive pressure is provided by the oil, so that friction torque is generated between the friction plates, and the effect of limiting the rotation of the ring gear 10 is achieved. Similar to the brake elements in an automotive hydraulic transmission. The ring gear 10 is fixedly connected to the damper 14 by bolts so that the damper 14 is fixed against rotation. At this time, the planetary gear train becomes the input of the sun gear 12, the output of the planetary rod 23, the power transmission between the planetary rod 23 and the first driving wheel 21 and the second driving wheel 22 is realized through keys, and the first driving wheel 21 and the second driving wheel 22 drive the crawler belt 15 to rotate through friction. At this time, the pedestrial advances at a fixed angle. Secondly, when the oil is not introduced into the inner sides of the multi-disc brakes, the multi-disc brakes do not generate positive pressure with the friction surfaces of the multi-disc clutches, so that friction torque cannot be generated with the friction surfaces of the multi-disc clutches, and the gear ring 10 does not receive the braking torque, so that the gear ring 10 freely rotates. At the moment, the planetary gear train is changed into a differential gear train structure with planetary gear 12 input and planetary rod 23 and gear ring 10 output, when the sun gear 12 rotates forwards, the planetary rod 23 drives the first driving wheel 21 and the second driving wheel 22 to rotate through keys, so that the crawler belt 15 is driven to move forwards, meanwhile, the gear ring 10 drives the foot type shock absorber 14 to rotate, the crawler belt 15 generates downward pressure with the ground, meanwhile, the gear ring 10 can rotate according to the road surface condition in a self-adaptive mode to meet different road surface requirements, therefore, the self-adaptive effect between the robot and the road surface is achieved, the adhesion coefficient provided by the ground is fully utilized, and the robot generates driving force as large as possible. When the sun gear 12 rotates reversely, the damper 14 can be driven to rotate in the direction opposite to the road surface, and the angle of the caterpillar foot can be automatically controlled so as to climb over the obstacle with larger gradient.
Claims (5)
1. The four-foot type robot adapting to the complex pavement is characterized by comprising an outer shell (3), wherein the outer shell (3) is in transmission connection with a caterpillar foot (1), the caterpillar foot (1) comprises four motors (6) arranged at the bottom of the outer shell (3), output shafts of the four motors (6) are connected with bevel gears (24), the bevel gears (24) are horizontally connected with one ends of transmission shafts (13), a driving shell (20) is sleeved on the outer wall of the transmission shafts (13), the end part of the driving shell (20) is connected with a plurality of brakes, the four-foot type robot adapting to the complex pavement further comprises a gear ring (10), one side of the gear ring (10) is connected with a plurality of clutches, the plurality of clutches are in clearance fit with the plurality of brakes, the other side of the gear ring (10) is connected with a circular ring, the outer wall of the circular ring is connected with one end of a shock absorber (14), and the other end of the shock absorber (14) is provided with a through hole, a driven wheel shaft (18) is inserted into the through hole, a first driven wheel (8) and a second driven wheel (16) are sleeved on the outer wall of the driven wheel shaft (18), three planet wheels (11) are meshed with the inner wall of the gear ring (10) along the circumferential direction, the three planet wheels (11) are jointly meshed with the sun wheel (12), a first driving wheel (21) is sleeved on the outer wall of the driving shell (20), the first driving wheel (21) is connected with a second driving wheel (22) through three planet rods (23), the second driving wheel (22) is sleeved on the outer wall of the transmission shaft (13), the three planet rods (23) respectively penetrate through the three planet wheels (11), and the transmission shaft (13) sequentially penetrates through the driving shell (20), the multi-disc brake, the multi-disc clutch, the sun wheel (12) and the second driving wheel (22); the first driven wheel (8), the second driven wheel (16), the first driving wheel (21) and the second driving wheel (22) are all meshed with the crawler belt (15);
the driving shell (20) comprises a hollow cylindrical rod (25), the cylindrical rod (25) is sleeved on the outer wall of the transmission shaft (13), a first driving wheel (21) is sleeved on the outer wall of the cylindrical rod (25), one end of the cylindrical rod (25) is connected with a small disc (26), the other end of the cylindrical rod (25) is connected with a large disc (27), the small disc (26) is close to the bevel gear (24), and the end of the large disc (27) is connected with a plurality of brakes.
