技术领域technical field
本发明涉及移动设备领域，具体涉及一种变拓扑结构的履带式运动平台。The invention relates to the field of mobile equipment, in particular to a crawler-type motion platform with variable topology.
背景技术Background technique
运动平台是一种能够用于战地的地形侦查、敌情搜集等工作的机器人，在陆地上应用的运动平台其行走方式主要有轮式、履带式以及两者的组合等。The motion platform is a kind of robot that can be used for terrain reconnaissance and enemy information collection in the battlefield. The motion platform used on land mainly has wheel type, crawler type, and a combination of the two.
申请号2010102013949，名称为：一种可变形适应全地形的机器人行走机构的中国专利，包括框架、轮式机构和翻转臂机构。轮式机构为一个四轮机构，采用主动轮驱动，从动轮采用同步带带动，左、右侧的轮式机构分别使用一个电机驱动，连接主动轮和从动轮的同步带封装在机器人腔体之内。辅助行走机构为一翻转臂机构，由快接组件、摇臂壳体和翻转臂轮组成，可采用快接组件安装于轮式机构两侧，所述快接组件使翻转臂可以快速安装到机器人底盘上或者快速拆卸；另一申请号2010202268657，名称为：便携式多自由度小型爆炸物处理智能移动机器人系统的中国专利，包括控制单元模块、移动平台模块、能源模块、机械手臂模块、图像传感器模块和远程控制模块等。独立功能模块之间采用标准的接口相互连接，标准接口包含了机械连接和电气连接。接口包含了电源和通信总线，采用标准接口连接的模块之间共用电源并通过标准总线通信，不需要任何外部连线；但上述机器人跨越障碍物和大跨度的壕沟的能力很差。Application No. 2010102013949, titled: A Chinese patent for a deformable all-terrain robot walking mechanism, including a frame, a wheel mechanism and a flip arm mechanism. The wheel mechanism is a four-wheel mechanism, which is driven by the driving wheel, and the driven wheel is driven by a synchronous belt. The left and right wheel mechanisms are respectively driven by a motor. The synchronous belt connecting the driving wheel and the driven wheel is packaged in the robot cavity. Inside. The auxiliary walking mechanism is a turning arm mechanism, which is composed of a quick connection assembly, a rocker shell and a turning arm wheel. The quick connection assembly can be installed on both sides of the wheel mechanism. The quick connection assembly allows the turning arm to be quickly installed on the robot. On the chassis or quickly disassembled; another application number 2010202268657, titled: Chinese patent for a portable multi-degree-of-freedom small explosive ordnance disposal intelligent mobile robot system, including a control unit module, a mobile platform module, an energy module, a mechanical arm module, and an image sensor module and remote control modules, etc. The independent functional modules are connected to each other through standard interfaces, and the standard interfaces include mechanical connections and electrical connections. The interface includes a power supply and a communication bus. The modules connected by the standard interface share the power supply and communicate through the standard bus without any external wiring;
另外，申请号2017211496989，名称为：一种运动平台的中国专利，包括：车体；翻转臂组，包含两个或者四个翻转臂，对称设置于车体两侧，并通过设置于车体内的电机驱动，翻转臂可绕旋转轴转动；驱动模块组，包括两驱动模块，对称设置于车体两侧，每一驱动模块包括履带和两驱动轮，所述驱动模块通过设置于车体内的电机驱动；所述翻转臂组位于驱动模块组外侧；所述驱动轮的尺寸大于驱动模块履带和翻转臂的尺寸；但是其结构整体比较复杂，且攀爬楼梯能力较弱。In addition, the application number is 2017211496989, titled: a Chinese patent for a motion platform, including: a car body; a flipping arm set, including two or four flipping arms, symmetrically arranged on both sides of the car body, and through the Driven by a motor, the turning arm can rotate around the rotation axis; the drive module group includes two drive modules, which are symmetrically arranged on both sides of the car body, and each drive module includes crawlers and two drive wheels. Drive; the turning arm group is located outside the driving module group; the size of the driving wheel is larger than the size of the driving module track and the turning arm; but its overall structure is relatively complicated, and the ability to climb stairs is weak.
发明内容Contents of the invention
为了至少解决上述现有技术中存在的问题之一，本申请提供一种变拓扑结构的履带式运动平台，结构简单，具有良好的越障及攀爬能力。In order to solve at least one of the above-mentioned problems in the prior art, the present application provides a crawler-type motion platform with a variable topology structure, which has a simple structure and has good obstacle-crossing and climbing capabilities.
