CN102874338B - Track-sled combined type long voyage polar region independent roaming robot - Google Patents

Track-sled combined type long voyage polar region independent roaming robot Download PDF

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Publication number
CN102874338B
CN102874338B CN201210355853.8A CN201210355853A CN102874338B CN 102874338 B CN102874338 B CN 102874338B CN 201210355853 A CN201210355853 A CN 201210355853A CN 102874338 B CN102874338 B CN 102874338B
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China
Prior art keywords
assembly
sleeve
electric machine
bearing
robot
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Expired - Fee Related
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CN201210355853.8A
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Chinese (zh)
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CN102874338A (en
Inventor
刘吉成
陈鹏伟
李斌
刘树林
周晓君
翟宇毅
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Publication of CN102874338B publication Critical patent/CN102874338B/en
Expired - Fee Related legal-status Critical Current
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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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/90—Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof

Abstract

The invention relates to a track-sled combined type long voyage polar region independent roaming robot, consisting of an overturn-resisting system part, a track type traveling mechanism part and a wind energy reusing device part. The overturn-resisting system part is connected with the track type traveling mechanism part through a sliding sleeve, and the wind energy reusing device is arranged at the tail part of the overturn-resisting system. According to the track-sled combined type long voyage polar region independent roaming robot, the independent reset and spanning a large ice groove crack can be finished through the position transformation of a track and a sled; the wind energy is reasonably utilized through the wind energy reusing device so as to provide motivation for the robot; and the wind energy is converted into power reserve so as to realize the integration of controllable initiative and power generation, so that the long voyage independent detecting task of the robot can be successfully finished.

Description

Crawler belt-autonomous rover in sled combined long voyage polar region
Technical field
The present invention relates to a kind of polar region rover, particularly the knockdown long voyage polar region rover of a kind of crawler belt-sled.
Background technology
The South Pole because of its special geological surrounding, enrich mining deposits etc., there is very high science, economy, strategy and political value, become various countries pay close attention to focus.In the face of South Pole complex environment, scientific investigation operation has high cost, high risk and region limitation, and technical equipment means are deficient simultaneously.The common ground being applied to the robot of polar region at present mainly still relies on storage battery as providing the wheeled of the energy of active power or caterpillar type robot, does not make full use of the polar region such as solar power and wind energy regenerative resource.Because energy resource supply is not enough or the adaptive restriction of snowfield, current polar region robot is difficult to the polar region detection mission meeting long voyage.
Summary of the invention
The technical matters that will solve required for the present invention overcomes shortcoming of the prior art with not enough, a kind of crawler belt, the extremely low autonomous rover of sled combined long voyage are provided, and controlled active is installed with generating integrated energy multiplex device for wind to save and to store the energy, ensure completing of detection mission.
For solving the problems of the technologies described above, the present invention adopts following technical proposals:
A kind of crawler belt-sled compound type polar region rover, comprises antidumping system, crawler type walking mechanism and energy multiplex device for wind.Described antidumping system is connected by slider tube with crawler type walking mechanism, and described energy multiplex device for wind is fixed on the long sleeve afterbody in antidumping system.
Described antidumping system mainly comprises three pairs of supporting legs, three sleds, short sleeve, long sleeve, sealed chamber assembly, axial rotation assemblies, moves axially assembly, lifting assembly; Three pairs of described supporting leg one end are fixedly connected with three sleds respectively, and two supporting leg other ends of often pair of supporting leg are bolted to connection with the projection of short sleeve or long sleeve respectively; Three projections of described short sleeve and long sleeve are uniform along its axis circumference respectively, and short sleeve and long sleeve are docked by bolt; Described sealed chamber assembly comprises sealed chamber, sealing protecgulum and rear sealing cover, the rear and front end of described sealed chamber is fixedly connected with sealing protecgulum, rear sealing cover, described sealing protecgulum is arranged on short sleeve with revolute pair, described rear sealing cover is arranged on long sleeve with revolute pair, and sealed chamber assembly can rotate around the axis of short sleeve and long sleeve.
