CN110217299A - Multifunctional universal humanoid robot chassis - Google Patents
Multifunctional universal humanoid robot chassis Download PDFInfo
- Publication number
- CN110217299A CN110217299A CN201910595786.9A CN201910595786A CN110217299A CN 110217299 A CN110217299 A CN 110217299A CN 201910595786 A CN201910595786 A CN 201910595786A CN 110217299 A CN110217299 A CN 110217299A
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- wheel
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- transmission mechanism
- chassis
- robot chassis
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- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000005540 biological transmission Effects 0.000 claims description 46
- 238000012856 packing Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 18
- 150000001875 compounds Chemical class 0.000 abstract description 4
- 230000000295 complement effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- 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
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multifunctional universal humanoid robot chassis, using wheeled+caterpillar compound machine people's chassis structure, integrate wheeled and caterpillar advantage, the shortcomings that complementary two kinds of structures, when needing robot chassis fast running, pedrail mechanism is packed up by controlling, wheel lands, and realization fast moves；When needing robot chassis to carry out stair climbing or obstacle detouring, pedrail mechanism is put down by controlling, drives pedrail mechanism to move together by wheel, building, obstacle crossing function are climbed in realization.The robot chassis outer dimension is small compared with existing compound machine people chassis, can take elevator, disengaging indoor and outdoor door, structure is relatively easy, function is complete, it is versatile, have a wide range of application.
Description
Technical field
The present invention relates to robotic technology fields, specially a kind of multifunctional universal humanoid robot chassis.
Background technique
Robot chassis is there are mainly three types of structure type at present: wheeled construction simple and flexible, speed are fast, stability is good and
Low power consumption and other advantages, but the landform being suitable for is few, obstacle climbing ability is limited, can not stair climbing；Track structure adapts to energy to landform
Power is relatively strong, and that climbs that building obstacle performance is superior to other structures form climbs building obstacle crossing device, has bearing area big, obstacle detouring is logical
It is good to cross performance, sink and spends the features such as small, and have grouser on crawler belt supporting surface, be not easy to skid during the motion, traction attachment
Performance is good, during climbing building obstacle detouring, it is ensured that the motion profile of robot center of gravity is equal with the line of stairway step always
Row moves relatively steady almost without fluctuating or fluctuating very little.But the domain of the structure is than cumbersome, outer dimension is big, fortune
It is dynamic that flexibility is relatively poor, speed is low, energy consumption is high；Composite structure can be realized the functions such as stair climbing, obstacle detouring, but structure is multiple
It is miscellaneous, control system is complicated, outer dimension is big, from great, energy consumption is high.
Existing robot chassis can only be used for certain type machine people, cannot achieve in different road conditions, not on the same day
Use under gas situation, different application scene, versatility are poor.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of wheeled+caterpillar compound machine people chassis, collection wheels
Formula and caterpillar advantage, the shortcomings that complementary two kinds of structures, can be used as different type robot chassis.
The present invention adopts the following technical scheme:
A kind of multifunctional universal humanoid robot chassis, including chassis body and the motor group being arranged on chassis body
Part, the identical vehicle wheel component of four structures, the transmission component for driving vehicle wheel component to move；
The vehicle wheel component includes wheel, the crawler belt oscillating arm mechanisms connecting with the wheel hub of wheel；The electric machine assembly
Including the first swing arm drive motor, the second swing arm drive motor, the first wheel drive motors and the second wheel drive motors；
The crawler belt oscillating arm mechanisms include crawler belt, drive sprocket, driven Athey wheel and swing arm；Drive sprocket and from
Dynamic Athey wheel is connected by crawler belt, and one end of swing arm is connect with driven Athey wheel；
The transmission component includes the first transmission mechanism positioned at chassis body front end and the positioned at chassis body rear end
Two transmission mechanisms；First transmission mechanism and the second transmission mechanism structure are identical, include that auxiliary sprocket wheel, arm shaft and bilateral symmetry are set
Two axletrees set, axletree are sequentially equipped with auxiliary sprocket wheel, wheel and drive sprocket from inside to outside, and arm shaft is co-axially mounted
Inside axletree, and through two axletrees being symmetrical set；
Wherein, the both ends of the arm shaft of the first transmission mechanism are separately connected two vehicle wheel components positioned at chassis body front end
The other end of respective swing arm；First swing arm drive motor is for driving the arm shaft of the first transmission mechanism to rotate；Second driver
The both ends of the arm shaft of structure are separately connected the other end of the respective swing arm of two vehicle wheel components positioned at chassis body rear end；Second pendulum
Arm driving motor is for driving the arm shaft of the second transmission mechanism to rotate；
Head sprocket is arranged on the output shaft of first wheel drive motors, the second wheel drive motors, wherein
The head sprocket being connected with the first wheel drive motors is by chain respectively and positioned at the first transmission mechanism and the second transmission mechanism right side
The auxiliary sprocket wheel of side is connected；The head sprocket being connected with the second wheel drive motors by chain respectively be located at the first transmission mechanism and
Auxiliary sprocket wheel on the left of second transmission mechanism is connected.