为了实现上述技术效果，本发明的具体技术方案如下：In order to realize above-mentioned technical effect, concrete technical scheme of the present invention is as follows:
一种变拓扑结构的履带式运动平台，包括车体、前翻转臂组、后翻转臂组；所述车体包括车体框架、驱动电机、对称安装于所述车体框架两侧的主履带；所述前翻转臂组、后翻转臂组分别包括两个对称设置于车体框架前、后端两侧的履带式翻转臂，所述驱动电机与主履带连接，所述履带式翻转臂可绕旋转轴转动并定位于任意角度位置，所述车体框架通过履带式翻转臂能够实现其底盘高度连续变化，本运动平台通过履带式翻转臂能够实现水平长度变化。A crawler-type motion platform with a variable topology structure, including a car body, a front turning arm group, and a rear turning arm group; the car body includes a car body frame, a driving motor, and main crawlers symmetrically installed on both sides of the car body frame The front turning arm group and the rear turning arm group respectively include two crawler-type turning arms symmetrically arranged on both sides of the front and rear ends of the car body frame, the drive motor is connected with the main track, and the crawler-type turning arm can be Rotate around the rotation axis and be positioned at any angle position, the car body frame can realize the continuous change of its chassis height through the crawler-type flip arm, and the motion platform can realize the horizontal length change through the crawler-type flip arm.
进一步地，还包括一变速传动机构，所述变速传动机构与驱动电机、主履带连接。通过设置变速传动机构，可实现运动平台针对各种行走环境作出不同行走速度，提高行走效率，降低能耗。Further, it also includes a speed change transmission mechanism, and the speed change transmission mechanism is connected with the drive motor and the main track. By setting the variable speed transmission mechanism, the motion platform can make different walking speeds according to various walking environments, improve walking efficiency and reduce energy consumption.
进一步地，所述履带式翻转臂包括主动轮、被动轮、翻转臂连接机构及与所述主动轮、被动轮啮合的副履带。Further, the crawler-type turning arm includes a driving wheel, a driven wheel, a connecting mechanism of the turning arm, and an auxiliary crawler meshed with the driving wheel and the driven wheel.
进一步地，所述主动轮的尺寸大于被动轮的尺寸。Further, the size of the driving wheel is larger than that of the driven wheel.
进一步地，所述前翻转臂组、后翻转臂组通过车体框架内不同的电机驱动。Further, the front turning arm set and the rear turning arm set are driven by different motors in the frame of the vehicle body.
进一步地，还包括用于提供能源的电源模组。Further, it also includes a power supply module for providing energy.
依据上述技术方案，本发明为一种变拓扑结构的履带式运动平台，包括车体框架、主行走机构、辅助行走机构。主行走机构为左右对称的两主履带，采用独立的驱动电机进行驱动，并可通过变速传动机构实现双侧的主履带变速运动。辅助行走机构由两组(四支)履带式翻转臂构成，分别对称安装在运动平台的前后两端，通过布置在车体框架内的电机驱动。车体框架为运动平台的支撑部分，是运动平台的主体部分，主行走机构与辅助行走机构分别与其构成连接，形成完整的变拓扑结构的履带式运动平台。该结构形式实现了运动平台底盘高度可连续调节，从而提高了运动平台的可通过性；当前后两组辅助行走机构的履带式翻转臂水平拓扑摆动展开时，可以提高运动平台的越壕沟的能力；另外，由于采用的变拓扑运动结构形式，可以方便实现运动平台的前后尺寸变化，节省运输空间。According to the technical solution above, the present invention is a crawler-type motion platform with a variable topology structure, including a car body frame, a main traveling mechanism, and an auxiliary traveling mechanism. The main traveling mechanism is two symmetrical main crawlers, which are driven by an independent drive motor, and can realize the variable speed movement of the main crawlers on both sides through the variable speed transmission mechanism. The auxiliary walking mechanism is composed of two groups (four) of crawler-type turning arms, which are symmetrically installed at the front and rear ends of the motion platform, and driven by a motor arranged in the frame of the car body. The car body frame is the supporting part of the motion platform, and is the main part of the motion platform. The main traveling mechanism and the auxiliary traveling mechanism are respectively connected with it to form a complete crawler-type motion platform with variable topology structure. This structural form realizes the continuous adjustment of the height of the chassis of the motion platform, thereby improving the passability of the motion platform; when the crawler-type turning arms of the front and rear two sets of auxiliary walking mechanisms swing and expand horizontally, the ability of the motion platform to cross trenches can be improved ; In addition, due to the use of variable topology motion structure, the front and rear dimensions of the motion platform can be easily changed, saving transportation space.
