CN204507046U - A kind of comprehensive detection swing arm crawler platform - Google Patents
A kind of comprehensive detection swing arm crawler platform Download PDFInfo
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- CN204507046U CN204507046U CN201520113177.2U CN201520113177U CN204507046U CN 204507046 U CN204507046 U CN 204507046U CN 201520113177 U CN201520113177 U CN 201520113177U CN 204507046 U CN204507046 U CN 204507046U
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Abstract
The utility model relates to a kind of comprehensive detection swing arm crawler platform, its car body (4) comprises casing (20), 4 tires (7), 4 both tyre and crawlers wheel (19), two both tyre and crawlers (16), 4 little Athey wheels (5), 4 swing arm crawler belts (6) and 2 groups of swing arms (10), described tire (7), both tyre and crawler wheel (19), both tyre and crawler (16) and little Athey wheel (5) and swing arm crawler belt (6) are symmetrically distributed in casing both sides, 2 groups of swing arms lay respectively at front and the rear of casing, tire motor (23) is fixedly connected with casing with swing arm motor (22).Often organize swing arm to comprise and to couple together with swing arm pipe link (21) and to be symmetrically distributed in 2 swing arms (10) of casing both sides, by swing arm motor (22) driving swing arm (10) knee-action; It arranges two cameras on car body.Platform of the present utility model can be advanced smoothly in complex-terrain, is applicable to explosive-removal robot.
Description
Technical field
The utility model belongs to safety-security area, relates to a kind of explosive-removal robot can getting rid of explosive at complex-terrain.
Background technology
Along with the develop rapidly of science and technology, terrorism is also becoming increasingly rampant, law-breaker's home-made explosives, and the ability of self-control remote control and time bomb device is also more and more stronger, causes threat, cause fear to the people of various countries to countries in the world.The destruction that terrorist activity brings and injures and deaths are also increasingly sharpened, and meanwhile in the disposal of dangerous and burst accident, the application of robot is increasingly extensive.
Explosive-removal robot can replace manually entering hazardous location and carry out investigations, and gets rid of explosive.At present, world market mostly is land formula explosive-removal robot, and explosive case in the rugged terrain environment of complexity is increasing, requires more and more higher to bottom car body simultaneously, also more and more ripe to the exploitation of car body, but also there is certain defect, manoevreability is poor, and layout is unbalance, obstacle climbing ability is poor, comparatively high obstacle can not be crossed, can not speeling stairway, the level land of surface conditions complexity can only be passed through.
Utility model content
In view of the defect of above-mentioned prior art, the technical matters that the utility model solves is: provide a kind of comprehensive detection swing arm crawler platform being applicable to explosive-removal robot can advanced smoothly in complex-terrain.The technical solution of the utility model is as follows:
A kind of comprehensive detection swing arm crawler platform, comprises car body (4) and visual surveillance system, it is characterized in that,
Described car body (4) comprises casing (20), 4 tires (7), 4 both tyre and crawler wheels (19), two both tyre and crawlers (16), 4 little Athey wheels (5), 4 swing arm crawler belts (6) and 2 groups of swing arms (10), described tire (7), both tyre and crawler wheel (19), both tyre and crawler (16) and little Athey wheel (5) and swing arm crawler belt (6) are symmetrically distributed in casing both sides, 2 groups of swing arms lay respectively at front and the rear of casing, and tire motor (23) is fixedly connected with casing with swing arm motor (22);
Each tire (7) is fixed on tire connecting cylinder (18), tire connecting cylinder (18) is fixed on belt wheel terminal pad (17), and belt wheel terminal pad (17) is taken turns (19) and is fixedly connected with both tyre and crawler;
Each both tyre and crawler (16) crosses two both tyre and crawlers wheel (19), both tyre and crawler tension wheel and both tyre and crawler track adjusting wheels, and the tensioning degree of both tyre and crawler (16) is regulated by the change of T-slot to the position of both tyre and crawler tension wheel, both tyre and crawler track adjusting wheel makes both tyre and crawler (16) keep tram not depart from;
Tire motor (23) tire on the drive wheels Athey wheel (19), both tyre and crawler wheel (19) drives both tyre and crawler (16) motion;
