CN114013524A - Wheel-track leg combined type mobile robot - Google Patents
Wheel-track leg combined type mobile robot Download PDFInfo
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- CN114013524A CN114013524A CN202111406272.8A CN202111406272A CN114013524A CN 114013524 A CN114013524 A CN 114013524A CN 202111406272 A CN202111406272 A CN 202111406272A CN 114013524 A CN114013524 A CN 114013524A
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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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/006—Attaching arms to sprung or unsprung part of vehicle, characterised by comprising attachment means controlled by an external actuator, e.g. a fluid or electrical motor
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- 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
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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
- B62D57/028—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 having wheels and mechanical legs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mobile robots, in particular to a wheel-track leg combined type mobile robot. Comprises a frame, a power device, a swing arm mechanism, a transmission mechanism, a battery and wheels. Compared with the prior art, the invention has the following characteristics: the invention has the characteristics of three basic motion modes of wheel type, crawler type and leg type, has more freedom degrees, can realize seven motion modes of wheel type, crawler type, leg type, wheel leg type, track leg type, wheel track type and wheel track leg type, has stronger motion capability and obstacle crossing capability compared with other mobile robots, and can complete dangerous tasks of complex road conditions; the swing arm mechanisms and the transmission mechanisms are symmetrically distributed at four corners of the frame, and the mobile robot has stronger self-adaptive balancing capability by controlling the motion of the swing arms, so that the stability of the mobile robot in the motion process is ensured; the transmission mechanism adopts a form of an inner shaft and an outer shaft, the crawler wheels and the wheels are driven by the inner shaft, and the crawler is triangular in configuration, so that the crawler movement mode and the wheel movement mode can be flexibly switched, and the mobile robot has stronger flexibility. The wheel-track-leg combined type mobile robot disclosed by the invention is reliable in work, can pass through complicated and changeable road conditions, replaces people to complete rescue and information exploration in dangerous areas, and has very important significance.
Description
Technical Field
The invention relates to a device in the field of mobile robots, in particular to a wheel-track-leg combined type mobile robot with multi-mode movement characteristics.
Background
China is a country with frequent natural disasters, and in the face of the problems of unstable underground and shielded space structures, unknown information and the like caused by serious natural disasters such as earthquakes and the like, rescue workers may run dangers when entering the country, and at the moment, some mobile robots are needed to replace people to complete various tasks such as search and rescue, information collection and the like. Underground and shielded spaces have the characteristics of narrow, small, dangerous and disorderly, and the like, and the mobile robot is required to have strong environmental adaptability and maneuverability and can cope with various complex road conditions. Nowadays, the main structural forms of the mobile robot are divided into four types: wheeled, crawler-type, leg type, combined type, to complicated changeable road conditions, the mobile robot of single mode is difficult to satisfy the task demand, and the combined type mobile robot is formed through the combination of above-mentioned three kinds of basic structure, and the combined type mobile robot has more superior performance and obstacle-crossing ability than single mode mobile robot, is the main choice object of rescue task.
Finding related documents shows that the composite mobile robot has various forms, such as a wheel-leg mobile robot Hylos developed by the sixth university of france, the robot combines a leg mechanism and a wheel mechanism, under general conditions, the robot can move by adopting wheels, and when a higher obstacle is encountered, obstacle crossing is realized by using the leg mechanism; the islandian western science and technology university develops a crawler-legged mobile robot, the robot consists of two main crawlers and four crawler arms, the obstacle crossing purpose can be achieved by the aid of the four crawler arms, but the robots cannot integrate the advantages of three basic motion modes, and the obstacle crossing performance, the motion capability and the flexibility are still insufficient.