附图说明Description of drawings
下面通过具体实施方式结合附图对本申请作进一步详细说明。The present application will be described in further detail below through specific embodiments in conjunction with the accompanying drawings.
图1为本发明中的运动平台一整体结构外形示意图；Fig. 1 is a schematic view of the overall structure of the motion platform in the present invention;
图2为本发明中部分结构连接示意图；Fig. 2 is a schematic diagram of part of the structure connection in the present invention;
图3为本发明中的运动平台越过一障碍物的示意图；Fig. 3 is the schematic diagram that the motion platform in the present invention crosses an obstacle;
图4本发明中的运动平台越过一壕沟的示意图；The schematic diagram of the moving platform in Fig. 4 of the present invention crossing a ditch;
其中，1、车体框架；2、驱动电机；3、主履带；4、履带式翻转臂；41、主动轮；42、被动轮；43、副履带；5、变速传动机构。Among them, 1. car body frame; 2. drive motor; 3. main crawler; 4. crawler-type flip arm; 41. driving wheel; 42. driven wheel; 43. auxiliary track; 5. transmission mechanism.
具体实施方式Detailed ways
为使本实施方式的目的、技术方案和优点更加清楚，下面将结合本实施方式中的附图，对本实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本申请一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。In order to make the purpose, technical solution and advantages of this embodiment more clear, the technical solution in this embodiment will be clearly and completely described below in conjunction with the accompanying drawings in this embodiment. Obviously, the described embodiment is the Some implementations, not all implementations. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present application.
实施例一Embodiment one
如图1、图2所示，一种变拓扑结构的履带式运动平台，包括车体、前翻转臂组、后翻转臂组；所述车体包括车体框架1、驱动电机2、变速传动机构5、对称安装于所述车体框架1两侧的主履带3；所述前翻转臂组、后翻转臂组分别包括两个对称设置于车体框架1前、后端两侧的履带式翻转臂4，所述变速传动机构5与驱动电机2、主履带3连接，所述履带式翻转臂4可绕旋转轴转动并定位于任意角度位置，所述车体框架1通过履带式翻转臂4能够实现其底盘高度连续变化，本运动平台通过履带式翻转臂4能够实现水平长度变化；上述变速传动机构5为一类具有不同传动比机构以及动力传输机构的总称，其中不同传动比机构可采用现有的无级别减速机或无级别变速箱等，动力传输机构可采用机械领域成熟的现有传输机构。As shown in Figure 1 and Figure 2, a crawler-type motion platform with variable topology structure includes a car body, a front turning arm group, and a rear turning arm group; the car body includes a car body frame 1, a drive motor 2, a variable speed transmission Mechanism 5, the main crawler belts 3 symmetrically installed on both sides of the vehicle body frame 1; Turning arm 4, the variable speed transmission mechanism 5 is connected with the drive motor 2 and the main crawler belt 3, the crawler-type turning arm 4 can rotate around the rotation axis and be positioned at any angle position, and the car body frame 1 passes through the crawler-type turning arm 4 can realize the continuous change of its chassis height, and the motion platform can realize the horizontal length change through the crawler-type turning arm 4; the above-mentioned speed change transmission mechanism 5 is a general term for a class of mechanisms with different transmission ratios and power transmission mechanisms, wherein different transmission ratio mechanisms can be Adopt the existing stepless reducer or stepless gearbox, etc., and the power transmission mechanism can adopt the existing mature transmission mechanism in the mechanical field.
其中，所述履带式翻转臂4包括主动轮41、被动轮42、翻转臂连接机构及与所述主动轮41、被动轮42啮合的副履带43，所述主动轮41的尺寸大于被动轮42的尺寸；上述翻转臂连接机构采用机械领域成熟的现有连接机构。Wherein, the crawler-type overturning arm 4 comprises a driving wheel 41, a driven wheel 42, a turning arm connecting mechanism and an auxiliary track 43 meshing with the driving wheel 41 and the driven wheel 42, and the size of the driving wheel 41 is greater than that of the driven wheel 42 The size; the above-mentioned turning arm connection mechanism adopts a mature existing connection mechanism in the mechanical field.
