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Alternative TitleCrawler leg compound movable robot based on differential mechanisms
隋春平; 吴镇炜; 韩建达; 高英丽
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a crawler leg compound movable robot based on differential mechanisms. The crawler leg compound movable robot comprises a main box body and four crawler wheels, wherein the four crawler wheels have the same structure the differential mechanisms are embedded, and are symmetrically distributed on both sides and the front and back ends of the main box body the main box body is symmetrical to the crawler wheels in forward-backward, leftward-rightward and upward-downward directions each crawler wheel comprises a crawler wheel mechanism, a differential mechanism and a main shaft each differential mechanism is arranged inside each crawler wheel mechanism and is integrated with the crawler wheel mechanism to constitute a differential crawler wheel, and is connected with the main box body through the main shaft each differential mechanism comprises an input and two outputs and input part of each differential mechanism is connected with a driving unit in the main box body through the main shaft one of the outputs is connected to a driving wheel of each crawler wheel mechanism and the other output is connected to a crawler support mechanism of each crawler wheel mechanism. In the invention, the motion decomposing and automatic motion switching functions of each differential mechanism are fully utilized, so that a swing leg is overturned for crossing barriers and the crawler leg compound movable robot is easy to operate, and has low energy consumption, light weight, a modular characteristic and high symmetry.
PCT Attributes
Application Date2010-11-29
Date Available2013-07-31
Application NumberCN201010563622.7
Open (Notice) NumberCN102476663A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
隋春平,吴镇炜,韩建达,等. 一种基于差动机构的履腿复合式移动机器人[P]. 2012-05-30.
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