Chinese patent No.: 201510819928.7, the invention relates to a wheel-track-leg combined mobile robot, which comprises a vehicle body, track legs, support legs and a wheel type lifting mechanism, wherein track arms are connected with the vehicle frame through an inner shaft and an outer shaft, and four sets of track arms are symmetrically distributed at four corners of the vehicle frame; the support legs are connected with the frame through support leg transmission shafts, and the two support legs are symmetrically distributed in the front and the back of the frame; the wheel type lifting mechanism is connected with the frame through a connecting plate and is arranged in the middle of the frame. The motor drives the track arm, the supporting leg and the wheel type lifting mechanism to move, so that the robot has different postures.
Above-mentioned patent, wheeled motion switches through the wheeled elevating system of control, and wheeled elevating system structure is complicated, and weight is big, and adopts independent motor drive, leads to whole weight big, motor quantity too much, has not only increased the cost of robot, has increased the energy consumption moreover. The left and right track arms are driven by a motor, the swing arm freedom degree is small, the flexibility is insufficient, various motion modes are mutually independent, tasks are executed under complex and changeable road conditions, the coordination work of the modes is difficult, and the self-adaptive balance of the vehicle body cannot be flexibly realized in the motion process.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a wheel-track-leg combined type mobile robot which has the characteristics of three basic motion modes, can coordinate the motion among the modes, realizes seven motion modes of wheel type, crawler type, leg type, wheel-leg type, track-leg type and wheel-track-leg type, has stronger motion capability, obstacle crossing capability and self-adaptive balancing capability, and is suitable for various complex and changeable task environments.
In order to achieve the purpose, the invention provides a wheel-track-leg combined type mobile robot which comprises a vehicle body, a power device, a swing arm mechanism, a transmission mechanism, a battery and wheels.
The power device comprises four servo driving motors, two outer swing arm motors and two inner swing arm motors;
the frame is drive mechanism, swing arm mechanism's carrier, the frame includes battery holder, interior swing arm motor support, outer axle bearing support, driving motor support, wherein: the battery support is fixed in the middle of the frame through an aluminum section, the four servo driving motors are connected with the frame through driving motor supports and are used for driving the inner shaft to rotate and driving the track and the wheels to move, the four swing arm motors are connected with the frame through swing arm motor supports and are used for driving the swing arm mechanisms to rotate;
the four sets of transmission mechanisms are provided, the axes of inner shafts of the four sets of transmission mechanisms are coincident with the axes of outer shafts, wheels and crawler wheels are fixed on the inner shafts, swing arm flanges are fixed on the outer shafts, the crawler wheels are fixed on the inner sides of the wheels, the motors provide power for the inner shafts and the outer shafts in a gear transmission mode, so that leg type, crawler type, wheel type movement and other modes of movement are realized, and the transmission mechanisms are installed on the frame through outer shaft bearing supports and are symmetrically distributed at four corners of the frame;
the four swing arm mechanisms are triangular, are arranged on the inner side of the wheel and are connected with the transmission mechanism through swing arm plate couplers and symmetrically distributed at four corners of the frame;
the four wheels are connected with the inner shaft of the transmission mechanism and positioned on the outer side of the swing arm, and the rotation of the wheels can be controlled through the driving motor, so that the wheel type movement is realized.
Preferably, the frame adopts I-shaped aluminum plate, and four driving motor symmetries are fixed in the four corners department of frame and are continuous with drive mechanism, and four swing arm motors, two liang of stagger distribute in drive mechanism both sides to link to each other with drive mechanism through gear engagement, battery support distributes in the frame middle part, links to each other with the frame through the aluminium alloy.
Preferably, every set of swing arm mechanism includes track, two from driving wheel, two bearing wheels, drive wheel, overspeed device tensioner connecting plate, track driven wheel board, two fastening block, swing arm board, driven wheel axle, bearing wheel axle, wherein: the two driven wheels are arranged on the track driven wheel plate through driven wheel shafts; the two bearing wheels are arranged on the swing arm plate through bearing wheel shafts; the track connecting plate is connected with the swing arm plate, and the swing arm swings by driving the track connecting plate to rotate; the swing arm plate is connected with the driven wheel plate of the track through the connecting plate of the tensioning device, and the tensioning degree is adjusted through screws on the two fastening blocks to achieve the effect of tensioning the track.