Often organize swing arm to comprise and to couple together with swing arm pipe link (21) and to be symmetrically distributed in 2 swing arms (10) of casing both sides, swing arm (10) is connected with casing by bearing (28), take turns (19) by bearing (27) with both tyre and crawler to be connected, drive swing arm (10) knee-action by swing arm motor (22);
4 little Athey wheels (5) are connected to the front end of corresponding swing arm (10) respectively by the little track wheel shaft of swing arm (49); Each swing arm crawler belt (6) is crossed and is positioned at homonymy and adjacent little Athey wheel (5), both tyre and crawler wheel (19), tension wheel and swing arm track idler, and the tensioning degree of swing arm crawler belt (6) is regulated by the change of T-slot to the position of swing arm track adjusting wheel, swing arm track idler makes swing arm crawler belt (6) keep tram not depart from;
Described visual surveillance system, comprise two cameras, the first camera (15) is fixed with in car body front end, for monitoring car body front road conditions, car body is also provided with the camera lifting mechanism (3) for fixing second camera, described camera lifting mechanism (3) comprises lifter plate (43), lifter plate (43) is connected with first steering wheel (42) that can horizontally rotate, first steering wheel (42) is also connected with second steering wheel (41) that can vertically rotate, second steering wheel (41) is fixedly connected with the second described shooting as head (38) and light source (37).
Wherein, swing arm motor (22) drives the mechanism of swing arm (10) action to comprise by the miniature gears of swing arm motor direct-drive (25), the big gear wheel (26) be meshed with miniature gears (25) and greatly belt shaft (35) and two reductors (30), big gear wheel (26) passes motion to the second reductor (30) by large belt shaft (35), drives swing arm (10) knee-action by the second reductor (30).
Swing arm crawler platform of the present utility model, bottom is all walked around by crawler belt, both the type of transmission of power had been solved, too increase stability and the obstacle climbing ability of the entirety of the robot adopting this platform, longer swing arm can be worked as bridge and be used, running into darker gully can with swing arm when bridge directly rolled, run into obstacle can easily to cross under the help of swing arm and can not be stranded simultaneously, the installation question of crawler belt is obtained by tension wheel and more reasonably solves, more steady in the process of walking, obstacle performance is good, flexible movements, and can speeling stairway, tailstock camera lifting mechanism can Omnidirectional rotation.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram that have employed swing arm crawler type anti-terror explosive removing robot of the present utility model
Fig. 2 is the integral structure front elevation that have employed swing arm crawler type anti-terror explosive removing robot of the present utility model
Fig. 3 is mechanical arm structural representation
Fig. 4 is that (car body outward appearance is axially symmetric structure to swing arm crawler platform of the present utility model, and two tires in front and two tires at the back side are symmetrical, in order to just be unloaded by two of front tires with the displaying of structure, so that see inner connection structure clearly
Fig. 5 is that swing arm crawler platform cutaway view schematic diagram (is the birds-eye view of car body, shows the position that cutaway view is analysed and observe
Fig. 6 is swing arm crawler platform A-A cutaway view
Fig. 7 is Fig. 6 partial enlarged drawing one
Fig. 8 is Fig. 6 partial enlarged drawing two
Fig. 9 is swing arm crawler platform B-B cutaway view
Figure 10 is swing arm crawler platform C-C cutaway view
Figure 11 is camera lifting mechanism integral structure
Figure 12 is camera enlarged drawing in camera lifting mechanism
Figure 13 adopts four kinds of walking states: A of the anti-terror explosive removing robot of swing arm crawler platform of the present utility model to lift only with wheel tyre walking before and after two groups of swing arms 10 simultaneously; B, for set level parallel to the ground by two groups of swing arms, rotates together with tire and robot is walked as tank; C captures the form that lower position explosive is explosive-removal robot, and two swing arms erect, the high whole robot of frame; D be the swing arm of two groups, front and back one on the other; E is that two groups of swing arms uprightly erect as people's leg; F is that robot uses swing arm and tire stair climbing schematic diagram.