其中，所述前翻转臂组、后翻转臂组通过车体框架1内不同的电机驱动。Wherein, the front turning arm group and the rear turning arm group are driven by different motors in the vehicle body frame 1 .
另外，本运动平台还包括用于提供能源的电源模组(图中未示)。In addition, the motion platform also includes a power supply module (not shown in the figure) for providing energy.
实施例二Embodiment two
一种变拓扑结构的履带式运动平台，包括车体、前翻转臂组、后翻转臂组；所述车体包括车体框架1、驱动电机2、对称安装于所述车体框架1两侧的主履带3；所述前翻转臂组、后翻转臂组分别包括两个对称设置于车体框架1前、后端两侧的履带式翻转臂4，所述驱动电机2与主履带3连接，所述履带式翻转臂4可绕旋转轴转动并定位于任意角度位置，所述车体框架1通过履带式翻转臂4能够实现其底盘高度连续变化，本运动平台通过履带式翻转臂4能够实现水平长度变化。A crawler-type motion platform with a variable topology structure, including a car body, a front turning arm group, and a rear turning arm group; the car body includes a car body frame 1, a driving motor 2, and is symmetrically installed on both sides of the car body frame 1 The main crawler belt 3; the front turning arm group and the rear turning arm group respectively include two crawler-type turning arms 4 symmetrically arranged on both sides of the front and rear ends of the car body frame 1, and the drive motor 2 is connected with the main crawler belt 3 , the crawler-type turning arm 4 can be rotated around the rotation axis and positioned at any angular position, the car body frame 1 can realize the continuous change of its chassis height through the crawler-type turning arm 4, and the motion platform can use the crawler-type turning arm 4 to Implement horizontal length variation.
其中，所述履带式翻转臂4包括主动轮41、被动轮42、翻转臂连接机构及与所述主动轮41、被动轮42啮合的副履带43，所述主动轮41的尺寸大于被动轮42的尺寸。Wherein, the crawler-type overturning arm 4 comprises a driving wheel 41, a driven wheel 42, a turning arm connecting mechanism and an auxiliary track 43 meshing with the driving wheel 41 and the driven wheel 42, and the size of the driving wheel 41 is greater than that of the driven wheel 42 size of.
另外，本运动平台还包括用于提供能源的电源模组(图中未示)。In addition, the motion platform also includes a power supply module (not shown in the figure) for providing energy.
其中，本运动平台移动主要依靠两主履带3，履带式翻转臂4起辅助运动和使运动平台变形的作用。Wherein, the movement of the motion platform mainly depends on two main crawlers 3, and the crawler-type turning arm 4 plays the role of auxiliary movement and deformation of the motion platform.
本运动平台的部分行走姿态如下：Part of the walking posture of this motion platform is as follows:
(1)跨越障碍物(1) Overcoming obstacles
如图3所示，当运动平台遇到障碍物时，前后端的四个履带式翻转臂4向下转动、回转，直至车体框架1整个逐渐脱离地面、架空，当车体框架1底盘高度大于障碍物高度时，运动平台通过履带式翻转臂4上的副履带43回转跨过障碍物，本运动平台与现有的仅一端设有翻转臂的机器人相比,在跨越障碍物时效果明显更佳。As shown in Figure 3, when the moving platform encounters an obstacle, the four crawler-type overturning arms 4 at the front and rear ends rotate downward and turn until the vehicle body frame 1 is gradually separated from the ground and becomes overhead. When the vehicle body frame 1 chassis height is greater than When the height of the obstacle is high, the motion platform turns over the obstacle through the auxiliary track 43 on the crawler-type flip arm 4. Compared with the existing robot with a flip arm at one end, the motion platform has a significantly better effect when crossing the obstacle. good.
(2)跨越大跨度的壕沟(2) Across a long-span trench
如图4所示，当运动平台遇到壕沟时，前后端的四个履带式翻转臂4向下转动、回转，直至前后端的四个履带式翻转臂4全水平展开，前端的履带式翻转臂4搭到壕沟另一边缘时，运动平台一边向前行走，直至运动平台平直、安全越过壕沟。As shown in Figure 4, when the moving platform encounters a ditch, the four crawler-type flipping arms 4 at the front and rear ends rotate downward and turn until the four crawler-type flipping arms 4 at the front and rear ends are fully deployed horizontally, and the crawler-type flipping arms 4 at the front end When reaching the other edge of the ditch, the moving platform moves forward until the moving platform is straight and safely crosses the ditch.