Described axial rotation assembly comprises electric machine assembly a, cylindrical gear pair, motor cabinet in described electric machine assembly a is fixed on the inside top of sealed chamber assembly, described cylindrical gear pair comprises big gear wheel, miniature gears, big gear wheel and miniature gears external toothing, big gear wheel is fixedly mounted on short sleeve, and miniature gears is arranged on the reducer shaft of electric machine assembly a; Described electric machine assembly comprises motor a, retarder, motor cabinet, and motor is fixedly connected with retarder, and retarder is arranged on motor cabinet.
Described moves axially assembly is fixed on sealed chamber assembly bottom inside by motor cabinet, and the described assembly that moves axially comprises electric machine assembly b, coupler, ball-screw, feed screw nut assembly, guide rail, stay bearing plate; Described electric machine assembly b is connected with ball-screw one end by coupler, and the other end is arranged in the interstitial hole of stay bearing plate, and described stay bearing plate is arranged on long sleeve afterbody, and can around long sleeve axial rotation; The installation parallel with ball-screw of described guide rail, two ends are installed in the mounting hole of plate, stay bearing plate after sealing respectively; Described feed screw nut assembly comprises feed screw nut, weight bearing foundation, described feed screw nut is arranged on ball-screw, and can be axially mobile along ball-screw, and feed screw nut is fixed on weight bearing foundation, weight bearing foundation is arranged on guide rail simultaneously, can move axially along guide rail.
Described lifting assembly by the weight bearing foundation of feed screw nut assembly with move axially assembly and be fixedly connected with, described lifting assembly comprises installing sleeve, jacking sleeve, electric machine assembly c, bevel-gear pair a, power transmission leading screw, leading screw adapter plate; Described installing sleeve is fixedly connected with the weight bearing foundation of feed screw nut assembly, with jacking sleeve slidable fit; Described electric machine assembly c is arranged on inside installing sleeve, described bevel-gear pair comprises bevel pinion, bevel gear wheel, and bevel gear wheel is arranged on power transmission leading screw top, and power transmission leading screw is arranged on leading screw adapter plate, described leading screw adapter plate is arranged on inside installing sleeve, is about 200mm apart from top; Described jacking sleeve top is processed with tapped bore, and screw thread fit between power transmission leading screw, is connected with crawler type walking mechanism partial fixing.
Described crawler type walking mechanism comprises housing, electric machine assembly d, bevel-gear pair b, driving wheel, drive sprocket axle, drive sprocket axle assembly, flower wheel, follower shaft, follower shaft assembly, connecting panel, BOGEY WHEEL, crawler belt.Described housing is fixedly connected with jacking sleeve, described electric machine assembly d is arranged on housing bottom surface, the large miniature gears of described bevel-gear pair b is arranged on the reducer shaft of drive sprocket axle and electric machine assembly d, described drive sprocket axle is arranged on housing by drive sprocket axle assembly, the external part of drive sprocket axle installs driving wheel, and drive sprocket axle assembly comprises clutch shaft bearing seat, clutch shaft bearing lid, clutch shaft bearing; Described follower shaft is arranged on housing by follower shaft assembly, and the external part of follower shaft installs flower wheel, and follower shaft assembly comprises axle second bearing, the second bearing cap shim, the second bearing; Described connecting panel is fixedly mounted on housing both sides, fixedly mounts load-bearing wheel shaft and assembly thereof bottom connecting panel, and BOGEY WHEEL is fixedly mounted on load-bearing wheel shaft; Described crawler belt is arranged on driving wheel, flower wheel and BOGEY WHEEL.
Described energy multiplex device for wind comprises blower fan, fan supporter, and described blower fan is arranged on long sleeve tail end by fan supporter.