In figure: 1-1, mechanical paw, 2, mechanical arm comprises (1-2, mechanical arm linear joint, 1-3, mechanical arm forearm, 1-4, push-rod electric machine, 1-5, mechanical arm elbow joint, 1-10, mechanical arm securing cover plate, 1-11, mechanical arm shoulder joint worm gearing, 1-14 mechanical arm shoulder joint, 1-15 mechanical paw drive motor, 1-16, the worm gearing of mechanical arm elbow joint, 1-17, the motor of mechanical arm elbow joint, the motor of 1-18 mechanical arm shoulder joint, 1-19 mechanical arm wrist joint, 1-20 push-rod electric machine fixed block, 1-21 push rod, 1-22 handspike bearing, 1-23 side plate, 1-24 mechanical arm large arm, 1-25 shoulder mechanical arm part, 1-26 base arm, 1-27 base joint, 1-28 base joint motor, 1-30, L-type slide block, 1-31, large L-type slide block, 3, camera lifting mechanism, 4, car body, 5, little Athey wheel, 6, swing arm crawler belt, 7, tire, 8, track adjusting wheel, 9, tension wheel, 10, swing arm, 11, T-slot, 12, photoelectric switch, 13, LED, 14 sensors, 15 cameras, 16, both tyre and crawler, 17, belt wheel terminal pad, 18, tire chain extend neck, 19, both tyre and crawler is taken turns, 20, casing, 21, swing arm pipe link, 22, swing arm motor, 23, tire motor, 24, reductor one, 25, miniature gears, 26, big gear wheel, 27, bearing one, 28, bearing two, 29, motor terminal pad, 30, reductor two, 31, swing arm transmission cover, 32, motor mount, 33, deep groove ball bearing, 34, connecting key one, 35, large belt shaft, 36, battery, 37, infrared lamp, 38, camera, 39, steering wheel adapter plate, 40, camera adapter plate, 41,180 degree of steering wheels, 42,300 degree of steering wheels, 43, lifting bent plate, 44, camera lifting bar, 45, slide block type push-rod electric machine, 46, belt wheel end cap, 47, little Athey wheel bearing, 48, roller bearing end cap, the little track wheel shaft of 49 swing arm
Detailed description of the invention
Below in conjunction with accompanying drawing, this explanation embodiment is further described in detail:
First the name that the utility model is mentioned is explained, so that understand:
Explanation of nouns:
1. mechanical arm forearm: whole mechanical arm is similar to the arm of people, completely can than the arm of personification, so derived wrist joint, elbow joint and shoulder joint, mechanical arm forearm is quite analogous to the forearm of people, be made up of the part in the middle of wrist joint to elbow joint, be here made up of push-rod electric machine 1-4 paw rotary electric machine 1-15 elbow joint 1-5 elbow joint motor 1-17 elbow joint worm and gear 1-16.
2. mechanical arm large arm: be made up of the part in the middle of elbow joint to shoulder joint, the large arm of mechanical arm is made up of elbow joint motor 1-17 shoulder joint motor 1-18 shoulder joint motor worm and gear 1-11.
From Fig. 1-12, swing arm crawler type anti-terror explosive removing robot comprises mechanical paw 1-1 gripping portion, mechanical arm 2 motion expandable part, camera lifting mechanism 3 part, Multifunctional mobile platform and car body 4 part etc.
The robot of swing arm crawler platform of the present utility model is adopted to be assigned three cameras in monitoring visual aspects, monitor the implementation of localizing objects thing auxiliary robot, be respectively the camera on mechanical arm, the camera 15 of car body front end, camera in camera lifting mechanism 3, camera on mechanical arm can in-plant observation fire thing, and the position of accurate localizing objects thing, makes explosive enforcement more accurate; Car body front end camera 15 can monitor car body front road conditions, observes whether have gully, obstacle etc., and robot in time for facing road conditions analysis, and can be passed through smoothly;
As Figure 11 and Figure 12 in camera lifting mechanism 3, in camera lifting mechanism 3, camera 38 is fixedly connected with by camera adapter plate 40 with infrared lamp 37, 180 ° of steering wheels 41 are fixedly connected with camera adapter plate 40 and become entirety, control camera 38 and infrared lamp 37 do luffing, steering wheel adapter plate 39 is fixed 180 ° of steering wheels 41, 300 ° of steering wheels 42 are connected with steering wheel connecting panel 39, 300 ° of steering wheels and control the phase more than entirety rotate in fixed horizontal plane, promoting lifter plate 43 with slide block type push-rod electric machine 45 makes camera 38 and infrared lamp 37 do rise and fall campaign, two steering wheels and slide block type push-rod electric machine 45 move simultaneously and realize the function of camera lifting mechanism 3 module, this camera makes integrated environment situation around robot Observable, make the visual angle of whole robot wider, the scope of robot application is larger.