Further, the radius of the wheel is greater than the radius of drive sprocket.
Further, the radius of the wheel is less than the sum of length and radius of driven Athey wheel of swing arm.
The invention has the following advantages:
The robot chassis is suitable for various complicated grounds, such as mudstone road, stone road, snowfield, meadow；Degree of protection is
IP65 can be made into IP67 rank, can use under the weather conditions such as high temperature, sleet, thunderstorm；Working environment temperature can be operated normally
Degree is -15 DEG C~+50 DEG C；Automatic obstacle avoiding, two-way stair climbing, obstacle detouring, climbing may be implemented, maximum gradeability reaches 40 °；Most
The big speed of service is 3m/s；Cruise duration >=8h；Outer dimension is small compared with existing compound machine people chassis, can take elevator, into
Indoor and outdoor door out；Structure is relatively easy, function is complete, versatile, has a wide range of application.
Detailed description of the invention
Fig. 1 is multifunctional universal humanoid robot chassis front view provided by the invention；
Fig. 2 is the partial sectional view of upper left corner vehicle wheel component in Fig. 1；
Fig. 3 is control system functional block diagram；
Fig. 4 is that view is unfolded in swing arm；
Fig. 5 is that view is packed up in swing arm；
Fig. 6 is stair climbing process demonstration graph；
In figure: crawler belt oscillating arm mechanisms 1, wheel 2, transmission component 3, the first swing arm drive motor 4, the first swing arm drive motor
Retarder 5, chain 6, the first wheel drive motors retarder 7, the first wheel drive motors 8, the second swing arm drive motor slow down
Device 9, chain 11, the second wheel drive motors 12, the second wheel drive motors retarder 13, is carried out second swing arm drive motor 10
Band 14, driven Athey wheel 15, swing arm 16, wheel hub 17, screw 18, drive sprocket 19, dust-proof end cap 20, sealing ring 21, lip shape
Sealing ring 22, axletree 23, lip-type packing 24, auxiliary sprocket wheel 25, arm shaft 26, head sprocket 27, auxiliary sprocket wheel 28, cabinet 29.
Specific embodiment
Technical solution of the present invention is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Fig. 1~2, multifunctional universal humanoid robot chassis includes chassis body and is arranged on chassis body
Electric machine assembly, the identical vehicle wheel component of four structures, for drive vehicle wheel component move transmission component；
The crawler belt oscillating arm mechanisms 1 that the vehicle wheel component includes wheel 2, is connect with the wheel hub 17 of wheel 2；The motor
Component includes the first swing arm drive motor 4, the second swing arm drive motor 10, the first wheel drive motors 8 and the driving of the second wheel
Motor 12；
The crawler belt oscillating arm mechanisms include crawler belt 14, drive sprocket 19, driven Athey wheel 15 and swing arm 16；Actively carry out
Belt wheel 19 and driven Athey wheel 15 are connected by crawler belt 14, and one end of swing arm 16 is connect with driven Athey wheel 15；
The transmission component 3 includes the first transmission mechanism positioned at chassis body front end and the positioned at chassis body rear end
Two transmission mechanisms；First transmission mechanism and the second transmission mechanism structure are identical, include auxiliary sprocket wheel, arm shaft 26 and bilateral symmetry
Two axletrees being arranged, axletree 23 are sequentially equipped with auxiliary sprocket wheel, wheel 2 and drive sprocket 19, arm shaft from inside to outside
26 are coaxially mounted to inside axletree 23, and through two axletrees being symmetrical set；
Wherein, the both ends of the arm shaft of the first transmission mechanism are separately connected two vehicle wheel components positioned at chassis body front end
The other end of respective swing arm；First swing arm drive motor 4 is for driving the arm shaft of the first transmission mechanism to rotate；Second driver
The both ends of the arm shaft of structure are separately connected the other end of the respective swing arm of two vehicle wheel components positioned at chassis body rear end；Second pendulum
Arm driving motor 10 is for driving the arm shaft of the second transmission mechanism to rotate；
It is arranged with head sprocket 27 on the output shaft of first wheel drive motors 8, the second wheel drive motors 12,
Wherein, the head sprocket being connected with the first wheel drive motors is by chain respectively and positioned at the first transmission mechanism and the second driver
Auxiliary sprocket wheel on the right side of structure is connected；The head sprocket being connected with the second wheel drive motors is passed with positioned at first respectively by chain 6,11
Auxiliary sprocket wheel 25,28 on the left of motivation structure and the second transmission mechanism is connected.