由于采用前后履带式翻转臂4的结构，本运动平台能通过的壕沟跨度相较于现有的机器人更大，最大跨度能达到同一侧的前后端履带式翻转臂4均水平全展开时前端的履带式翻转臂4最前端与后端的履带式翻转臂4最后端之间距离的一半。Due to the structure of the front and rear crawler-type flipping arms 4, the trench span that the motion platform can pass through is larger than that of existing robots, and the maximum span can reach the front end when the front and rear crawler-type flipping arms 4 on the same side are horizontally fully expanded. Half of the distance between the front end of the tracked turning arm 4 and the rearmost end of the tracked turning arm 4 at the rear end.
本发明的运动平台除了能够实现上述描述的跨越障碍物、壕沟外，也可实现现有的运动平台具有的变形、爬坡、攀爬楼梯、升抬等功能，其具体内容可参考申请号2010102013949、名称为：一种可变形适应全地形的机器人行走机构的公开专利，在此不做详述。The sports platform of the present invention can not only realize the above-mentioned obstacles and ditches, but also realize the functions of deformation, climbing, climbing stairs, lifting and other functions of the existing sports platform. For details, please refer to the application number 2010102013949 , title is: a kind of open patent of the robot walking mechanism that can deform and adapt to all terrains, do not do detailed description here.
以上应用了具体个例对本发明进行阐述，只是用于帮助理解本发明，并不用以限制本发明。对于本发明所属技术领域的技术人员，依据本发明的思想，还可以做出若干简单推演、变形或替换。The above uses specific examples to illustrate the present invention, which is only used to help understand the present invention, and is not intended to limit the present invention. For those skilled in the technical field to which the present invention belongs, some simple deduction, deformation or replacement can also be made according to the idea of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910586855.XACN110239639A (en) | 2019-07-01 | 2019-07-01 | A tracked motion platform with variable topology structure |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910586855.XACN110239639A (en) | 2019-07-01 | 2019-07-01 | A tracked motion platform with variable topology structure |
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| CN110239639Atrue CN110239639A (en) | 2019-09-17 |
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| CN201910586855.XAPendingCN110239639A (en) | 2019-07-01 | 2019-07-01 | A tracked motion platform with variable topology structure |
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| CN103273977A (en)* | 2013-05-14 | 2013-09-04 | 河北工业大学 | Passive self-adaption deformable continuous track type mobile robot platform |
| CN103373404A (en)* | 2012-04-27 | 2013-10-30 | 沈阳航空航天大学 | Wheeled-tracked-legged composite type mobile robot |
| CN203439162U (en)* | 2013-07-16 | 2014-02-19 | 西安理工大学 | Obstacle surmounting device used for crawler type robot |
| CN103672289A (en)* | 2013-12-17 | 2014-03-26 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN103863424A (en)* | 2014-02-26 | 2014-06-18 | 南昌大学 | Patrol robot capable of adapting to complicated unstructured terrains |
| CN104029746A (en)* | 2014-05-20 | 2014-09-10 | 北京林业大学 | Planet gear track combined type traveling mechanism design |
| CN104986233A (en)* | 2015-06-09 | 2015-10-21 | 河海大学常州校区 | Track swing arm type obstacle-crossing robot |
| CN105059408A (en)* | 2015-08-03 | 2015-11-18 | 中国矿业大学 | Tracked mobile platform passively adapting to terrain and robot with same |
| CN105383586A (en)* | 2015-11-23 | 2016-03-09 | 上海交通大学 | Composite mobile robot with wheel-track legs |
| CN106275113A (en)* | 2016-08-08 | 2017-01-04 | 中国矿业大学 | Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot |
| CN106394714A (en)* | 2016-05-25 | 2017-02-15 | 昆明理工大学 | Sucker type climbing robot |
| CN206654109U (en)* | 2017-05-03 | 2017-11-21 | 浙拖奔野（宁波）拖拉机制造有限公司 | A kind of crawler unit |