This mechanical arm is 5 free mechanical arms, is made up of 5 joints.First joint is wrist joint 1-19, and this joint is driven by gripper of manipulator drive motor 1-15 and rotates, and gripper of manipulator drive motor 1-15 rotates and can rotate by driving mechanical paw 1-1, realizes the rotation of wrist joint 1-19; Mechanical arm linear joint 1-2, this joint is driven by push-rod electric machine 1-4, linear joint 1-2 can be made to extend and shrink, thus change the length of mechanical arm when push-rod electric machine 1-4 works and extends and shrink; 3rd joint is elbow joint 1-5, drives elbow joint worm and gear 1-16 thus the rotation of driving mechanical arm forearm, realize the pitch attitude of forearm by elbow joint motor 1-17; 4th joint is that shoulder joint 1-14 drives shoulder joint worm and gear 1-11 thus the rotation of driving mechanical arm large arm by shoulder joint motor 1-18, realize the pitch attitude of mechanical arm large arm, 5th joint be base joint 1-27 by base joint motor 1-28 driven rotary, realize the rotation of whole mechanical arm.
Manipulator rotating machine 1-15 and telescopic boom 1-2 is fixed, such telescopic boom 1-2 and mechanical paw 1-1, mechanical paw motor 1-15 is integrated, large L slide block 1-31 is equipped with for limiting the stroke of telescopic boom 1-2 in the top of mechanical arm forearm 1-3, the push rod of push-rod electric machine 1-4 is fixed on push-rod electric machine fixed block 1-20, push-rod electric machine fixed block 1-20 is fixed on telescopic boom 1-2, drive telescopic boom 1-2 motion to extend when push-rod electric machine 1-4 extends, driving mechanical paw 1-1 forward simultaneously, when the large L slide block on mechanical arm forearm 1-3 top contacts with the L slide block 1-30 on telescopic boom 1-2, mechanical arm forearm lengths reaches maximum, drive telescopic boom 1-2 toward retraction when push-rod electric machine 1-4 shortens, mechanical arm forearm is shortened, complete the motion of linear joint.
The motor 1-17 of elbow joint is fixed on side plate 1-23 by elbow joint worm and gear 1-16, side plate 1-23 is fixed on mechanical arm large arm 1-24, elbow joint worm and gear 1-16 is driven to rotate by the rotation of elbow joint motor 1-17, the pitch attitude of controlling machine mechanical arm forearm, achieves the motion of elbow joint.Base arm 1-26 is fixed on mechanical arm securing cover plate 1-10, and shoulder joint motor 1-18 is fixed on base arm 1-26 by shoulder joint worm and gear 1-11, and the rotation of motor drives worm and gear to rotate the rotation realizing shoulder joint.
Car body 4 part as shown in figs. 4 through 10, Fig. 4 is the body part of swing arm crawler platform, and car body outward appearance is axially symmetric structure, and two tires in front and two tires at the back side are symmetrical, in order to just two of front tires be unloaded with the displaying of structure, so that see inner connection structure clearly; Fig. 5 is the birds-eye view of car body, shows the position that cutaway view is analysed and observe; Fig. 6 is A-A cutaway view; Fig. 7 is first partial enlarged drawing of Fig. 6; Fig. 8 is second partial enlarged drawing of Fig. 6; Fig. 9 is B-B cutaway view; Figure 10 is that C-C cutaway view is primarily of swing arm 10 module and tire 7 module composition, in the casing 20 of car body 4, when robot climbs slope, consider that the moment of torsion of a motor is inadequate, what tire 7 module adopted is that staggered form Dual-motors Driving is as Fig. 5, not only solve the dynamical problem of device, also solve the Steering of car, turning to of car can utilize the speed discrepancy of staggered form corresponding two motors to realize turning to of robot simultaneously.The also distribution in staggered form of two swing arm motors 22, and intersects each other with tire motor 23, and four motors are independent mutually and save space; Tire 7 module can ensure walking in normal landform of car body, and swing arm 10 module section can help robot speeling stairway, crosses gully, in rugged environment, steadily walks in uneven road surface.