In a preferred embodiment of the invention, the first swing arm drive motor 4, the second swing arm drive motor 10, first
Wheel drive motors 8 and the second wheel drive motors 12 are electric with the first swing arm drive motor retarder 5, the second swing arm driving respectively
Machine retarder 9, the first wheel drive motors retarder 7 and the second wheel drive motors retarder 13 are used cooperatively；Wherein first
The output shaft of swing arm drive motor retarder and the second swing arm drive motor retarder arm shaft with the first transmission mechanism respectively
With the swing arm axis connection of the second transmission mechanism, drive arm shaft rotation to drive swing arm motion, so that crawler belt oscillating arm mechanisms be made to do
Spinning movement；It is arranged on the output shaft of first wheel drive motors retarder 7 and the second wheel drive motors retarder 13
Head sprocket.
As shown in Figures 4 and 5, the radius of the wheel is greater than the radius of drive sprocket, and the radius of the wheel is less than pendulum
The sum of the length of arm and the radius of driven Athey wheel.In a preferred embodiment of the invention, it is adopted between swing arm and arm shaft
With key connection, drive sprocket is connect by screw 18 with the wheel hub of wheel.
In a preferred embodiment of the invention, robot chassis further includes cabinet 29, in axletree 23 and cabinet 29
Junction be sealed by lip-type packing 24, carried out between axletree 23 and arm shaft 26 by lip-type packing 22
Sealing.
In a preferred embodiment of the invention, dust-proof end cap 20, dust-proof end are housed in the outside of drive sprocket 19
Sealing ring 21 is equipped between lid 20 and drive sprocket 19.
It is illustrated in figure 3 control system functional block diagram of the invention, lithium battery is used to motor, motor driver and upper
Machine power supply, the various movement work of robot chassis system are controlled by host computer, and specially host computer reception is installed on machine
The information of device people chassis surrounding sensor is translated into motor control signal and passes to motor driver to control the fortune of motor
Turn, to control the movement of wheel or crawler belt oscillating arm mechanisms, the final automatic obstacle avoiding for realizing robot chassis, self-determination climbing stairs, from
The functions such as main obstacle detouring, autonomous patrol.
Operating mode one: fast running
When needing to carry out fast running, PC control oscillating arm mechanisms rotate to the position in 90 ° with ground, such as Fig. 5
It is shown the view of packing up of swing arm, only wheel lands, and realizes quickly movement, passes through the first wheel drive motors 8 of control and the
The revolving speed of two wheel drive motors 12 realizes the turning function of car body；It is driven by the first swing arm drive motor 4 of control, the second swing arm
The operating of dynamic motor 10 is to realize the rotary motion to swing arm, to control rotation of the entire crawler belt oscillating arm mechanisms relative to ground
Angle, such as Fig. 4 show the expansion view of swing arm.Because crawler belt oscillating arm mechanisms are secured to together with wheel, so wheel
It drives crawler belt oscillating arm mechanisms to move together during exercise, realizes the function of stair climbing, obstacle detouring.Again because between arm shaft and axletree
Equipped with rolling bearing, so the movement of axletree and arm shaft is relatively independent.
The power on entire robot chassis passes through transmission group by the first wheel drive motors 8 and the second wheel drive motors 12
Part passes to wheel and crawler belt oscillating arm mechanisms are moved together, when angle of the crawler belt oscillating arm mechanisms to be adjusted relative to ground
When, it need to only control corresponding swing arm drive motor.
Operating mode two: climbing, obstacle detouring and stair climbing
Suitable robot chassis is rotated to by PC control oscillating arm mechanisms to be climbed, needed for obstacle detouring and stair climbing
Angle, by the drive of wheel, wheel is moved simultaneously with oscillating arm mechanisms to complete corresponding function, is illustrated in figure 6 stair climbing
Process demonstration graph.