The principle of work of crawler belt sled combined long voyage rover involved in the present invention is as follows: in the autonomous exploration process of the South Pole, under wind-force can provide the condition of thrust, energy multiplex device for wind is under wind-force effect, promotion robot advances, and is that power storage rises by wind energy transformation more than needed simultaneously, under wind-force can not provide the condition of thrust, control system makes the electric machine rotation of lifting assembly, by gear pair, power transmission leading screw, crawler belt is landed, the electric machine rotation of track unit, drive crawler belt to rotate by gear pair, drive sprocket axle, driving wheel, provide power for robot advances, when powerful wind speed makes robot that upset occur, two sleds land, and control system sends signal, make the electric machine rotation of axial rotation assembly, by cylindrical gear pair, drive sealed chamber assembly around long sleeve axial rotation, make crawler type walking mechanism go to immediately below sleeve, restPose, when running into ice ditch crack in robot traveling process, move axially assembly and lifting assembly action, crawler belt and sled is made to carry out different modes combination, to realize robot obstacle crossing function, concrete action is as follows: move axially assembly electric machine rotation, pass through ball-screw, crawler type walking mechanism part is moved to nearly ice ditch crack location, move axially motor stalls, the electric machine rotation of lifting assembly, creeper undercarriage part is landed, and apply a fixed load, the motor stalls of lifting assembly, move axially the electric machine rotation of assembly, due to creeper undercarriage part and earth surface, electric machine rotation drives the remaining component of initiatively robot to move forward, until shovel arrives at ice ditch crack opposite side, move axially the motor stalls of assembly, the electric machine rotation of lifting assembly, crawler type walking mechanism part is driven to rise, that crawler belt and ground depart from, the motor stalls of lifting assembly, move axially the electric machine rotation of assembly, crawler type walking mechanism part is driven to move to the opposite side in ice ditch crack, move axially the motor stalls of assembly, the electric machine rotation of lifting assembly, creeper undercarriage part is landed, and apply a fixed load, the motor stalls of lifting assembly, move axially the electric machine rotation of assembly, due to creeper undercarriage part and earth surface, electric machine rotation drives the remaining component of initiatively robot to move forward, until ice ditch crack opposite side is arrived in sled rear end.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable technological advance:
The present invention, by the evolution of crawler belt and sled, can complete from master reset, cross over larger ice ditch crack.By energy multiplex device for wind Appropriate application wind energy for robot provides onward impulse, and be electric energy storage by wind energy transformation, realize controlled active with generating integrated, ensure completing smoothly of robot long boat autonomous exploration task.
Accompanying drawing explanation
Fig. 1 is crawler belt-sled compound type polar region rover's structural representation.
Fig. 2 is the structural representation that Fig. 1 removes sled.
Fig. 3 is in Fig. 2 iplace's partial enlarged drawing.
Fig. 4 is crawler belt-sled compound type polar region rover's crawler type walking mechanism top partial view diagram (a) and lateral plan (b).
Fig. 5 is antidumping system work process schematic diagram (a) and (b), (c).
Fig. 6 be crawler belt-sled compound type polar region rover across ditch process schematic: a) run into ice seam, b) crawler belt moves axially, c) crawler belt declines, d) robot moves axially, and e) crawler belt rises, and f) crawler belt moves axially, g) crawler belt declines, h) robot moves axially, and i) crawler belt rises, and j) crawler belt resets.
Detailed description of the invention
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
Embodiment one:
See Fig. 1 ~ Fig. 4, this crawler belt-autonomous rover in sled combined long voyage polar region, be made up of antidumping system, crawler type walking mechanism and energy multiplex device for wind, it is characterized in that: described antidumping system and crawler type walking mechanism are flexibly connected by a long sleeve (26) of antidumping system and a short sleeve (4), and described energy multiplex device for wind is connected in described long sleeve (26) afterbody.