Tire 7 is arranged on tire connecting cylinder 18, tire connecting cylinder 18 is fixed on belt wheel terminal pad 17, belt wheel terminal pad 17 and both tyre and crawler are taken turns 19 and are used screw to be connected and fixed, between both tyre and crawler wheel 19 and swing arm 10, bearing 1 is installed, both tyre and crawler wheel 19 is provided with both tyre and crawler 16 and swing arm crawler belt 6, both tyre and crawler 6 crosses two both tyre and crawlers wheel 19, and the degree of tightness of crawler belt is by the position adjustments of T-slot 11 pairs of tension wheels 9, and two track adjusting wheels 8 make both tyre and crawler 16 keep tram not depart from, tire motor 23 is fixed on motor terminal pad 29, motor terminal pad 29 is fixed by casing, when providing the control command of robot ambulation, tire motor 23 rotates, tire motor 23 is connected with reductor 1 and is reduced by tire motor 23 rotating speed, as enlarged drawing 7 passes to belt wheel end cap 46 by reductor 1, belt wheel end cap 46 and both tyre and crawler are taken turns 19 and are connected by screw, both tyre and crawler wheel 19 carries out rotating band and moves both tyre and crawler 16 and move, between both tyre and crawler wheel 19 and swing arm 10, bearing 1 is installed, make the motion of the motion of swing arm 10 and tire 7 mutually can independently meanwhile both tyre and crawler take turns 19 and be also connected with screw with belt wheel terminal pad 17, belt wheel terminal pad 17 is connected by screw with tire connecting cylinder 18, now the Movement transmit of both tyre and crawler wheel 19 is on tire connecting cylinder, tire connecting cylinder 18 is connected with tire 7, thus tire on the drive wheels rotates, make robot ambulation, robot tire 7 part has two tire motors 23 to drive, the installation site of tire motor 23 is as Fig. 6, the arrangement mode of tire motor 23 is as Fig. 5.
Between Fig. 8 both tyre and crawler wheel 19 and swing arm 10, bearing 1 is installed, make the motion of the motion of swing arm 10 and tire 7 mutually can be independent, bearing 2 28 is installed between swing arm 10 and casing 20, bearing 2 28 effect is lubricate in swing arm 10 with the connection of casing 20, swing arm is independently moved smoothly, from in Fig. 4, two swing arms 10 form one group of swing arm structure, on front side of car body be two groups of swing arm structures on rear side of car body, and structure is identical, here one group of structure on front side of car body is introduced, two swing arms 10 are connected by swing arm connecting rod 21, when swing arm motor 22 drives side swing arm 21 to move, opposite side swing arm 21 is driven to move by swing arm connecting rod 21, two swinging arms are consistent, swing arm motor 22 is paired linea angulata distribution in car body, front side swing arm motor 22 is arranged on the right of car body, this swing arm motor 22 drives right side swing arm 10 to rotate, left side swing arm is driven together to rotate by swing arm connecting rod 21, thus make front end two swing arm keep same action movement, the motion of rear side swing arm is the same with front end.
Fig. 8 is known when driving swing arm motor 22, swing arm motor 22 drives miniature gears 25 to rotate, to engage with big gear wheel 26 to slow down by miniature gears 25 and the kinematic velocity of swing arm motor 22 reduced, large belt shaft 35 is passed to again by big gear wheel 26, large belt shaft 35 passes motion to reductor 2 30, motion is passed to swing arm transmission cover 31 by reductor 2 30, and swing arm transmission cover 31 is screwed with swing arm 10 and is connected;
Swing arm 10 be separately installed with bearing 1 bearing 2 28 up and down, bearing 1 effect be make swing arm do not take turns 19 with both tyre and crawler together with move, make two motion noninterference, bearing 2 28 effect is lubricate in swing arm 10 with the connection of casing 20, swing arm is independently moved smoothly, when sending the electric signal driving swing arm 10, then by as above describing, swing arm 10 is moved;
Swing arm motor 22 is that paired linea angulata formula is at case distribution in vivo, two motors are distributed in casing 20 right front and left back respectively, tire motor 230 is also distributed in casing 20 in diagonal line, in order to save space, tire motor 230 and swing arm motor 22 one-tenth staggered forms distribute, and are distributed in the left front of casing 20 and right abaft.