Each phase scenario explanation of stair climbing:
(a) the arm shaft rotation that the first transmission mechanism is adjusted by the first swing arm drive motor, so that preceding crawler belt swing arm machine
Structure touches first segment step, continues through the first swing arm drive motor and reduces the arm shaft of the first transmission mechanism and the folder on ground
Angle drives entire car body to climb upwards by preceding crawler belt oscillating arm mechanisms and wheel；
(b) rear wheel touches first segment step, and the swing arm of the second transmission mechanism is adjusted by the second swing arm drive motor
Axis rotation, increases the arm shaft of the second transmission mechanism and the angle on ground, is driven by front and back crawler belt oscillating arm mechanisms and wheel whole
A car body climbs upwards；
(c) during the stair climbing, entire vehicle is driven by being used cooperatively for front and back crawler belt oscillating arm mechanisms and wheel
Body climbs upwards；
(d) front vehicle wheel climbs up level land, and preceding crawler belt oscillating arm mechanisms are slowly packed up, and is driven by rear crawler belt oscillating arm mechanisms and wheel
Entire car body climbs upwards；
(e) rear wheel climbs up level land, and rear crawler belt oscillating arm mechanisms are slowly packed up, while front and back wheel continues to drive entire car body
It moves forward；
(f) entire robot bobbin movement is packed up completely to level land, front and back crawler belt oscillating arm mechanisms, is driven by wheel entire
Car body moves forward.
Under one state of operating mode, moved by wheel band mobile robot chassis；Under operating mode two-state,
By being used cooperatively for front and back crawler belt oscillating arm mechanisms, to complete the stair climbing, obstacle detouring and climbing function on robot chassis.
The kind of drive of transmission mechanism is not limited solely to be driven using sprocket wheel in this example, it is possible to use gear, synchronous gear
The kinds of drive such as shape band, belong in protection scope of the present invention.
Claims (8)
1. a kind of multifunctional universal humanoid robot chassis, which is characterized in that including chassis body and be arranged on chassis body
Electric machine assembly, the identical vehicle wheel component of four structures, for drive vehicle wheel component move transmission component；
The vehicle wheel component includes wheel, the crawler belt oscillating arm mechanisms connecting with the wheel hub of wheel；The electric machine assembly includes
First swing arm drive motor (4), the second swing arm drive motor (10), the first wheel drive motors (8) and the second wheel driving electricity
Machine (12)；
The crawler belt oscillating arm mechanisms include crawler belt, drive sprocket, driven Athey wheel and swing arm；Drive sprocket and driven shoe
Belt wheel is connected by crawler belt, and one end of swing arm is connect with driven Athey wheel；
The transmission component includes that the first transmission mechanism positioned at chassis body front end and second positioned at chassis body rear end passes
Motivation structure；First transmission mechanism and the second transmission mechanism structure be identical, includes auxiliary sprocket wheel, arm shaft and is symmetrical set
Two axletrees, axletree are sequentially equipped with auxiliary sprocket wheel, wheel and drive sprocket from inside to outside, and arm shaft is coaxially mounted to vehicle
Axle interior, and through two axletrees being symmetrical set；
Wherein, the both ends of the arm shaft of the first transmission mechanism be separately connected positioned at chassis body front end two vehicle wheel components respectively
The other end of swing arm；First swing arm drive motor (4) is for driving the arm shaft of the first transmission mechanism to rotate；Second transmission mechanism
The both ends of arm shaft be separately connected the other end of the respective swing arm of two vehicle wheel components positioned at chassis body rear end；Second swing arm
Driving motor (10) is for driving the arm shaft of the second transmission mechanism to rotate；
It is arranged with head sprocket on the output shaft of first wheel drive motors (8), the second wheel drive motors (12),
In, the head sprocket being connected with the first wheel drive motors (8) is by chain respectively and positioned at the first transmission mechanism and the second transmission
Auxiliary sprocket wheel on the right side of mechanism is connected；The head sprocket being connected with the second wheel drive motors (10) is by chain respectively and positioned at first
Auxiliary sprocket wheel on the left of transmission mechanism and the second transmission mechanism is connected.
2. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: the radius of the wheel is greater than
The radius of drive sprocket.
3. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: the radius of the wheel is less than
The sum of the length of swing arm and the radius of driven Athey wheel.
4. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: adopted between swing arm and arm shaft
With key connection.
5. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: drive sprocket passes through screw
It is connect with the wheel hub of wheel.
6. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: robot chassis further includes case
Body (29) is sealed in the junction of axletree and cabinet by lip-type packing (24).
7. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: axletree (23) and arm shaft
(26) lip-type packing (22) are equipped between.
8. a kind of multifunctional universal humanoid robot chassis as described in claim 1, it is characterised in that: in the outside of drive sprocket
Equipped with dust-proof end cap, sealing ring (21) are equipped between the dust-proof end cap (20) and drive sprocket.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595786.9A CN110217299A (en) | 2019-07-03 | 2019-07-03 | Multifunctional universal humanoid robot chassis |
| PCT/CN2020/099845 WO2021000900A1 (en) | 2019-07-03 | 2020-07-02 | Multifunctional universal robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595786.9A CN110217299A (en) | 2019-07-03 | 2019-07-03 | Multifunctional universal humanoid robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110217299A true CN110217299A (en) | 2019-09-10 |
Family
ID=67815883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910595786.9A Pending CN110217299A (en) | 2019-07-03 | 2019-07-03 | Multifunctional universal humanoid robot chassis |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110217299A (en) |
| WO (1) | WO2021000900A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110758581A (en) * | 2019-11-11 | 2020-02-07 | 北京机电工程研究所 | Omnidirectional all-terrain mobile platform |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
| WO2021000900A1 (en) * | 2019-07-03 | 2021-01-07 | 浙江大学 | Multifunctional universal robot chassis |
| CN113022728A (en) * | 2021-04-16 | 2021-06-25 | 北京邮电大学 | Wheel-track composite wheel driving mechanism |
| CN113022726A (en) * | 2021-04-16 | 2021-06-25 | 北京邮电大学 | Wheel-track composite mobile platform for complex terrain |
| CN113386560A (en) * | 2021-06-21 | 2021-09-14 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
| CN113877095A (en) * | 2021-10-09 | 2022-01-04 | 张现伟 | High-rise building fire control unmanned aerial vehicle |
| CN113942590A (en) * | 2021-10-19 | 2022-01-18 | 安徽理工大学 | Underground coal mine wheel-track combined type inspection and obstacle removal robot |
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
| CN114987651A (en) * | 2022-06-17 | 2022-09-02 | 杭州申昊科技股份有限公司 | Universal robot chassis |
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| CN114766975B (en) * | 2022-04-13 | 2023-06-02 | 江苏商贸职业学院 | Floor sweeping robot special for cleaning stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021000900A1 (en) * | 2019-07-03 | 2021-01-07 | 浙江大学 | Multifunctional universal robot chassis |
| CN110758581B (en) * | 2019-11-11 | 2021-06-11 | 北京机电工程研究所 | Omnidirectional all-terrain mobile platform |
| CN110758581A (en) * | 2019-11-11 | 2020-02-07 | 北京机电工程研究所 | Omnidirectional all-terrain mobile platform |
| WO2021135148A1 (en) * | 2019-12-31 | 2021-07-08 | 浙江大学 | Multi-motion mode wheel-track-leg composite robot |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
| CN113022728A (en) * | 2021-04-16 | 2021-06-25 | 北京邮电大学 | Wheel-track composite wheel driving mechanism |
| CN113022726A (en) * | 2021-04-16 | 2021-06-25 | 北京邮电大学 | Wheel-track composite mobile platform for complex terrain |
| CN113022726B (en) * | 2021-04-16 | 2022-01-28 | 北京邮电大学 | Wheel-track composite mobile platform for complex terrain |
| CN113386560A (en) * | 2021-06-21 | 2021-09-14 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
| CN113386560B (en) * | 2021-06-21 | 2022-05-27 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
| CN113877095A (en) * | 2021-10-09 | 2022-01-04 | 张现伟 | High-rise building fire control unmanned aerial vehicle |
| CN113942590A (en) * | 2021-10-19 | 2022-01-18 | 安徽理工大学 | Underground coal mine wheel-track combined type inspection and obstacle removal robot |
| CN114987651A (en) * | 2022-06-17 | 2022-09-02 | 杭州申昊科技股份有限公司 | Universal robot chassis |
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| Publication number | Publication date |
|---|---|
| WO2021000900A1 (en) | 2021-01-07 |
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Effective date of registration: 20201204 Address after: 310058 Xihu District, Zhejiang, Yuhang Tong Road, No. 866, No. Applicant after: ZHEJIANG University Applicant after: GUANGDONG BOZHILIN ROBOT Co.,Ltd. Address before: 310058 Xihu District, Zhejiang, Yuhang Tong Road, No. 866, No. Applicant before: ZHEJIANG University |
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Application publication date: 20190910 |