Preferably, each set of transmission mechanism comprises an inner shaft, an outer shaft, an inner shaft gear, an outer shaft gear, a track connection plate coupler and an outer shaft bearing support, wherein the inner shaft is connected with the outer shaft through a bearing, the outer shaft is connected with the outer shaft bearing support through a bearing, the track connection plate coupler is installed on the outer shaft, and the transmission mechanism is fixed at four corners of the frame through the outer shaft bearing.
More preferably, a driving motor on the frame is connected with the track driving wheel and the wheels through an inner shaft, the driving motor rotates to drive the inner shaft to rotate, the inner shaft drives the wheels and the track driving wheel to move, the track driving wheel transmits power to the driven wheel and the bearing wheel through the track, so that the track moves, and track type movement and wheel type movement of the mobile robot are achieved.
More preferably, the swing arm driving motors on the two sides of the transmission mechanism on the frame are connected with the outer shaft of the transmission mechanism, the swing arm driving motors rotate to drive the outer shaft to rotate, and the track connecting plate coupler on the outer shaft drives the track connecting plate to move, so that the whole swing arm mechanism is moved, and the robot can swing arms.
More preferably, each part of the motion on the frame is driven by an independent motor, and the motion in various modes can be realized by controlling different motors, for example, the left side of the frame adopts wheel motion, and the right side of the frame adopts leg motion, so that the wheel-leg motion mode of the robot is realized, different obstacles are crossed by using different motion modes, so that the mobile robot has stronger environmental adaptability, and the self-balancing effect of the robot is realized by controlling different motors.
Compared with the prior art, the invention has the following beneficial effects:
the wheel-track-leg combined type mobile robot combines three basic modes together, overcomes the defects of poor obstacle crossing performance, low running speed of the crawler type mobile robot, complex structure of the leg type mobile robot and high control difficulty, and has seven motion modes of wheel type, crawler type, leg type, wheel-track type, leg type, wheel-leg type and wheel-track-leg type, so that the mobile robot has excellent motion capability and stronger obstacle crossing performance, and the environment adaptability and the flexibility of the mobile robot are greatly improved.
Drawings
FIG. 1 is an isometric view of the overall construction of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a structural view of a swing arm mechanism;
FIG. 4 is a view of the transmission mechanism;
FIG. 5 is a cross-sectional view of the transmission;
wherein: track driven wheel 1, tensioning device connecting plate 2, track bearing wheel 3, track 4, track connecting plate 5, track driving wheel 6, track connecting plate coupling 7, inner shaft gear engagement 8, outer shaft gear engagement 9, inner swing arm motor support 10, inner swing arm motor reducer 11, inner swing arm motor 12, driving motor 13, battery 14, battery support 15, frame 16, outer shaft bearing support 17, driving motor support 18, driving motor reducer 19, outer swing arm motor 20, outer swing arm motor reducer 21, outer swing arm motor support 22, track driven wheel shaft 23, track driven wheel plate 24, outer fastening block 25, inner fastening block 26, bearing wheel shaft 27, swing arm plate 28, wheel 29, inner swing arm motor support 30, outer shaft 31, inner shaft 32
Detailed description of the preferred embodiments
The invention is further described below with reference to the accompanying drawings 1 to 5:
as shown in fig. 1, a wheel-track-leg combined mobile robot includes a frame, a power device, a swing arm mechanism, a transmission mechanism, a battery, and wheels, wherein the frame 15 is a carrier of the swing arm mechanism and the transmission mechanism; the four sets of swing arm mechanisms are symmetrically distributed at four corners of the frame 16; the four sets of transmission mechanisms are symmetrically distributed at four corners of the frame 16;