As schemed C-C swing arm front end, little Athey wheel 5 is installed, little Athey wheel 5 is connected by the little track wheel shaft 49 of swing arm with swing arm 10, centre is provided with little Athey wheel bearing 47, such swing arm 10 can drive little Athey wheel 5 to change pose by little track wheel shaft 49, swing arm crawler belt 6 can drive little Athey wheel 5 to rotate, swing arm 10 and swing arm crawler belt 6 move simultaneously, make this swing arm structure realize the conversion of attitude, thus realize various action.
The walking manner of robot has five kinds as Figure 13, in Figure 13, A lifts only with wheel tyre walking simultaneously before and after two groups of swing arms 10, walk in comparatively pulsation-free ground, in Figure 13, B is for set level parallel to the ground by two groups of swing arms, rotating together with tire makes robot walk as tank, walk in meadow or muddy road, two swing arms also can help robot to cross gully as bridge, in Figure 13, C captures the form that lower position explosive is explosive-removal robot, two swing arms erect, the high whole robot of frame, mechanical arm is made to have enough space telescopics to capture explosive, walk in dumped riprap freely explosive, in Figure 13 D be the swing arm of two groups, front and back one on the other, this walking manner makes robot can easily cross gully frustration, clear the jumps, in Figure 13, E is that two groups of swing arms uprightly erect as people's leg, this kind of walking manner can make the height of whole robot raise, meanwhile camera lifting structure 3 raises, mechanical arm 2 extends, the explosive scope of robot can be made to arrive maximum, in Figure 13, F is that robot uses swing arm and tire stair climbing schematic diagram, can walk arbitrarily on stair.
Claims (2)
1. a comprehensive detection swing arm crawler platform, comprises car body (4) and visual surveillance system, it is characterized in that,
Described car body (4) comprises casing (20), 4 tires (7), 4 both tyre and crawler wheels (19), two both tyre and crawlers (16), 4 little Athey wheels (5), 4 swing arm crawler belts (6) and 2 groups of swing arms (10), described tire (7), both tyre and crawler wheel (19), both tyre and crawler (16) and little Athey wheel (5) and swing arm crawler belt (6) are symmetrically distributed in casing both sides, 2 groups of swing arms lay respectively at front and the rear of casing, and tire motor (23) is fixedly connected with casing with swing arm motor (22);
Each tire (7) is fixed on tire connecting cylinder (18), tire connecting cylinder (18) is fixed on belt wheel terminal pad (17), and belt wheel terminal pad (17) is taken turns (19) and is fixedly connected with both tyre and crawler;
Each both tyre and crawler (16) crosses two both tyre and crawlers wheel (19), both tyre and crawler tension wheel and both tyre and crawler track adjusting wheels, and the tensioning degree of both tyre and crawler (16) is regulated by the change of T-slot to the position of both tyre and crawler tension wheel, both tyre and crawler track adjusting wheel makes both tyre and crawler (16) keep tram not depart from;
Tire motor (23) tire on the drive wheels Athey wheel (19), both tyre and crawler wheel (19) drives both tyre and crawler (16) motion;
Often organize swing arm to comprise and to couple together with swing arm pipe link (21) and to be symmetrically distributed in 2 swing arms (10) of casing both sides, swing arm (10) is connected with casing by bearing (28), take turns (19) by bearing (27) with both tyre and crawler to be connected, drive swing arm (10) knee-action by swing arm motor (22);
4 little Athey wheels (5) are connected to the front end of corresponding swing arm (10) respectively by the little track wheel shaft of swing arm (49); Each swing arm crawler belt (6) is crossed and is positioned at homonymy and adjacent little Athey wheel (5), both tyre and crawler wheel (19), tension wheel and swing arm track idler, and the tensioning degree of swing arm crawler belt (6) is regulated by the change of T-slot to the position of swing arm track adjusting wheel, swing arm track idler makes swing arm crawler belt (6) keep tram not depart from;
Described visual surveillance system, comprise two cameras, the first camera (15) is fixed with in car body front end, for monitoring car body front road conditions, car body is also provided with the camera lifting mechanism (3) for fixing second camera, described camera lifting mechanism (3) comprises lifter plate (43), lifter plate (43) is connected with first steering wheel (42) that can horizontally rotate, first steering wheel (42) is also connected with second steering wheel (41) that can vertically rotate, second steering wheel (41) is fixedly connected with the second described shooting as head (38) and light source (37).