2. The four-foot complex pavement adaptive robot according to claim 1, characterized in that the multi-plate brake comprises a convex block (2), a groove is arranged on the end surface of the large disc (27), the convex block (2) is embedded into the groove, the end of the convex block (2) is connected with a first friction plate (4), the first friction plate (4) is connected with a second friction plate (5) through a connecting rod, the second friction plate (5) is connected with a third friction plate (7) through a connecting rod, and gaps are arranged between the first friction plate (4) and the large disc (27), between the first friction plate (4) and the second friction plate (5), and between the second friction plate (5) and the third friction plate (7); the transmission shaft (13) sequentially penetrates through the small disc (26), the cylindrical rod (25), the large disc (27), the first friction plate (4), the second friction plate (5) and the third friction plate (7).
3. The four-pedrail complex pavement adaptive robot according to claim 2, wherein the multi-plate clutch comprises a strut arranged on the gear ring (10), the end of the strut is connected with a first clutch plate (9), the first clutch plate (9) is connected with a second clutch plate (17) through a connecting rod, the second clutch plate (17) is connected with a third clutch plate (19) through a connecting rod, and gaps are respectively arranged between the first clutch plate (9) and the gear ring (10), between the first clutch plate (9) and the second clutch plate (17), and between the second clutch plate (17) and the third clutch plate (19); the third clutch plate (19) is inserted into a gap between the first friction plate (4) and the large disc (27), the second clutch plate (17) is inserted into a gap between the first friction plate (4) and the second friction plate (5), and the first clutch plate (9) is inserted into a gap between the second friction plate (5) and the third friction plate (7); the transmission shaft (13) sequentially penetrates through the third clutch plate (19), the second clutch plate (17), the first clutch plate (9) and the gear ring (10).
4. The four-footed complex pavement adapting robot according to claim 1, characterized in that the transmission shaft (13) is connected with the sun wheel (12) by a key.
5. The four-foot complex pavement adaptive robot according to claim 1, wherein three planetary rods (23) are in interference fit with a first driving wheel (21) and a second driving wheel (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011393823.7A CN112550499B (en) | 2020-12-02 | 2020-12-02 | Four-foot type complex pavement adaptive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011393823.7A CN112550499B (en) | 2020-12-02 | 2020-12-02 | Four-foot type complex pavement adaptive robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112550499A CN112550499A (en) | 2021-03-26 |
| CN112550499B true CN112550499B (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011393823.7A Expired - Fee Related CN112550499B (en) | 2020-12-02 | 2020-12-02 | Four-foot type complex pavement adaptive robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10194169A (en) * | 1997-01-16 | 1998-07-28 | Tech Res & Dev Inst Of Japan Def Agency | Attitude control mechanism of 4-crawler type vehicle |
| CN104290830A (en) * | 2014-08-18 | 2015-01-21 | 浙江理工大学 | Under-actuated track type vehicle wheel mechanism |
| CN204488996U (en) * | 2015-03-09 | 2015-07-22 | 浙江理工大学 | Planetary differential obstacle crossing type caterpillar robot |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN211308772U (en) * | 2019-08-02 | 2020-08-21 | 北京交通大学 | Self-adaptive under-actuated tracked robot |
-
2020
- 2020-12-02 CN CN202011393823.7A patent/CN112550499B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10194169A (en) * | 1997-01-16 | 1998-07-28 | Tech Res & Dev Inst Of Japan Def Agency | Attitude control mechanism of 4-crawler type vehicle |
| CN104290830A (en) * | 2014-08-18 | 2015-01-21 | 浙江理工大学 | Under-actuated track type vehicle wheel mechanism |
| CN204488996U (en) * | 2015-03-09 | 2015-07-22 | 浙江理工大学 | Planetary differential obstacle crossing type caterpillar robot |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN211308772U (en) * | 2019-08-02 | 2020-08-21 | 北京交通大学 | Self-adaptive under-actuated tracked robot |
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| Publication number | Publication date |
|---|---|
| CN112550499A (en) | 2021-03-26 |
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