the power device comprises an inner swing arm motor support 10, two inner swing arm motors 12 and four driving motors 13;
the frame 16 is an i-shaped aluminum plate and comprises a driving motor support 18, two outer swing arm motors 20, an outer swing arm motor support 22 and a battery support 15, as shown in fig. 2, the two inner swing arm motors 12 are distributed on the inner side of the transmission mechanism and are connected with the frame 16 through the inner swing arm motor supports 10; the two outer swing arm motors 20 are distributed outside the transmission mechanism and are connected with the frame 16 through outer swing arm motor supports 22; the four driving motors 13 are symmetrically distributed at four corners of the frame 16 and are connected with the frame 16 through driving motor supports 18; the battery supports are distributed in the middle of the frame 16 and are connected with the frame 16 through aluminum profiles;
as shown in fig. 3, the swing arm mechanism comprises two track driven wheels 1, a tensioner connecting plate 2, two load-bearing wheels 3, a track 4, a track connecting plate 5, a track driving wheel 6, a track driven wheel shaft 23, a track driven wheel plate 24, an outer fastening block 25, an inner fastening block 26, a load-bearing wheel shaft 27 and a swing arm plate 28, wherein the two track driven wheels 1 are fixed on the track driven wheel plate 24 through bearings and track wheel shafts; the two bearing wheels 3 are fixed on the swing arm plate 28 through bearings and bearing wheel shafts; the left side of the tension device connecting plate 2 is connected with the track driven wheel plate 24 through a screw nut, the right side of the tension device connecting plate is connected with the swing arm plate 27 through a screw nut, and a screw can slide in a groove of the track driven wheel plate 24; the outer fastening block 25 is fixed on the track driven wheel plate 24 through screws; the inner fastening block 26 is fixed on the swing arm plate 27 through screws, and the effect of tensioning the crawler 4 can be achieved by adjusting the tightness degree of the screws on the inner fastening block 26; the crawler belt 4 wraps the two crawler belt driven wheels 1 and the two bearing wheels 3, and is triangular under the action of the crawler belt driven wheels 1 and the bearing wheels 3; the driving motor 13 rotates and drives the inner shaft 31 to drive the track driving wheel 6 to move, and the track driving wheel 6 transmits power to the bearing wheels 3 and the track driven wheels 1 through the track, so that the mobile robot moves in a track type.
In the swing arm mechanism, a track driven wheel plate 24, a tension device connecting plate 2, a swing arm plate 28 and a track connecting plate 5 form a leg, and the track connecting plate 5 is connected with a track connecting plate coupler 7 on a transmission mechanism; the inner swing arm motor 12 and the outer swing arm motor 20 transmit power to the outer shaft 31 through the swing arm motor reducer, and the crawler belt connecting plate coupler 7 on the outer shaft drives the crawler belt device to rotate, so that leg type movement of the robot is achieved.
As shown in fig. 4 and 5, the transmission mechanism is composed of an inner shaft 32, an outer shaft 31, a track web coupling 7, an inner shaft gear mesh 8 and an outer shaft gear mesh 9, wherein the inner shaft 32 is connected with the outer shaft 31 through a bearing; the outer shaft 31 is connected with an outer shaft bearing support through a bearing; the crawler belt connecting plate coupler 7 is fixed on the outer shaft 31 through keys and set screws; the inner shaft gear mesh 8 is mounted at the shaft end of the inner shaft 32; the outer shaft gear mesh 9 is installed in the middle of the outer shaft 31; the crawler driving wheels 6 and the wheels 29 are arranged on an inner shaft 31 through key slots and shaft sleeves, the four driving motors 13 rotate to transmit power to the inner shaft 31 through the driving motor speed reducer 19, and the inner shaft 31 rotates to drive the crawler driving wheels 6 and the wheels 29 to move, so that the wheeled movement and the crawler movement of the robot are realized.