2. platform according to claim 1, it is characterized in that, swing arm motor (22) drives the mechanism of swing arm (10) action to comprise by the miniature gears of swing arm motor direct-drive (25), the big gear wheel (26) be meshed with miniature gears (25) and greatly belt shaft (35) and two reductors (30), big gear wheel (26) passes motion to the second reductor (30) by large belt shaft (35), drives swing arm (10) knee-action by the second reductor (30).
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| CN201520113177.2U CN204507046U (en) | 2015-02-16 | 2015-02-16 | A kind of comprehensive detection swing arm crawler platform |
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| CN201520113177.2U CN204507046U (en) | 2015-02-16 | 2015-02-16 | A kind of comprehensive detection swing arm crawler platform |
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| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
| CN107511813A (en) * | 2017-04-17 | 2017-12-26 | 北京林业大学 | A kind of barrier-surpassing robot |
| CN109036088A (en) * | 2018-09-30 | 2018-12-18 | 浙江德清爱特电子科技有限公司 | Spliced explosive-removal robot simulation teching apparatus |
| CN109178122A (en) * | 2018-11-07 | 2019-01-11 | 吉林大学 | The adaptive micro-robot of wheel leg crawler belt combined type complicated ground and control method |
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| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
| CN107511813A (en) * | 2017-04-17 | 2017-12-26 | 北京林业大学 | A kind of barrier-surpassing robot |
| CN109036088A (en) * | 2018-09-30 | 2018-12-18 | 浙江德清爱特电子科技有限公司 | Spliced explosive-removal robot simulation teching apparatus |
| CN109178122B (en) * | 2018-11-07 | 2023-08-08 | 吉林大学 | Wheel-leg crawler belt composite type complex ground self-adaptive micro robot and control method |
| CN109178122A (en) * | 2018-11-07 | 2019-01-11 | 吉林大学 | The adaptive micro-robot of wheel leg crawler belt combined type complicated ground and control method |
| WO2022103216A1 (en) * | 2020-11-13 | 2022-05-19 | 주식회사 타스글로벌 | Tension-maintaining unit of continuous track device for ship, and continuous track device for ship, having same |
| KR20220065675A (en) * | 2020-11-13 | 2022-05-20 | 주식회사 타스글로벌 | Tension maintaining unit for caterpillar apparatus of ship and caterpillar apparatus having the same |
| TWI811843B (en) * | 2020-11-13 | 2023-08-11 | 南韓商塔斯全球有限公司 | Tension maintaining unit for caterpillar apparatus of ship and caterpillar apparatus of ship having the same |
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| CN112776912A (en) * | 2021-02-03 | 2021-05-11 | 徐州利创智能科技有限公司 | Intelligent inspection device for power distribution room |
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| CN113371083A (en) * | 2021-08-04 | 2021-09-10 | 中国人民解放军国防科技大学 | Wheel-track leg composite driving system and walking device |
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Effective date of registration: 20171020 Address after: The 300457 Tianjin economic and Technological Development Zone, Ninth Street 80, Fenghua garden building two No. 8 Building No. 102 01 Co-patentee after: Taihua Hongye (Tianjin) Robot Technology Research Institute Co., Ltd. Patentee after: Thai Albert robot research limited liability company Address before: 606-611 room 1, building 300457, science and technology development center, four Dongting street, Tianjin economic and Technological Development Zone, Binhai New Area Patentee before: Taihua Hongye (Tianjin) Robot Technology Research Institute Co., Ltd. |
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