Embodiment two:
The present embodiment is substantially identical with embodiment one, special feature is: described antidumping system comprises three sleds (1), three pairs of supporting legs (2), short sleeve (4), long sleeve (26), sealed chamber assembly, axial rotation assemblies, moves axially assembly and lifting assembly, and described short sleeve (4) and long sleeve (26) have three projections (5) respectively; Three pairs of described supporting leg (2) one end are fixedly connected with three sleds (1) respectively, and two supporting leg other ends of often pair of supporting leg are connected with the projection (5) of short sleeve (4) and long sleeve (26) respectively, and three pairs of supporting legs (2) are in 120 ° of circumference distributions; Three projection (5) circumferences of described short sleeve (4) and long sleeve (26) are uniform, and short sleeve (4) and long sleeve (26) are bolted to connection; Described sealed chamber assembly comprises sealed chamber (24), sealing protecgulum (3) and rear sealing cover (25), and sealed chamber (24) is fixedly connected with sealing protecgulum (3), rear sealing cover (25); Described axial rotation assembly is fixed on the inside top of sealed chamber assembly by a motor cabinet, comprises electric machine assembly a(Ga) and cylindrical gear pair; Described moves axially assembly is fixed on sealed chamber assembly bottom inside by a motor cabinet, comprise electric machine assembly b(Gb), coupler (6), ball-screw (7), feed screw nut assembly, guide rail (8), stay bearing plate (27), described electric machine assembly b(Gb) be connected with ball screw (7) one end by coupler (6), ball screw (7) other end is arranged in the interstitial hole of stay bearing plate (27); Described stay bearing plate (27) sliding sleeve is arranged on long sleeve (26) afterbody, can around long sleeve (26) axial rotation; Described guide rail (8) and ball screw (7) parallel installation, two ends are arranged in the mounting hole of rear sealing cover (25) and stay bearing plate (27) respectively; Described feed screw nut assembly comprises feed screw nut and weight bearing foundation (23), described feed screw nut screws and is arranged on ball screw (7), can move axially along ball screw (7), feed screw nut is fixedly connected with weight bearing foundation (23), weight bearing foundation (23) is arranged on guide rail (8) simultaneously, can move axially along guide rail (8); Described lifting assembly by the weight bearing foundation (23) of feed screw nut with move axially assembly and be fixedly connected with, comprise installing sleeve (9), jacking sleeve (17), electric machine assembly c(Gc), bevel-gear pair a(Da), power transmission leading screw (18) and leading screw adapter plate (21), described installing sleeve (9) is fixedly connected with the weight bearing foundation (23) of feed screw nut assembly, with jacking sleeve (17) slidable fit; Described leading screw adapter plate (21) is arranged on installing sleeve (9) inner side, is about 200mm ± 20mm apart from top; Described jacking sleeve (17) top is processed with tapped bore, and screw thread fit between power transmission leading screw (18), is fixedly connected with crawler type walking mechanism.
Embodiment three:
The present embodiment is substantially identical with embodiment one, special feature is: described crawler type walking mechanism comprises housing (38), electric machine assembly d(Gd), bevel-gear pair b(Db), driving wheel (14), drive sprocket axle (15), drive sprocket axle assembly, flower wheel (10), follower shaft (11), follower shaft assembly, connecting panel (30), BOGEY WHEEL (12) and crawler belt (16), described housing (38) is fixedly connected with jacking sleeve (17); Described electric machine assembly d(Gd) be arranged on housing (38) bottom surface; Described drive sprocket axle (15) is arranged on housing (38) by drive sprocket axle assembly, and drive sprocket axle assembly comprises clutch shaft bearing seat, clutch shaft bearing (36), clutch shaft bearing lid (37); Described follower shaft (11) is arranged on housing (38) by follower shaft assembly, and follower shaft assembly comprises the second bearing seat, the second bearing cap shim (31), the second bearing (33); Described connecting panel (30) is fixedly mounted on housing (38) both sides, connecting panel (30) bottom fixed installation load-bearing wheel shaft (13) and assembly thereof, and BOGEY WHEEL (12) is fixedly mounted on load-bearing wheel shaft (13); Described crawler belt (16) is arranged on driving wheel (14), flower wheel (10) with on BOGEY WHEEL (12).
Embodiment four:
The present embodiment is substantially identical with embodiment one, and special feature is: described energy multiplex device for wind comprises blower fan (29) and fan supporter (28), and described blower fan (29) is arranged on long sleeve (26) tail end by fan supporter (28).