In the embodiment, three basic motions of wheel type, crawler type and leg type of the mobile robot can be realized by controlling the inner swing arm motor 12, the outer swing arm motor 20 and the driving motor 13, in addition, all the mechanisms are independently controlled by the motors, the motions of compound modes such as wheel-crawler type and wheel-leg type can be realized by different motor control methods, and the mobile robot can pass through different road conditions by adjusting different motion modes under complicated and changeable road conditions. The specific implementation mode is as follows:
when the road condition is relatively flat, the swing arm device is lifted to a proper position by driving the inner swing arm motor 12 and the outer swing arm motor 20, at the moment, the wheels 29 touch the ground, the driving motor 13 is controlled to rotate, the driving motor 13 drives the driving motor reducer to rotate, and then power is transmitted to the inner shaft 31 through gear engagement, so that the wheels 29 on the inner shaft 31 move, and the wheel type movement of the robot is realized.
When the road condition is uneven, the swing arm device is lowered to the ground of the crawler by driving the inner swing arm motor 12 and the outer swing arm motor 20, the driving motor 13 is controlled to rotate at the moment, the driving motor 13 drives the driving motor reducer 19 to move, and then power is transmitted to the inner shaft 31 through gear meshing, so that the crawler driving wheel 6 on the inner shaft 31 moves, and the crawler movement of the robot is realized.
When a large obstacle exists in a road condition, the swing arm device is lifted by controlling the inner swing arm motor 12 and the outer swing arm motor 20 to be in contact with the obstacle, the driving motor 13 is controlled to rotate, the driving motor 13 drives the driving motor reducer 19 to move, power is transmitted to the inner shaft 31 through gear meshing, accordingly the crawler driving wheels 6 on the inner shaft 31 move, the leg type and crawler type combination match to cross the obstacle, and the robot compound type movement is achieved.
The invention has the advantages of compact and simple structure, strong movement capability and obstacle crossing capability, strong self-adaptive balancing capability, capability of switching different movement modes according to different road conditions and realization of multi-mode movement.
The above description is only one of the preferred embodiments of the present invention, and should not be taken as limiting the invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A wheel-track-leg combined type mobile robot is characterized by comprising a frame, a power device, a transmission mechanism, a swing arm mechanism, a battery and wheels. The frame is I-shaped aluminum plate, is drive mechanism, swing arm mechanism's carrier, wherein:
the power device comprises four servo driving motors, two outer swing arm motors and two inner swing arm motors;
the frame comprises a battery support, an inner swing arm motor support, an outer shaft bearing support and a driving motor support, wherein the battery support is fixed in the middle of the frame through an aluminum profile;
the four sets of transmission mechanisms are provided, the axes of inner shafts of the four sets of transmission mechanisms are superposed with the axes of outer shafts, wheels and crawler wheels are fixed on the inner shafts, swing arm connecting piece couplings are fixed on the outer shafts, the crawler wheels are fixed on the inner sides of the wheels, and the motors provide power for the inner shafts and the outer shafts in a gear transmission mode, so that leg type, crawler type, wheel type movement and other modes of movement are realized;
the four swing arm mechanisms are triangular, are arranged on the inner sides of the wheels, are connected with the frame through the transmission mechanism and are symmetrically distributed at the four corners of the frame;
the four wheels are connected with the inner shaft of the transmission mechanism and positioned on the outer side of the swing arm, and the rotation of the wheels can be controlled through the driving motor, so that the wheel type movement is realized.
2. The wheel-track leg robot of claim 1, wherein the frame is made of an i-shaped aluminum plate, the transmission mechanism and the swing arm mechanism are respectively fixed at four corners of the frame, the battery support is mounted in the middle of the vehicle body through an aluminum profile, and the battery is fixed on the battery support.
3. The wheel-track-leg robot of claim 1, wherein each swing arm mechanism comprises two driven wheels, two bearing wheels, a crawler wheel, a swing arm flange, a tensioning device, two guide wheel shafts and two bearing wheel shafts, wherein the tensioning device comprises a swing arm plate, a crawler driven wheel plate, a swing arm connecting plate and a fastening block, the crawler wraps the driven wheels, the bearing wheels and the crawler wheel, the driven wheels are fixed on the driven wheel plate through bearings and shafts, the bearing wheels are fixed on the swing arm plate through shafts and bearings, the swing arm connecting plate is fixed on the swing arm plate, a chute on the swing arm wheel plate is fixed with a chute on the swing arm connecting plate through screws, an inner fastening block is fixed on the swing arm plate, an outer fastening block is fixed on the crawler driven wheel plate, and the tightness degree of the crawler is realized by adjusting the screws on the inner fastening block.