| CN107539382A (en)* | 2017-09-08 | 2018-01-05 | 上海钧工机器人有限公司 | A kind of motion platform |
| CN107776700A (en)* | 2017-10-21 | 2018-03-09 | 长沙展朔轩兴信息科技有限公司 | Crawler leg composite movable robot |
| CN108240372A (en)* | 2018-01-03 | 2018-07-03 | 广西柳工机械股份有限公司 | Gear closed loop load test system |
| CN108248709A (en)* | 2017-12-28 | 2018-07-06 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | A kind of small-sized double-pendulum arms caterpillar mobile robot platform |
| CN108502034A (en)* | 2018-04-18 | 2018-09-07 | 东北石油大学 | A kind of Modular track formula all-terrain vehicle |
| CN109823424A (en)* | 2019-03-18 | 2019-05-31 | 大连理工大学 | A crawler robot with the function of climbing stairs |
| CN210101815U (en)* | 2019-07-01 | 2020-02-21 | 上海钧工机器人有限公司 | Variable-topology-structure crawler-type motion platform |
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| CN101723001A (en)* | 2009-09-28 | 2010-06-09 | 浙江巨龙自动化设备有限公司 | Caterpillar mobile robot platform |
| CN201664921U (en)* | 2010-04-08 | 2010-12-08 | 河北工业大学 | A crawler-type panoramic vision intelligent mobile robot platform |
| CN101890986A (en)* | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| CN102582706A (en)* | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN202716954U (en)* | 2012-04-09 | 2013-02-06 | 西北农林科技大学 | All-terrain hybrid chassis |
| CN103373404A (en)* | 2012-04-27 | 2013-10-30 | 沈阳航空航天大学 | Wheeled-tracked-legged composite type mobile robot |
| CN103273977A (en)* | 2013-05-14 | 2013-09-04 | 河北工业大学 | Passive self-adaption deformable continuous track type mobile robot platform |
| CN203439162U (en)* | 2013-07-16 | 2014-02-19 | 西安理工大学 | Obstacle surmounting device used for crawler type robot |
| CN103672289A (en)* | 2013-12-17 | 2014-03-26 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN103863424A (en)* | 2014-02-26 | 2014-06-18 | 南昌大学 | Patrol robot capable of adapting to complicated unstructured terrains |
| CN104029746A (en)* | 2014-05-20 | 2014-09-10 | 北京林业大学 | Planet gear track combined type traveling mechanism design |
| CN104986233A (en)* | 2015-06-09 | 2015-10-21 | 河海大学常州校区 | Track swing arm type obstacle-crossing robot |
| CN105059408A (en)* | 2015-08-03 | 2015-11-18 | 中国矿业大学 | Tracked mobile platform passively adapting to terrain and robot with same |
| CN105383586A (en)* | 2015-11-23 | 2016-03-09 | 上海交通大学 | Composite mobile robot with wheel-track legs |
| CN106394714A (en)* | 2016-05-25 | 2017-02-15 | 昆明理工大学 | Sucker type climbing robot |
| CN106275113A (en)* | 2016-08-08 | 2017-01-04 | 中国矿业大学 | Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot |
| CN206654109U (en)* | 2017-05-03 | 2017-11-21 | 浙拖奔野（宁波）拖拉机制造有限公司 | A kind of crawler unit |
| CN107539382A (en)* | 2017-09-08 | 2018-01-05 | 上海钧工机器人有限公司 | A kind of motion platform |
| CN107776700A (en)* | 2017-10-21 | 2018-03-09 | 长沙展朔轩兴信息科技有限公司 | Crawler leg composite movable robot |
| CN108248709A (en)* | 2017-12-28 | 2018-07-06 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | A kind of small-sized double-pendulum arms caterpillar mobile robot platform |
| CN108240372A (en)* | 2018-01-03 | 2018-07-03 | 广西柳工机械股份有限公司 | Gear closed loop load test system |
| CN108502034A (en)* | 2018-04-18 | 2018-09-07 | 东北石油大学 | A kind of Modular track formula all-terrain vehicle |
| CN109823424A (en)* | 2019-03-18 | 2019-05-31 | 大连理工大学 | A crawler robot with the function of climbing stairs |
| CN210101815U (en)* | 2019-07-01 | 2020-02-21 | 上海钧工机器人有限公司 | Variable-topology-structure crawler-type motion platform |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20190917 |