Embody rule:
1., in the autonomous exploration process of the South Pole, under wind-force can provide the condition of thrust, energy multiplex device for wind is under wind-force effect, and promote robot and advance, be that power storage rises by wind energy transformation more than needed simultaneously; Under wind-force can not provide the condition of thrust, control system makes the electric machine rotation of lifting assembly, by bevel-gear pair, power transmission leading screw 18, crawler belt 16 is landed, the electric machine rotation of track unit, drive crawler belt 16 to rotate by bevel-gear pair, drive sprocket axle 15, driving wheel 14, provide power for robot advances;
2. when powerful wind speed makes robot that upset occur, two sleds 1 land, and control system sends signal, make the electric machine rotation of axial rotation assembly, by cylindrical gear pair, drive sealed chamber assembly around long sleeve 26 axial rotation, make robot reset to initial condition, when running into ice ditch crack in robot traveling process, move axially assembly and lifting assembly action, crawler belt 16 and sled 1 is made to carry out different modes combination, to realize robot obstacle crossing function, concrete action is as follows: the electric machine rotation moving axially assembly, by power transmission leading screw 18, crawler type walking mechanism is moved to nearly ice ditch crack location, move axially the motor stalls of assembly, the electric machine rotation of lifting assembly, creeper undercarriage is landed, and apply a fixed load, the motor stalls of lifting assembly, move axially the electric machine rotation of assembly, due to creeper undercarriage and earth surface, motor 34 rotates and drives the remaining component of mover device people to move forward, until ice ditch crack opposite side is arrived in sled 1 front end, move axially the motor stalls of assembly, the electric machine rotation of lifting assembly, drive crawler type walking mechanism rises, crawler belt 16 and ground are departed from, the motor stalls of lifting assembly, move axially the electric machine rotation of assembly, crawler type walking mechanism is driven to move to the opposite side in ice ditch crack, move axially the motor stalls of assembly, the electric machine rotation of lifting assembly, creeper undercarriage is landed, and apply a fixed load, the motor stalls of lifting assembly, move axially the electric machine rotation of assembly, due to creeper undercarriage and earth surface, electric machine rotation drives the remaining component of initiatively robot to move forward, until ice ditch crack opposite side is arrived in sled rear end.

Claims (3)

1. crawler belt-autonomous rover in sled combined long voyage polar region, be made up of antidumping system, crawler type walking mechanism and energy multiplex device for wind, it is characterized in that: described antidumping system and crawler type walking mechanism are flexibly connected by a long sleeve (26) of antidumping system and a short sleeve (4), and described energy multiplex device for wind is connected in described long sleeve (26) afterbody;
Described antidumping system comprises three sleds (1), three pairs of supporting legs (2), short sleeve (4), long sleeve (26), sealed chamber assembly, axial rotation assemblies, moves axially assembly and lifting assembly; Described short sleeve (4) and long sleeve (26) have three projections (5) respectively; Three pairs of described supporting leg (2) one end are fixedly connected with three sleds (1) respectively, and two supporting leg other ends of often pair of supporting leg are connected with the projection (5) of short sleeve (4) and long sleeve (26) respectively, and three pairs of supporting legs (2) are in 120 ° of circumference distributions; Three projection (5) circumferences of described short sleeve (4) and long sleeve (26) are uniform, and short sleeve (4) and long sleeve (26) are bolted to connection; Described sealed chamber assembly comprises sealed chamber (24), sealing protecgulum (3) and rear sealing cover (25), and sealed chamber (24) is fixedly connected with sealing protecgulum (3), rear sealing cover (25); Described axial rotation assembly is fixed on the inside top of sealed chamber assembly by a motor cabinet, comprises electric machine assembly a(Ga) and cylindrical gear pair; Described moves axially assembly is fixed on sealed chamber assembly bottom inside by a motor cabinet, comprise electric machine