4. The wheel-track leg robot as claimed in claim 1, wherein the transmission mechanism is in the form of inner and outer shafts, the outer shaft is a hollow shaft, the outer shaft gear and swing arm flange are fixed on the outer shaft through keys and set screws, the inner shaft is fixed in the outer shaft through bearings, the wheels and the track are fixed on the inner shaft through keys and shaft sleeves, and the outer shaft is fixed on the frame through bearings and outer shaft bearing supports.
5. The wheel-track-leg robot as claimed in claim 4, wherein the swing arm motor is engaged with the outer shaft gear through a reducer to transmit power to the outer shaft, the outer shaft drives the swing arm to perform a rotational motion, the swing arm has a rotational range of ± 90 °, in order to reduce the self-weight of the robot, the outer shaft gear is an incomplete gear, the drive motor is engaged with the inner shaft gear through the reducer to transmit power to the inner shaft, the inner shaft drives the wheels to perform a rotational motion with the track, the swing arm mechanism is rotated to +90 °, the wheels land, the inner shaft drives the wheels to perform a wheel-type motion, the swing arm mechanism is rotated to 0 °, the track lands, and the inner shaft drives the track to perform a track-type motion.
6. The wheel-track-legged robot according to claim 1, wherein the swing arm motors are respectively fixed on both sides of the transmission mechanism in a staggered arrangement, and the gear on the transmission mechanism has a toothed portion facing the direction of the swing arm motors, so that the problem of interference caused by overlong motors is well solved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111406272.8A CN114013524B (en) | 2021-11-24 | 2021-11-24 | Wheel-track-leg combined type mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111406272.8A CN114013524B (en) | 2021-11-24 | 2021-11-24 | Wheel-track-leg combined type mobile robot |
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| CN114013524A true CN114013524A (en) | 2022-02-08 |
| CN114013524B CN114013524B (en) | 2023-07-28 |
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| CN202111406272.8A Active CN114013524B (en) | 2021-11-24 | 2021-11-24 | Wheel-track-leg combined type mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872807A (en) * | 2022-04-30 | 2022-08-09 | 合肥工业大学 | Wheel-crawler-leg combined type mobile robot |
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| US5988775A (en) * | 1995-06-16 | 1999-11-23 | Hagglunds Vehicle Ab | Resilient track tensioning device for track-driven vehicles and track unit comprising such a track tensioning device |
| CN1644328A (en) * | 2005-01-31 | 2005-07-27 | 北京理工大学 | Small crawler leg composite movable robot mechanism |
| CN202243746U (en) * | 2011-09-26 | 2012-05-30 | 吉林大学 | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN212401396U (en) * | 2020-01-20 | 2021-01-26 | 深圳市深联科技有限公司 | Rubber crawler-type suspension damping tank chassis |
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2021
- 2021-11-24 CN CN202111406272.8A patent/CN114013524B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5988775A (en) * | 1995-06-16 | 1999-11-23 | Hagglunds Vehicle Ab | Resilient track tensioning device for track-driven vehicles and track unit comprising such a track tensioning device |
| CN1644328A (en) * | 2005-01-31 | 2005-07-27 | 北京理工大学 | Small crawler leg composite movable robot mechanism |
| CN202243746U (en) * | 2011-09-26 | 2012-05-30 | 吉林大学 | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN212401396U (en) * | 2020-01-20 | 2021-01-26 | 深圳市深联科技有限公司 | Rubber crawler-type suspension damping tank chassis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872807A (en) * | 2022-04-30 | 2022-08-09 | 合肥工业大学 | Wheel-crawler-leg combined type mobile robot |
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| CN114013524B (en) | 2023-07-28 |
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