assembly b(Gb), coupler (6), ball-screw (7), feed screw nut assembly, guide rail (8), stay bearing plate (27), described electric machine assembly b(Gb) be connected with ball-screw (7) one end by coupler (6), ball-screw (7) other end is arranged in the interstitial hole of stay bearing plate (27); Described stay bearing plate (27) sliding sleeve is arranged on long sleeve (26) afterbody, can around long sleeve (26) axial rotation; Described guide rail (8) and ball-screw (7) parallel installation, two ends are arranged in the mounting hole of rear sealing cover (25) and stay bearing plate (27) respectively; Described feed screw nut assembly comprises feed screw nut and weight bearing foundation (23), described feed screw nut screws and is arranged on ball-screw (7), can move axially along ball-screw (7), feed screw nut is fixedly connected with weight bearing foundation (23), weight bearing foundation (23) is arranged on guide rail (8) simultaneously, can move axially along guide rail (8); Described lifting assembly by the weight bearing foundation (23) of feed screw nut with move axially assembly and be fixedly connected with, comprise installing sleeve (9), jacking sleeve (17), electric machine assembly c(Gc), bevel-gear pair a(Da), power transmission leading screw (18) and leading screw adapter plate (21), described installing sleeve (9) is fixedly connected with the weight bearing foundation (23) of feed screw nut assembly, with jacking sleeve (17) slidable fit; Described leading screw adapter plate (21) is arranged on installing sleeve (9) inner side, apart from top 200mm ± 20mm; Described jacking sleeve (17) top is processed with tapped bore, and screw thread fit between power transmission leading screw (18), is fixedly connected with crawler type walking mechanism.
2. crawler belt according to claim 1-autonomous rover in sled combined long voyage polar region, it is characterized in that: described crawler type walking mechanism comprises housing (38), electric machine assembly d(Gd), bevel-gear pair b(Db), driving wheel (14), drive sprocket axle (15), drive sprocket axle assembly, flower wheel (10), follower shaft (11), follower shaft assembly, connecting panel (30), BOGEY WHEEL (12) and crawler belt (16), described housing (38) is fixedly connected with jacking sleeve (17); Described electric machine assembly d(Gd) be arranged on housing (38) bottom surface; Described drive sprocket axle (15) is arranged on housing (38) by drive sprocket axle assembly, and drive sprocket axle assembly comprises clutch shaft bearing seat, clutch shaft bearing (36), clutch shaft bearing lid (37); Described follower shaft (11) is arranged on housing (38) by follower shaft assembly, and follower shaft assembly comprises the second bearing seat, the second bearing cap shim (31), the second bearing (33); Described connecting panel (30) is fixedly mounted on housing (38) both sides, connecting panel (30) bottom fixed installation load-bearing wheel shaft (13) and assembly thereof, and BOGEY WHEEL (12) is fixedly mounted on load-bearing wheel shaft (13); Described crawler belt (16) is arranged on driving wheel (14), flower wheel (10) with on BOGEY WHEEL (12).
3. crawler belt according to claim 1-autonomous rover in sled combined long voyage polar region, it is characterized in that: described energy multiplex device for wind comprises blower fan (29) and fan supporter (28), described blower fan (29) is arranged on long sleeve (26) tail end by fan supporter (28).
CN201210355853.8A 2012-09-24 2012-09-24 Track-sled combined type long voyage polar region independent roaming robot Expired - Fee Related CN102874338B (en)

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CN103264723B (en) * 2013-05-17 2017-02-01 上海大学 Wind-driven sled type polar region rover
CN103481786B (en) * 2013-09-12 2016-04-06 北京航空航天大学 A kind of polar region robot based on wind-solar hybrid energy
CN110481667B (en) * 2019-08-29 2022-01-14 哈尔滨工程大学 Crawler sledge composite walking polar region robot
CN114260876A (en) * 2021-12-24 2022-04-01 南京理工大学 Special sea ice detection robot

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US5005658A (en) * 1988-12-22 1991-04-09 Carnegie-Mellon University Orthogonal legged walking robot
DE10058611C1 (en) * 2000-11-25 2001-12-20 Dieter Huebner Rescue and/or transport sledge, for alpine or polar regions, has 2 cooperating half shells defining rotationally symmetrical closed sledge housing with equi-spaced runners on its outside
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